CN101020313A - Motion controller for modular embedded polypod robot - Google Patents
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Abstract
The motion controller for modular embedded polypod robot includes one PC module, one robot body controlling module and foot unit controlling modules separately located in the feet. The PC module distinguishes the environment the robot is in, determines the next action of the robot and transmits the data to the robot body controlling module. The robot body controlling module processes the data into specific motion data, and dispenses the specific motion data via the robot data bus to the foot unit controlling modules. The present invention adopts hierarchical control mode comprising data operation layer based on PC, robot control layer with ARM processor as control core and great memory space, and joint control layer. The present invention can realize the off-line motion of robot and the seamless connection to PC for on-line debugging of robot.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of motion controller for modular embedded polypod robot.
Background technology
Robot controller is a part most important in the robot system, most critical.The quality of robot controller performance is directly determining the exercise performance of robot.Mostly the existing robots system is dedicated system, can only be adapted to the robot of ad hoc structure, in case robot construction changes, its controller also must redesign, thereby has limited the ability that robot changes or expands according to the requirement of task and working environment.And existing controller does not have fault tolerance, and the entire machine robot system state that paralyses is at once destroyed in some joint of robot in a single day.
Though the various controller of open structure for robot that exist have been accomplished portability at present, extensibility etc. adopt industrial control computer as controller mostly, and hardware configuration can't change, and the cost height, and volume is big, can't accomplish embedded Control.
Summary of the invention
The objective of the invention is to overcome the weak point of existing controller, a kind of motion controller for modular embedded polypod robot is provided, this controller software system is flexible, stable, is a kind of embedded controller with restructural, fault tolerant.
Motion controller for modular embedded polypod robot provided by the invention is characterized in that: this controller comprises PC module, body controlling module and lays respectively at foot unit control module on each bar foot; Wherein,
The PC module comprises function software module and first communication module, and the function software module is used to realize environment identification, path planning and gait planning function, and sends the data that calculate to first communication module; First communication module has the function of handling the fuselage bus data, and body controlling module is connected by usb bus with the PC module;
Body controlling module comprises the 2nd PC communication module, state display module and fuselage controller; The 2nd PC communication module is used for communicating by letter with first communication module, and sends data to the fuselage controller; Data after will handling again after the fuselage controller adopts arm processor that data are handled are forwarded to each foot unit controller, and the state of fuselage controller is shown by the state display module;
The foot unit control module comprises foot unit controller, hip joint control module, knee joint control module, ankle-joint control module and sensor assembly; The foot unit controller coordinate is controlled the coordinated movement of various economic factors in three joints in the foot, and feeds back the motion state of whole piece foot to body controlling module; Hip joint control module, knee joint control module, ankle-joint control module structure are identical, constitute by joint control and podarthrum motor; The exercise data that joint control transmits by CAN_Bus according to body controlling module, the motion of adopting Single-chip Controlling podarthrum motor to be scheduled to, transmit motion to the articulation mechanism body by the podarthrum driving-chain, the coordinated movement of various economic factors in each joint forms the mass motion of robot, by sensor assembly the motion state in joint is fed back again, realized closed-loop control.
Modular insert robot controller proposed by the invention adopts the layer-stepping control mode, serves as that the fuselage key-course of control core and joint key-course that single-chip microcomputer is the control core are formed by the data operation layer, with the ARM microprocessor.The data operation layer is based upon on the PC, calculating robot's gait data.The fuselage key-course is the control core with the arm processor, can store the gait data of robot, realize the off-line motion of robot, also have seamless joining interface with PC, by PC robot is realized on-line debugging, the joint key-course is the control core by single-chip microcomputer then.Particularly, the present invention has following technique effect:
(1) robot controller proposed by the invention has the restructural ability, when robot changes according to the requirement of task and working environment or expands, joint control need only be joined the CAN bus network of fuselage controller or delete from network and get final product.
(2) destroyed when robot is in operation, the fuselage controller can discern and cut out this joint automatically, directly jumps out the operation to this joint, has certain fault-tolerant ability.
(3) fuselage key-course expansion joint increases other equipment and can realize plug and play, automatically identification id number.
(4) the present invention can be used for ROBOT CONTROL, also can be used for the control of other kinematic systems.
Description of drawings
Fig. 1 is the corresponding relation figure of each logical layer of modular reconfigurable robot and physics realization;
Fig. 2 is the structural representation of motion controller for modular embedded polypod robot of the present invention;
Fig. 3 function software module flow chart;
Fig. 4 is a fuselage controller hardware structured flowchart;
Fig. 5 is a fuselage controller software system block diagram;
Fig. 6 is the joint control hardware block diagram;
Fig. 7 is that three layers of joint control softwares are abstract
Fig. 8 is the joint control software flow pattern;
Fig. 9 is ID identification process figure.
The specific embodiment
Below in conjunction with accompanying drawing and example a kind of modular insert robot controller that the present invention proposes is described in further detail.
Modular insert robot among the present invention can realize being similar to the walking movement of common walking robot, and can provide expanded function for robot by adding new module to robot platform.Therefore this controller need be realized the function of two aspects: (1) control robot finishes such as walking, elemental motion such as turns to; (2) function of support moduleization, the expansion module that is robot provide standard, interface easily, realize " plug and play " function.In order to realize modular function, need specific implementation: (1) is divided into different logic levels with control system, and (2) realize a class function in each logical layer, and (3) use standard interface to carry out alternately between logical layer.
After having realized having the control system of modular characteristics, by analysis robot motion control strategy, the motion control of robot can be segmented, and its difference according to function is subdivided in the control system logical layer.As shown in Figure 1, concrete logical layer comprises: the scene planning layer, and the unit planning layer, unit module layer and equipment are realized layer.The scene planning layer carries out path planning by recognition machine people environment of living in to robot, and robot is carried out positive inverse kinematics calculate.The scene planning layer is mainly discerned robot place environment, and according to next step action of environment decision robot, is the gait maker in physics realization.The unit planning layer is mainly coordinated control to a plurality of joint controls, and fuselage bus and joint bus are operated, corresponding to the fuselage controller in the physics realization.The unit module layer mainly is responsible for the communication of each intermodule, handles the CAN_Bus data, is a plurality of joint controls in physics realization.Equipment is realized the responsible fill order of layer, is specially the actuate actuators motor by the designated movement movement parameter, is circuit for controlling motor, executing agency and sensor in physics realization.
As shown in Figure 2, according to above-mentioned thinking, the motion controller for modular embedded polypod robot among the present invention comprises PC module 1, body controlling module 2 and several foot unit control modules 3.PC module 1 is used for recognition machine people environment of living in, determines next step action of robot and sends data to body controlling module 2 according to advanced algorithm.Body controlling module 2 is used for these data are treated as concrete exercise data, again data is distributed to each foot unit control module 3 by the fuselage bus.
One, the PC module 1
(1) obtains task and carry out mission planning, generate the subtask sequence.And obtain the priority of subtask and subtask information.
(2) mediate the highest subtask of priority as current task according to the priority of each subtask.
(3) call in subtask information, handle generating the movement instruction sequence, send this sequence to first communication module 12 after, continue to call next subtask, up to finishing all motion tasks.
(4) feedback data according to body controlling module is summed up the decision-making experience after all tasks are finished, and upgrades solution bank.
Function software module 11 sends the data that calculate to first communication module 12, and first communication module 12 has the function of handling the fuselage bus data, and body controlling module 2 and PC module 1 are coupled together.Body controlling module 2 and PC module 1 are connected by usb bus.
Two, body controlling module 2
Body controlling module 2 is corresponding to the unit planning layer in the hierarchical control logical layer.The function of body controlling module 2 is as follows: 1) generate gait when off-line moves, and coordinate a plurality of joint controls of control and finish motion.2) exercise data that the PC upper layer software (applications) generates is transmitted in storage with the PC uniting and adjustment time, and coordinates the operation of each joint control.
Body controlling module 2 is made up of the 2nd PC communication module 21, state display module 22 and fuselage controller 23.The 2nd PC communication module 21 is communicated by letter with the first communication module 12 in the PC module 1, and sends data to fuselage controller 23.Data after will handling again after 23 pairs of data of fuselage controller are handled are forwarded to each foot unit controller.The state of fuselage controller 23 shows convenient debugging and error diagnosis by state display module 22.
As shown in Figure 4, fuselage controller 23 comprises USB_Bus control module 231, sensor assembly interface 232, serial communication modular 233, ARM microprocessor 234 and CAN_Bus driver module 235.Fuselage controller 23 adopts ARM microprocessor 234 as the control core.Compare with industrial control computer, it is little, in light weight that the ARM embedded microprocessor has a volume, the low and high advantage of reliability of cost.Add that in the periphery of ARM USB_Bus control module 231 is used to accept from the movement instruction data of PC module 1 by the USB_Bus transmission, and robot motion's state is returned to PC module 1.Sensor assembly interface 232 is used to the sensor 3 in the foot unit module 3 that interface is provided.Serial communication modular 233 transmits and sends by the data of serial ports from PC module 1, mainly uses in debug process.CAN_Bus driver module 235 is connected to the CAN_Bus network, for the CAN controller in the ARM microprocessor 234 provide and physical bus between physical interface.
Because the data traffic of fuselage key-course is big, task is various, has the multilayer interrupt nesting, and real-time is required therefore to adopt the software configuration of traditional AM/BAM system obviously can not meet the demands again than higher.As shown in Figure 5, ARM microprocessor 234 can make the fuselage control program can utilize senior functions such as multithreading, Dram distribution to finish complicated more task by transplanting embedded OS μ C/OS-II.The program structure of ARM microprocessor 234 can be divided into two-layer: operating system and application program.Operating system is the backdrop procedure of at first carrying out after ARM starts, and application program then is each task on operating system, and operating system is carried out resource management according to the requirement of each task, message management, work such as task scheduling and abnormality processing.μ C/OS-II is that a source code is open, and portable is curable, but the real-time multi-task operating system of the cutting and the formula of taking the lead, most source codes use ANSIC to write, and the part relevant with microprocessor hardware is to use assembler language to write.Therefore operating system comprises μ C/OS-II kernel, and μ C/OS-II task is provided with, μ C/OS-II system transplantation code.μ C/OS-II kernel provides all system services.Kernel organically is combined into a real-time system with application program and bottom hardware.The code relevant with processor (μ C/OS-II transplants code) can be regarded as the intermediate layer between kernel and the hardware, and it has realized that same kernel is applied in the different hardware system.The setting of μ C/OS-II task then is the setting to operating system relevant with application program.
Application program is made up of a plurality of tasks, and each task all has unique priority, and real time operating system is switched each task dynamically according to the priority of each task, guarantees the requirement to real-time.USB_Bus data processing task priority is the highest, is used to receive the exercise data from PC, and the various status informations of returning robot controller.The CAN_Bus data processing task is handled the data on the fuselage bus, a plurality of controller distribution movement instructions to the joint key-course, and monitor the state of each joint control in real time, make mistakes when having joint control, or when new ID registration is arranged, allow make mistakes analyzing and processing task or ID identification record task be in ready attitude, and carry out task scheduling.The system command Processing tasks is responsible for the data that PC sends are analyzed, handles, and distribution.The off-line data operation task reads the operation control that exercise data in the memory carries out robot in the time will carrying out off-line operation.Serial data Processing tasks and display module task all are to be provided with for convenience of debugging, and its priority is minimum, only do not move when having other tasks.
Three, the foot unit control module 3
Walking robot is made of many foots usually, and every foot is provided with a foot unit control module.The foot unit control module realizes layer corresponding to unit module layer in the hierarchical control logical layer and equipment.Foot unit control module 3 among the present invention comprises foot unit controller 30, hip joint control module 31, knee joint control module 32, ankle-joint control module 33 and sensor assembly 34.Hip joint control module 31 is positioned at hip joint, and knee joint control module 32 is positioned at knee joint, and the ankle-joint module is positioned at ankle-joint.
Foot unit controller 30 is responsible for coordinating the coordinated movement of various economic factors in three joints in foot of control, and feeds back the motion state of whole piece foots to body controlling module 2.Because every foot is all identical on 26S Proteasome Structure and Function, so the foot unit controller on each bar foot is also identical.In order to make full use of the surplus capacity of joint control, on the basis that does not increase hardware cost, realized the function of foot unit controller, the function of the hip joint controller 31 in every foot can be expanded, make it possess the function of foot unit controller 30.
The hardware configuration of hip joint control module 31, knee joint control module 32 and ankle-joint control module 33 is also identical, constitutes by joint control and podarthrum motor.
The motion that the exercise data control podarthrum motor that joint control transmits by CAN_Bus according to body controlling module 2 is scheduled to, transmit motion to the articulation mechanism body by the podarthrum driving-chain, the coordinated movement of various economic factors in a plurality of joints then forms the mass motion of robot, by sensor assembly 34 motion state in joint is fed back, to reach the effect of closed-loop control.
Joint control is the key in the modularization idea.As shown in Figure 6, joint control is made up of three modules, is respectively: single chip control module 61, Electric Machine Control and driver module 62 and CAN communication module 63.Single chip control module 61 is made of single-chip minimum system 611, Power Monitoring Unit 612 and display module 613.Wherein, single-chip minimum system 611 assurance monolithic functions are finished the simplest function, and Power Monitoring Unit 612 still can normally move single-chip microcomputer when fluctuation takes place external power supply, and display module 613 shows the running statuses of joint controls, conveniently debugging in real time.
The exercise data control drive motors operation that Electric Machine Control and driver module 62 are accepted according to CAN communication module 63, it comprises electric machine controller 621 and motor driver 622.Electric machine controller 621 adopts special-purpose motion control processor, host CPU single-chip microcomputer for joint control, control the motion state of motor, only need to set the relevant parameters such as position, speed and acceleration of motor, alleviated the burden of CPU, simplify control method, improved control efficiency.Electric Machine Control partly produces the signal of motion of control motor, and the actual motion of motor needs drive division and assigns to realize.Motor driver 622 adopts integrated power driving circuit to realize among the present invention, controls motor driver by electric machine controller output PWM ripple, reaches the effect of power amplification.Motor driver 622 directly links to each other with direct current generator 623 and finishes the motion requirement.Owing between electric machine controller 621 and motor driver 623, exist bigger electromagnetic interference, adopt optocoupler 624 to isolate.
CAN communication module 63 responsible joint controls are communicated by letter with the fuselage controller, accept the exercise data that body controlling module 2 sends, and return the motion state in joint in real time.CAN is up to the present unique fieldbus that has international standard, have anti-interference strong, characteristics such as transmission speed is fast and transmission range is long, only need by the indications filtering to message can realize point-to-point, a bit several modes such as multiple spot and overall situation broadcasting are transmitted the reception data, so we adopt the CAN bus as the fuselage bus.Use the CAN bus structure of support moduleization well.CAN bus communication module also is divided into CAN bus control unit 631 and CAN bus driver 632 two parts, and CAN bus control unit 631 is realized the function of data link layer and Physical layer in the network hierarchical structure with the combination of the logic circuit on the programmable chip.CAN bus driver 632 provides the interface between physical bus and the CAN bus control unit 631.CAN bus control unit 631 and CAN bus driver 632 all adopt special chip to realize.By single-chip microcomputer its realization of programming is controlled.
Joint control 6 is realized its control by the software programming of single-chip minimum system 611, and its architecture comprises three layers of abstraction: promptly: hardware relevant layers (bottom), SQL layer (intermediate layer) and application layer (top), as shown in Figure 7.Wherein SQL layer and application layer also can be described as and the hardware independent layer.Between layer and the layer is the unidirectional relation of calling, and promptly can only call next layer functions by last layer, but following one deck but can not call the function of last layer.And call can only be between adjacent layer, calls and can not stride layer, can not skip the SQL layer such as application layer and remove to call function in the hardware relevant layers.Use the benefit of such three-decker design to be: after hardware system changes, only need change hardware relevant layers, and intermediate layer and application layer not to need to carry out great change and just can adapt to new hardware platform.Such architecture has improved the open and portable of software.
Because the number of tasks of joint key-course is less, and the memory capacity of microcontroller is limited in the key-course of joint, so the overall flow of joint key-course employing AM/BAM mode, application program is an Infinite Cyclic.Call corresponding function in the circulation and finish corresponding operation, interrupt service routine is handled asynchronous event.The key operation that event correlation is very strong guarantees by interrupt service routine.Its idiographic flow as shown in Figure 8.Behind system power-on reset, by system initialization routine initialization single-chip microcomputer, electric machine controller, CAN bus control unit and interrupt mode is set and priority.Identify the ID value in this joint by the ID identification module then and enumerate to the fuselage controller.Enter major cycle, inquiry CAN bus events indicates, motor is to bit flag, motor rotation blockage sign, and CAN network error sign.Then calling corresponding function when flag bit set handles.When interrupting arriving, in interrupt handling routine, do not handle at once, just change this flag bit, in major cycle, handle again.It is long to prevent to enter break period like this, and the speed of corresponding other interruptions is slack-off and make that the entire system interrupt response time is elongated.
The ID self-identifying is the key point that robot realizes restructural and fault tolerant.When robot needs reconstruct, as long as the joint ID that will add or change changes with the mode of toggle switch, and the concrete joint control that resets, need not can realize that ID upgrades automatically to the fuselage controller function, the realization plug and play.The flow process of ID self-identifying as shown in Figure 9, after joint control resets, at first read the indicated ID of toggle switch number, controller is ID number with 0x00 earlier, send to the fuselage controller and to enumerate signal, after waiting for that fuselage is controlled its response, ID number of reading sent to the fuselage controller, the fuselage controller at first judges this ID number whether exist, if do not exist, then add in the ID chained list of its joint this ID number, and send to joint control and to confirm auspiciously, joint control is subjected to confirming that being made as the CAN bus with this ID number after auspicious carries out communication ID number.If this ID number exists in the fuselage controller, then notify joint control ID to make mistakes, and report to the police.
Claims (7)
1, a kind of motion controller for modular embedded polypod robot is characterized in that: this controller comprises PC module (1), body controlling module (2) and lays respectively at foot unit control module (3) on each bar foot; Wherein,
PC module (1) comprises function software module (11) and first communication module (12), and function software module (11) is used to realize environment identification, path planning and gait planning function, and sends the data that calculate to first communication module (12); First communication module (12) has the function of handling the fuselage bus data, and body controlling module (2) is connected by usb bus with PC module (1);
Body controlling module (2) comprises the 2nd PC communication module (21), state display module (22) and fuselage controller (23); The 2nd PC communication module (21) is used for communicating by letter with first communication module (12), and sends data to fuselage controller (23); Data after will handling again after fuselage controller (23) adopts arm processor that data are handled are forwarded to each foot unit controller, and the state of fuselage controller (23) is shown by state display module (22);
Foot unit control module (3) comprises foot unit controller (30), hip joint control module (31), knee joint control module (32), ankle-joint control module (33) and sensor assembly (34); Foot unit controller (30) is used to coordinate to control the coordinated movement of various economic factors in three joints in the foot, and feeds back the motion state of whole piece foot to body controlling module (2); Hip joint control module (31), knee joint control module (32), ankle-joint control module (33) structure are identical, constitute by joint control and podarthrum motor; The exercise data that joint control transmits by CAN_Bus according to body controlling module (2), the motion of adopting Single-chip Controlling podarthrum motor to be scheduled to, transmit motion to the articulation mechanism body by the podarthrum driving-chain, the coordinated movement of various economic factors in each joint forms the mass motion of robot, by sensor assembly (34) motion state in joint is fed back again, realized closed-loop control.
2, motion controller for modular embedded polypod robot according to claim 1 is characterized in that: described foot unit controller (30) and hip joint control module (31) are integrated.
3, motion controller for modular embedded polypod robot according to claim 1 and 2 is characterized in that: fuselage controller 23 comprises USB_Bus control module (231), sensor assembly interface (232), serial communication modular (233), ARM microprocessor (234) and CAN_Bus driver module (235); Wherein,
ARM microprocessor (234) adopts transplants embedded OS μ C/OS-H, requirement according to each task, carry out resource management, message management, task scheduling and abnormality processing work, and initialization and processing are from the data of USB_Bus control module (231), sensor assembly interface (232), serial communication modular (233) CAN_Bus driver module (235);
USB_Bus control module (231) is used for accepting from the movement instruction data of PC module (1) by the USB_Bus transmission, and robot motion's state is returned to the PC module;
Sensor assembly interface (232) is used to the sensor assembly (34) in the foot unit module (3) that interface is provided;
Serial communication modular (233) is transmitted in the debug process data from PC module (1);
CAN_Bus driver module (235) is connected to the CAN_Bus network, for the CAN controller in the ARM microprocessor (234) provide and physical bus between physical interface.
4, motion controller for modular embedded polypod robot according to claim 3 is characterized in that: described joint control is by single chip control module (61), and Electric Machine Control and driver module (62) and CAN communication module (63) constitute; Wherein,
Single chip control module (61) is used for the control single chip computer operate as normal, accepts the bus data of CAN communication module (63), and the data after the processing are imported Electric Machine Control driver module (62) control into and drive motors moves by instruction; And acceptance is analyzed back generation joint motions status data and is sent on the bus by CAN communication module (63) from the motor operating state data of motor drive module (62);
Electric Machine Control and driver module (62) are accepted the movement instruction data of single chip control module (61), control and drive motors, and motor operating state is turned back to single chip control module (61);
CAN communication module (63) is accepted the data on the CAN bus and is sent single chip control module (61) to, and the joint state that single chip control module (61) is returned sends on the CAN bus.
5, motion controller for modular embedded polypod robot according to claim 4 is characterized in that: single chip control module (61) is made of single-chip minimum system (611), Power Monitoring Unit (612) and display module (613);
Wherein, single-chip minimum system (611) is used for single-chip microcomputer and finishes the most basic function, and Power Monitoring Unit (612) still can normally move single-chip microcomputer when fluctuation takes place external power supply, and display module (613) shows the running status of joint control in real time.
6, motion controller for modular embedded polypod robot according to claim 4 is characterized in that:
Electric Machine Control and driver module (62) comprise electric machine controller (621) and motor driver (622), electric machine controller (621) is used to control machine operation, go out the PWM ripple and control motor driver (622) work, reach the effect of power amplification, motor driver (622) links to each other with direct current generator (623) and finishes the motion requirement, adopts optocoupler (624) to isolate between electric machine controller (621) and the motor driver (623).
7, motion controller for modular embedded polypod robot according to claim 4, it is characterized in that: CAN bus communication module (63) is made of CAN bus control unit (631) and CAN bus driver (632), the function of data link layer and Physical layer in CAN bus control unit (631) the realization network hierarchical structure, CAN bus driver (632) is used to provide the interface between physical bus and the CAN bus control unit (631).
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| CN101359225B (en) * | 2008-08-29 | 2010-10-06 | 北京大学 | Cooperation control system for underwater multi-robot |
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| CN106154875B (en) * | 2015-05-27 | 2019-01-01 | 宁夏巨能机器人***有限公司 | A kind of communication device and its means of communication for articulated robot and host computer |
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| CN107471206A (en) * | 2017-08-16 | 2017-12-15 | 大连交通大学 | A kind of modularization industrial robot reconfiguration system and its control method |
| CN107953337A (en) * | 2017-12-29 | 2018-04-24 | 深圳市乐幻索尔科技有限公司 | A kind of adjustment of robot motion deviation and store method and system |
| CN111538234A (en) * | 2020-07-08 | 2020-08-14 | 深圳市优必选科技股份有限公司 | Task hierarchical control method and device, robot and readable storage medium |
| CN116214528A (en) * | 2023-05-10 | 2023-06-06 | 深圳市安信达存储技术有限公司 | Storage control method and control system for humanoid robot |
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