CN100460167C - Head system of anthropomorphic robot - Google Patents
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- CN100460167C CN100460167C CNB2007100382951A CN200710038295A CN100460167C CN 100460167 C CN100460167 C CN 100460167C CN B2007100382951 A CNB2007100382951 A CN B2007100382951A CN 200710038295 A CN200710038295 A CN 200710038295A CN 100460167 C CN100460167 C CN 100460167C
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Abstract
The head system of anthropomorphic robot capable of being used as the research platform for man-machine interaction includes one six-freedom serial mechanism body and one expandable processor network with DSP F2812 as main control node. The six-freedom serial mechanism body driven with six steering engines simulates the motion of eyes, neck and chin, and the two eyes are offset controlled separately without coupling for wide horizontal search range. The expandable processor network consists of video processor, phonetic processor, interface module and main DSP F2812 control circuit. The main DSP F2812 control circuit makes the motion plan based on the sensed environment information and sends six PWM pulses to control the motions of the motors in different joints synchronously. The main control circuit has expanding RAM module and CAN bus module for complicated motion algorithm and great amount of information treatment.
Description
Technical field
The present invention relates to a kind of head system of anthropomorphic robot, comprise the tandem type mechanism body of six degree of freedom, is the scalable processors network of main controlled node with DSP F2812.Can be used as the research platform of man-machine interaction.
Background technology
Robot has a wide range of applications in daily life, as fields such as family, amusement and healthy medical cares as a kind of effective tool that extends human muscle power and mental labour.Can robot incorporate human society well, is together morning and night with the people, not only needs robot to have and outward appearance like the physiognomy, but also will have and behavior like the physiognomy.Compare with the robot on the industrial production line, anthropomorphic robot is as a kind of robot that the profile that exactly likes to the people, comparatively similar action behavior are arranged, easier of a kind of life being arranged, having the machine of intelligence to be accepted for the mankind, can exchange with the people better, come into human life, improve people's quality of life.The residing environment of anthropomorphic robot is different with industrial robot, be non-structure, be full of various unkownable factors.Anthropomorphic robot neither come out in order to finish certain specific task design, thus good interactivity, collaborative and learning ability be anthropomorphic robot must possess.Head system of anthropomorphic robot is an important component part of whole anthropomorphic robot system, is the most important source of anthropomorphic robot intelligence, and the ability that has with user's natural interaction is the key that anthropomorphic robot can incorporate human society.So humanoid robot head as one independently system extract separately and carry out research and design and especially show important.
At present, some links that have between the head mechanism of humanoid robot of high speed follow-up control all are parallel connection types, what drive unit adopted all is expensive Maxon motor, but by discovering, platform as the man-machine interaction of a research nature, when robot and user interactions, do not need to have the motion tracking ability of special high speed, this locomitivity very fast can reduce the naturality in the man-machine interaction process on the contrary, and the problem that parallel connection type mechanism is brought is that the shared space of mechanical part is huger, and under same working space, the size of serial mechanism is littler than parallel institution.Though the Maxon motor has high rotational speed, but need supporting transmission device and correspondent peripheral circuit, cause more lead to twine, and the positional control algorithm complexity of motor, and common steering wheel can satisfy the tracking control requirement in the man-machine interaction process fully, and compact conformation, and control is simple, do not have a lot of leads to connect, the very suitable robot head limited in the space uses.In the present in addition robot head system, Image Information Processing and motion control are finished by same computer, and the problem of being brought is that computational resource is limited, are difficult to a large amount of computation requirement in the competent man-machine interaction process.
Find by literature search, Chinese patent application number 03280106, title: robot head, this patent system is handled by two computer realization image and voice messagings that connect by WLAN.But the Image Information Processing of this system and motion control only can realize simple vision following function on same computer, be difficult to satisfy the real-time computation requirement in the man-machine interaction process; And this component computer processing unit does not have extensibility, can not provide a large amount of computational resources to finish complicated man-machine interaction task.
Summary of the invention
The objective of the invention is to overcome existing robot head systems bulky, the deficiency that cost is high, design provides a kind of compact conformation, can be as the general head system of anthropomorphic robot of natural man-machine interaction research platform, have the tandem type mechanism body of six degree of freedom and have the processor network that to expand computing node, can satisfy motion control and computation requirement in the man-machine interaction process.
The present invention is achieved by the following technical solutions.The present invention includes: the tandem type mechanism body of six degree of freedom is the scalable processors network of main controlled node with DSP F2812.The external environment information that robot obtains, deliver to two microcomputers, be video processor and speech processor, result after handling gives master controller DSP F2812 through interface module, master controller is according to the external information that perceives, make motion planning, send the motor movement in six joints of PWM (pulsewidth modulation) pulse control synchronously.Wherein on master controller DSP F2812 circuit board, increased and extended out RAM module and CAN bus module, extend out the RAM module and guaranteed that main controlled node DSP F2812 can move long program code, finish a large amount of, complicated motor coordination algorithms, the CAN bus module makes can increase computing node to satisfy a large amount of information processing requirements.In addition, motion planning and Electric Machine Control are separated from video processor or speech processor, finished, reserved more computational resource and used for Video processing or speech processes by powerful master controller DSP F2812.
Described tandem type mechanism body with six degree of freedom adopts light aluminum alloy, form by the link of rod member serial type by six joints that comprise neck pitch drives part, neck driftage drive part, chin pitch drives part, the public pitch drives part of eyes, left eye driftage drive part and right eye driftage drive part, drive by six steering wheels.Neck pitch drives partial fixing is on base, rotation frame by the neck inclination motor links to each other with neck driftage drive part, vertically support member is fixed on the neck driftage drive part, left eye driftage drive part and right eye driftage drive part adopt independent nothing coupling driftage control, rotation rod member by the eye inclination motor partly links to each other with the public pitch drives of eyes respectively, the public pitch drives part of eyes frame is on the vertical support member of robot head, and chin pitch drives part connects rod member by chin and is connected with vertical support member.
Mechanism body is used for the eyes, neck of simulating human head and the motion of chin part.Two shared sloping shafts of eyes, outer polar curve coupling when helping 3 D stereo reconstruct, obtain the three-dimensional information of environment, two nothing coupling driftage controls that eyes are independent, has wider horizontal field of view hunting zone, the ability that the inclination of neck and driftage control have robot to watch control attentively has guaranteed the clarity of robot vision imaging, and the inclination control of chin has strengthened the naturality in the man-machine interaction process.
Described is the scalable processors network of main controlled node with DSP F2812, by video processor, speech processor, interface module and governor circuit are formed, the input of video processor is connected with two minisize pick-up heads that are located at left eye driftage drive part and right eye driftage drive part end respectively by the USB connecting line, the input of speech processor links to each other with microphone on being located at mechanism body, the output of video processor and speech processor is connected to governor circuit by interface module, and the output of governor circuit is connected with each drive part of tandem type mechanism body by control line.
With DSP F2812 is that the scalable processors network of main controlled node satisfies computation requirement real-time in the man-machine interaction process, wherein said governor circuit by DSP F2812 chip, extend out the RAM module and the CAN bus module constitutes.DSP F2812 chip can send 6 pwm pulses synchronously, and the CAN bus of expansion can increase processor node easily.The environmental information that obtains from the external world is finished image and speech processes respectively two microcomputers, two microcomputers only are as the computational resource node, can increase these nodes according to the needs of calculation task.The governor circuit of band DSP F2812 chip is as main controlled node, the data of transmitting between microcomputer and governor circuit are through the result after image and the speech processes, so data quantity transmitted is little, the communication between them can be adopted RS-232 serial communication mode.
The present invention has set up a general head system of anthropomorphic robot, can be as the research platform of natural man-machine interaction.The joint motor of robot head portion mechanism adopts the steering wheel of compact conformation as driving element, each joint all is an independently drive part, inside, joint no longer needs extra transmission link, and form by the link of rod member serial type between six joints, it is bulky to have overcome existing robot head mechanism, the high deficiency of cost.
The present invention provides total solution for mechanism's problem and the control problem that runs in the development of following anthropomorphic robot family expenses.
Description of drawings
Fig. 1 structural representation of the present invention.
Fig. 2 functional block diagram of the present invention.
Fig. 3 mechanism body of the present invention.
Fig. 4 the present invention is based on the control circuit of DSP F2812.。
Fig. 5 command control word form of the present invention.
The main program flow chart of Fig. 6 DSP F2812 of the present invention Electric Machine Control and serial communication.
Fig. 7 serial ports of the present invention receives the interrupt service routine flow chart.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Fig. 1 structural representation of the present invention.As shown in Figure 1, the present invention includes: 1, one scalable processors network 2 of the tandem type mechanism body of a six degree of freedom, wherein scalable processors network 2 is by video processor 4, speech processor 5, interface module 6 and governor circuit 3 are formed.
The tandem type mechanism body 1 of six degree of freedom is formed by the link of rod member serial type by six joints, it is respectively neck pitch drives part 10, neck driftage drive part 11, chin pitch drives part 12, the pitch drives part 13 that eyes are public, left eye driftage drive part 14, right eye driftage drive part 15.Neck pitch drives part 10 is fixed on the base 16, rotation frame 17 by the neck inclination motor links to each other with neck driftage drive part 11, vertically support member 18 is fixed on the neck driftage drive part 11, left eye driftage drive part 14 and right eye driftage drive part 15 adopt independent nothing coupling driftage control, rotation rod member 20 by the eye inclination motor links to each other with the public pitch drives part 13 of eyes respectively, 13 of public pitch drives parts of eyes are on the vertical support member 18 of robot head, and chin pitch drives part 12 connects rod member 19 by chin and is connected with vertical support member 18.
In scalable processors network 2, video processor 4 and speech processor 5 are processor node, the input of video processor 4 is by USB connecting line and two minisize pick-up heads 23,24 connect, the input of speech processor 5 links to each other with microphone 25, the output of video processor 4 and speech processor 5 is connected to governor circuit 3 by interface module 6, and the output of governor circuit 3 is connected with tandem type mechanism body 1 each drive part by control line.Governor circuit 3 is finished complicated motion planning and Electric Machine Control according to the environmental information that perceives.On governor circuit 3, be core with DSP F2812 chip 7, developed and extended out RAM module 8 and CAN bus module 9, extend out RAM module 8 and guaranteed that main controlled node can move complicated motor coordination algorithm, CAN bus module 9 makes and can increase computing node to satisfy a large amount of information processing requirements.
Below be specific embodiment of the present invention.Following examples do not constitute limitation of the invention.
Present embodiment exploitation purpose is as a general research platform that is used for man-machine interaction, adopts tandem type mechanism and steering wheel, and the cost of system is not very high, but can satisfy the computation requirement in the real time human-machine interaction process.
Present embodiment is general humanoid robot head, the tandem type mechanism body 1 of a six degree of freedom, high 225mm, wide 136mm, front and back degree of depth 128mm, quality 0.8kg, each joint is directly driven by steering wheel, has saved the departure that peripheral transmission device brings.Fig. 1 has represented the hardware structure diagram of general head system of anthropomorphic robot, and wherein DSP F2812 is that the scalable processors network 2 of main controlled node is made up of video processor 4, speech processor 5, interface module 6 and DSP F2812 governor circuit 3.Mechanism body 1 is humanoid robot head, is connected with video processor 4 by two USB connecting lines, and a microphone connecting line links to each other with speech processor 5, and DSP F2812 governor circuit 3 is connected with mechanism body 1 by control line.Two minisize pick-up heads 23,24 can be with observed image real-time acquisition to video processor 4.A microphone 25 can be delivered to speech processor 5 with the voice signal of environment.
In the present embodiment, adopt DSP F2812 chip 7 to realize the motion planning and the control of each joint motor, this chip dominant frequency reaches 150MHz, be core with DSP F2812 chip 7 in addition, developed and extended out RAM module 8 and CAN bus module 9, guaranteed that main controlled node can move long code, finishes complicated motor coordination algorithm and a large amount of information processing requirements.
Mechanism partly considers the setting of the free degree and the link in each joint.Remove facial expression, the main locomotive organ of human head is eyes, neck and chin part, and present embodiment is in the motion of mechanism body 1 these organs of simulation.Neck pitch drives part 10 is fixed on the base 16, and rotation frame 17 by the neck inclination motor and neck driftage drive part 11 link to each other.Vertically support member 18 is fixed on the neck driftage drive part 11.Two eyes have the drive motors of independently going off course separately, left side camera 23 horizontally rotates rod member 21 by left eye and is fixed on the output shaft of left eye driftage drive part 14, and right camera 24 horizontally rotates rod member 22 by right eye and is fixed on the output shaft of right eye driftage drive part 15.Left eye driftage drive part 14 and right eye driftage drive part 15 link to each other with the pitch drives part 13 of eyes by the rotation rod member 20 of eye inclination motor.Binocular vision part frame is on the vertical support member 18 of robot head.Chin 12 has an inclination free degree, connects rod member 19 by chin and is connected with vertical support member 18.Series connection links between each joint like this, has formed the tandem type robot head of a six degree of freedom.
Fig. 2 has represented the general function figure of system.Video processor is finished image preliminary treatment and feature extraction, the result who handles delivers to governor circuit DSP F2812, speech processor is realized the identification of user command on the basis of Microsoft's sound bank, the user instruction that identifies is delivered to governor circuit DSP F2812, in addition Video processing and the voice computer environmental information that perceives of display device people in real time.DSP F2812 governor circuit is according to these information, make motion planning, calculate the movement position of each joint motor of robot head, then these controlled quentity controlled variables are converted to the PWM pulsewidth of each steering wheel, by relevant register is set, DSP F2812 generates the motor that corresponding PWM ripple drives each joint.Two minisize pick-up heads are separately fixed on the left eye and right eye driving joint of robot head, link to each other with video processor by two USB connecting lines, a common microphone links to each other with speech processor, and the user can use the headset and the robot of band microphone to carry out interactive voice.
Fig. 3 is mechanism's pictorial diagram of robot head, though the distance between two cameras is big more, the parallax of target on two cameras is just big more, helps asking for depth information, and too conference causes the volume of whole head to increase, and inertia also increases.Therefore, two camera spacings generally are taken as distance between people's the binocular, are about 10 to 15cm.Take all factors into consideration, last robot binocular interval is 103mm.Consider the requirement of weight and intensity, the connecting rod between each joint adopts the LY12 aluminum, has both guaranteed the connection of rigidity, makes that again the weight of mechanism body is lighter simultaneously, has alleviated the load of motor.
Motor has stepper motor, brush DC and brush motor, steering wheel etc., though brush DC and brush motor have higher control accuracy, but need supporting peripheral circuit and transmission device, the feasible volume that should use is big, weight is bigger, and is also inapplicable to the head system of anthropomorphic robot that the space is limited.Stepper motor has the bigger shortcoming of volume and weight equally, also is not suitable for the robot head system.Steering wheel is a kind of position servo driver, inner integrated positioner, compact conformation, be convenient to install, and output torque is big, good stability, and control is simple, do not have a lot of leads to twine and complicated transmission device, be highly suitable in the limited head system of anthropomorphic robot in space and use.The slewing area of steering wheel is between 0 ° to 180 °, and 90 ° is the centre position of steering wheel.The control signal of steering wheel is pulsewidth modulation (PWM) signal of cycle 20ms, and wherein pulse width is 0.5ms-2.5ms, and the position of steering wheel output shaft correspondingly is between 0 to 180 degree, is linear change.That is to say, provide certain pulsewidth to it, the output shaft of steering wheel just remains on certain angle position, and no matter how extraneous torque changes, and up to the pulse signal that an other width is provided to it, it just can change output angle.Therefore the motor of drive part adopts Japanese Futaba steering wheel, five S3003, a S3801.The S3003 output torque is 3.2kgcm, and quality is 37.2g, and maximum (top) speed is 0.23sec/60 ° (4.8V).The S3801 output torque is bigger than S3003, can reach 14kgcm, and maximum (top) speed is the same with S3003.
The circuit control panel of finishing motion planning and Electric Machine Control is a core with the DSPTMS320F2812 of the C2000 of TI company series, by interface module and video processor and speech processor communication.This DSP dominant frequency reaches 150MHz, has good expanded function, and can form one by the CAN bus is the scalable processors network 2 of main controlled node with F2812.
Fig. 4 is based on the governor circuit 3 of DSP F2812 chip, and the DSP dominant frequency reaches 150MHz.With the DSPF2812 chip is core, has developed to extend out RAM module 8 and the total line template 9 of CAN on DSP F2812 governor circuit.Wherein extend out RAM module 8: in the area extension of F2812 memory space the SRAM of 64K * 16, the chip model is IS61LV6416, this chip operating voltage is 3.3V, the access time is 10ns, DSP can read and write SRAM apace.The total line template 9:CAN of CAN bus protocol conversion chip is SN65HVD251D, and this chip is the 5V power supply, the band shutdown mode.
Fig. 5 is that video processor or speech processor send the control word format of ordering to DSP F2812, adopts the RS-232 communication modes, sends 6 frames at every turn, and the form of each frame data is: 1 start bit, 8 data bit, 1 position of rest, no odd even correction bit; Baud rate is chosen 115200bps; Communication protocol is chosen the idle line multi-processor mode, and this pattern does not increase extra address bit, and the compatibility of communicating by letter with the RS-232 type.The program of video processor and speech processor is write with VC++, has two kinds of methods can carry out serial communication in VC++.A kind of is the ActiveX control MicrosoftCommunications Control that utilizes Microsoft company to provide, and another kind is directly to visit serial ports with VC++.Because the method each run program based on ActiveX control needs the manual initialization serial ports of user parameter, is not suitable for constructing an automatic man-machine interactive system, so the present invention has adopted VC++ directly to visit the method for serial ports.
The main flow of DSP TMS320F2812 Electric Machine Control and serial communication is seen Fig. 6.At first close house dog, the operating frequency of DSP then is set, the 30MHz incoming frequency of external crystal oscillator is carried out 5 frequencys multiplication, the operating frequency of DSP is 150MHz.Control clock EVA, EVB and SCIA then is set, and wherein EVA and EVB task manager are used for producing the pwm signal of controlling steering wheel, and SCIA is a serial communication interface.Interrupt vector table is set then, and then initialization SCIA serial communication register is provided with the data format of serial communication protocol and transmission, and the PWM register of last initialization event administrative unit EVA and EVB is provided with the cycle and the initial pulsewidth of the pwm signal of output.Adopt the PWM unit of DSP TMS320F2812 task manager EVA and EVB to produce six independently six steering wheels of pwm signal control.By the PWM1 of DSP task manager EVA, PWM3 and PWM5 control steering wheel 1～3 respectively, and by the PWM7 of DSP task manager EVB, PWM9 and PWM11 control steering wheel 4～6 respectively.In the running, six independently the numerical value that receives according to serial ports of PWM unit the EvaRegs.CMPR1 of EVA task manager is set, EvaRegs.CMPR2, the EvbRegs.CMPR4 of EvaRegs.CMPR3 register and EVB task manager, EvbRegs.CMPR5, the EvbRegs.CMPR6 register.Adjust the pulsewidth of pwm signal by event management unit is set, can control steering wheel apace.Eyes front was looked squarely by robot when expectation powered on usually, so the initial position of six steering wheels all is made as the position that is in 90 degree.
Fig. 7 is the flow chart that DSP TMS320F2812 serial ports receives interrupt service routine, at first from data buffer register, read the ASCII character data that video processor or speech processor transmit, and be decimal data with these data conversion, convert the PWM pulsewidth of steering wheel motion then to, and corresponding EVA and EVB register be set, remove overflow indicator and interrupt identification etc. at last, open interruption, serial ports receives and forwards in the main program after interrupt service routine finishes.The baud rate of serial communication is elected 115200bps as, and system can reach the real-time requirement.
The present invention has set up a general head system of anthropomorphic robot, can be as the research platform of natural man-machine interaction.It is bulky to overcome existing robot head mechanism, the high deficiency of cost.
Claims (2)
1. head system of anthropomorphic robot, comprise mechanism body (1) and processor network, it is characterized in that described mechanism body (1) is the tandem type mechanism body (1) of a six degree of freedom, by comprising neck pitch drives part (10), neck driftage drive part (11), chin pitch drives part (12), the public pitch drives parts of eyes (13), left eye driftage drive part (14) and right eye driftage drive part (15) form by the link of rod member serial type in six interior joints, neck pitch drives part (10) is fixed on the base (16), rotation frame (17) by the neck inclination motor links to each other with neck driftage drive part (11), vertically support member (18) is fixed on the neck driftage drive part (11), left eye driftage drive part (14) and right eye driftage drive part (15) adopt independent nothing coupling driftage control, rotation rod member (20) by the eye inclination motor links to each other with the public pitch drives parts of eyes (13) respectively, the public pitch drives part of eyes (13) frame is on the vertical support member (18) of robot head, and chin pitch drives part (12) connects rod member (19) by chin and is connected with vertical support member (18);
Described processor network is scalable processors network (2), by video processor (4), speech processor (5), interface module (6) and governor circuit (3) are formed, the input of video processor (4) is by USB connecting line and two minisize pick-up heads (23 that are located at left eye driftage drive part (14) and right eye driftage drive part (15) end respectively, 24) connect, the input of speech processor (5) links to each other with microphone (25) on being located at mechanism body (1), the output of video processor (4) and speech processor (5) is connected to governor circuit (3) by interface module (6), and the output of governor circuit (3) is connected with each drive part of tandem type mechanism body (1) by control line;
Six joints in the described mechanism body (1) adopt steering wheel as driving element, and each joint all is an independently drive part, and extra transmission link is no longer adopted in inside, joint.
2. according to the head system of anthropomorphic robot of claim 1, it is characterized in that described governor circuit (3) by DSP F2812 chip (7), extend out RAM module (8) and CAN bus module (9) and constitute, by DSP F2812 chip (7) motion planning and Electric Machine Control are separated from video processor (4) or speech processor (5), transfer of data adopts RS-232 serial communication mode.
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| CN101290519B (en) * | 2008-03-27 | 2010-06-09 | 上海交通大学 | Small-sized chevron-shape emulated soccer ball robot remote monitering system based on 3G network |
| CN101618280B (en) * | 2009-06-30 | 2011-03-23 | 哈尔滨工业大学 | Humanoid-head robot device with human-computer interaction function and behavior control method thereof |
| CN101745921B (en) * | 2009-12-21 | 2011-05-04 | 大连理工大学 | Human eye and human neck simulating vision device |
| CN101850554B (en) * | 2010-04-30 | 2012-04-11 | 东南大学 | Low-noise humanoid robot head system |
| CN102184011B (en) * | 2011-05-06 | 2013-03-27 | 中国科学院计算技术研究所 | Human-computer interaction equipment |
| CN102566474A (en) * | 2012-03-12 | 2012-07-11 | 上海大学 | Interaction system and method for robot with humanoid facial expressions, and face detection and tracking method |
| CN103072140B (en) * | 2012-12-18 | 2015-08-19 | 北京理工大学 | A kind of binocular solid bionic eye mechanism with panoramic capture, positioning function |
| CN104570732B (en) * | 2014-12-15 | 2017-02-08 | 浙江大学 | Online generation method for walking mode of humanoid robot |
| CN106426196B (en) * | 2016-08-31 | 2018-01-30 | 佛山博文机器人自动化科技有限公司 | A kind of service-delivery machine head part |
| CN108724176B (en) * | 2018-03-21 | 2021-03-05 | 北京猎户星空科技有限公司 | Robot rotation control method and device, robot and storage medium |
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