CN102778848A - Remote control robot self-driving sampling system and sampling method thereof - Google Patents
Remote control robot self-driving sampling system and sampling method thereof Download PDFInfo
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Abstract
The invention relates to a remote control robot self-driving sampling system. The system comprises a remote control robot, a sensing mechanism, a data buffer area, a data processing module, a signal generator, a clock module, a central processor module, an execution mechanism, an information display module and a communication module, wherein the sensing mechanism and the execution mechanism are installed on the remote control robot; the data buffer area, the data processing module, the signal generator and the clock module are connected in sequence and then connected with the sensing mechanism; the sensing mechanism comprises a sensor and a camera; the data sampled by the sensing mechanism are transmitted to the central processor module through a communication network; and a control instruction of the central processor module is transmitted to the execution mechanism through the communication network. The execution mechanism is a zero-order holder. The invention also discloses a sampling method of the system. By arranging the data buffer area, the data processing module, the signal generator, the clock module, the central processor module and the like, and by connecting the components with various physical devices reasonably, the self-driving sampling of the remote control robot is realized. The hardware is connected simply; the method for realizing the self-driving sampling is simple, convenient and practicable; the network load can be reduced; and the operation performance of the remote control robot is modified, and thus the system has practical application and population value.
Description
Technical field
The present invention relates to a kind of teleoperation robot from driving sampling system and method.Belong to teleoperation robot networking control and Sampling techniques field.
Background technology
Teleoperation robot is meant can be applied to a kind of remote handling system of accomplishing the accurate operation of more complicated in the human inaccessible environment such as atomic energy technology, space technology, deep ocean work under people's manipulation.In the teleoperation robot system; The state of sensing mechanism sampling teleoperation robot; And through communication network corresponding information is transferred to CPU module, and the control signal of CPU module also can be passed through the topworks that communication network transfers to teleoperation robot.Teleoperation robot will send and receive data via common network usually; If the sampling period of sensing mechanism is a constant; Then do not change or state variation when little at robotary; Sensing mechanism sends the signal of repetition or approximate repetition, has caused the waste of channel like this and has increased offered load; And when robotary frequently changed, the data that sensing mechanism sent possibly far can not be satisfied the demand, and the control performance of teleoperation robot is had a negative impact.Therefore, how to realize the driving certainly sampling of teleoperation robot, reduce the congested possibility of offered load and occurring network, and the performance of improving teleoperation robot is a valuable problem of ten minutes.
Number of patent application is 201010225437.7; Denomination of invention is the patent of " telechiric device that teleoperation robot is scouted in a kind of coring "; It " carries out coring through the cordless communication network remote control robot and scouts, comprise CPU module, power module, order load module, station telecommunication module and information display module ".Number of patent application is 200910145179.9; Name is called the patent of invention of " teleoperation robot packet loss compensating system and its implementation "; It " through to the making full use of of idle network channel, greatly reduces the negative effect of network delay and data-bag lost and has improved the interference free performance of teleoperation robot system ".More than two inventions do not consider the sampling problem in the teleoperation robot control procedure.Number of patent application is 201110024869.6; Denomination of invention is the patent of " a kind of sensor device and control method thereof that changes SF ", it " the whether normal frequency acquisition of adjusting signal pickup assembly automatically of information that perceives according to induction installation also carries out information processing ".The foundation that changes SF in this invention be the information that perceives of induction installation normally whether.Number of patent application is that 201110226878.3 patent of invention " discloses a kind of implementation method and device of supporting the Bluetooth stereo of multiple sampling rate ".Above patent does not all tackle the problem at its root.
Summary of the invention
Goal of the invention: the objective of the invention is to construct a kind of from driving sampling system so that reduce offered load and possibility that occurring network is congested, and improve the operating performance of teleoperation robot, the invention provides the method for sampling of this system simultaneously.
Technical scheme: the present invention adopts following technical scheme for realizing above-mentioned purpose:
A kind of teleoperation robot is from driving sampling system; Said system is made up of teleoperation robot, sensing mechanism, data buffer, data processing module, signal generator, clock module, CPU module, topworks, information display module and communication module; Sensing mechanism and topworks are installed on the teleoperation robot; Data buffer, data processing module, signal generator, clock module connect the back successively and are connected with sensing mechanism; Sensing mechanism comprises sensor and camera; The data of sensing mechanism sampling transfer to CPU module through communication network, and the control command of CPU module transfers to topworks through communication network.
Topworks is a zero-order holder.
Communication module had both comprised signal receiving/transmission devices such as switch, also comprised communication network.Information display module links to each other with CPU module, and its function is information such as the speed that shows the current operation of teleoperation robot, direction, manipulator joint angle, teleoperation robot periphery video image.
A kind of teleoperation robot may further comprise the steps from the method for sampling that drives sampling system
1) sensing mechanism sampled data, and count;
2) sensing mechanism sends data, and counts;
3) clock module is according to the counting and the counting adjustment sampling period of sending data of sampled data.
The sensing mechanism sampled data realizes that through counter n, the i that is arranged in the clock module when sensing mechanism once sampling data, the n assignment is n+1 with the counting that sends data; If sensing mechanism is just sampled and do not sent data, the i assignment is 0; When sensing mechanism sends a secondary data, the n assignment is 0, and the i assignment is i+1.
The data buffer is used to store the data that sensing mechanism sends recently; Data processing module calculates the difference of the data of storing in new data of sampling and the data buffer, and when 2 norms of this difference surpassed a (0 < a < 0.5), sensing mechanism sent data.
The step in clock module adjustment sampling period is following in the step 3:
1) after each sensing mechanism transmission or sampled data, clock module reads n, i value;
2) clock module compares n, i value and built-in m (0 < m < 5) value, and when n=m+1, clock module is h+ Δ (0 < Δ < 0.5h) with sampling period h assignment, is 0 with the n assignment simultaneously; When i=m, clock module is the h-Δ with sampling period h assignment, is 0 with the i assignment simultaneously.
Beneficial effect: the present invention with a kind of teleoperation robot from driving sampling system and method is on the basis of background; Through data buffer, data processing module, signal generator, clock module, CPU module etc. are set; And, realize teleoperation robot from driving sampling through rationally connecting each physical equipment.Be used for from the hardware annexation that drives sampling simply among the present invention, it is simple and easy to do to drive the sampling implementation method certainly, can reduce offered load and improve the operating performance of teleoperation robot, has practical application and promotional value.
Description of drawings
Fig. 1 is that teleoperation robot of the present invention is from driving sampling system hardware annexation figure.
Fig. 2 is of the present invention from driving the sampling work process flow diagram.
Embodiment
Below in conjunction with Figure of description the present invention is further detailed:
A kind of teleoperation robot according to the invention is made up of teleoperation robot, sensing mechanism, data buffer, data processing module, signal generator, clock module, CPU module, topworks, information display module and communication module etc. from driving sampling system.The present invention discloses a kind of teleoperation robot from driving the method for sampling adjustment sampling period to realize optimal utilization to channel.
The present invention carries out hardware connection to teleoperation robot from each device that drives in the sampling system according to the connected mode in the accompanying drawing 1.For ease of peripheral video images of data and robot such as sampling teleoperation robot movement velocity, direction, manipulator joint angles, sensor and the first-class device of shooting are installed on the teleoperation robot; Simultaneously, in order to obtain more comprehensively manipulator joint angle-data and video image, a plurality of sensors and camera can be installed.Topworks is a zero-order holder, and its function is that the control signal that this device will be received always recently acts on the teleoperation robot before receiving new control input.
Sensing mechanism, data buffer, data processing module, signal generator and clock module connect by the mode in the accompanying drawing 1, and clock module meeting feedback signal is to sensing mechanism.The data buffer is used to store the data that sensing mechanism sends recently; The threshold value of 2 norms of supposing the difference of double sampling data is a (0 < a < 0.5).The function of data processing module is to confirm whether sampled data need be sent to CPU module; When sensing mechanism sampled new data, data processing module calculated the difference of the data of storing in new data of sampling and the data buffer, when 2 norms of this difference surpass a; Bigger variation has taken place in the state of explanation teleoperation robot in this sampling period; This sampled data need be sent to CPU module, and this moment, signal generator sent a signal to sensing mechanism, so that be sent to CPU module to the data of sampling recently; Simultaneously, sensing mechanism is constant according to the instruction adjustment sampling period or the maintenance sampling period of clock module; If 2 norms of this difference surpass a, then sensing mechanism does not send the data of nearest sampling, and constant according to the instruction adjustment sampling period or the maintenance sampling period of clock module.
Clock module links to each other with sensing mechanism, and the signal transfer direction between them is two-way.Clock module has timing, memory and comparing function, and the purpose of introducing clock module is the size that is used for confirming the sensing mechanism sampling period.If current sampling period length is h, counter n, i assignment initial value are zero.The every once sampling data of sensing mechanism, the n assignment is n+1; Every transmission one secondary data of sensing mechanism, the n assignment is 0, the i assignment is i+1; If sensing mechanism is once sampled and is not sent out, the i assignment is 0.The every sampling of sensing mechanism and send a secondary data, clock module all can be according to the value of above criterion computing counter n, i and the magnitude relationship between n and the m+1 relatively, and the magnitude relationship between i and the m.When n=m+1; The data that nearest m the sampling of sensing mechanism is described all are not sent out; Explain that simultaneously the state variation in nearly a period of time of teleoperation robot is less, then clock module sends drive signal to sensing mechanism, and sampling period length is changed to the h+ Δ; So that in the length that strengthens the sampling period, reduce offered load and the congested possibility of occurring network, unison counter n assignment is zero; When i=m; The data that nearest m the sampling of sensing mechanism is described all are sent out; Explain that simultaneously the state variation in nearly a period of time of teleoperation robot is bigger, then clock module sends drive signal to sensing mechanism, and sampling period length is changed to the h-Δ; So that when sending more sampled datas, improve the operating performance of teleoperation robot, unison counter i assignment is 0.It is of the present invention that driving the sampling work process flow diagram sees Fig. 2 certainly.
The two ends of CPU module link to each other with topworks with sensing mechanism respectively, and connecting medium is the wired or wireless communication network.CPU module both can send a control signal to teleoperation robot according to user instruction in real time; Also can be when receiving sensing data generate the control input, so that the speed of control teleoperation robot operation, direction, manipulator joint angle, orientation etc. according to pre-designed Automatic Program.Information display module comprises information receiver and display, and this module links to each other with CPU module, and its function is information such as the speed that shows the current operation of teleoperation robot, direction, manipulator joint angle, orientation.
A kind of teleoperation robot is to adjust the sampling period automatically according to the situation of change of teleoperation robot state from the characteristics that drive sampling system and method among the present invention; So that reduce the congested possibility of offered load and occurring network, improve the operating performance of teleoperation robot simultaneously.Effective and rapid of the present invention, hardware cost is lower and annexation is simple, is convenient to realize that teleoperation robot from driving sampling, has practical application and promotional value.
Claims (6)
1. a teleoperation robot is from driving sampling system; It is characterized in that: said system is made up of teleoperation robot, sensing mechanism, data buffer, data processing module, signal generator, clock module, CPU module, topworks, information display module and communication module; Sensing mechanism and topworks are installed on the teleoperation robot; Data buffer, data processing module, signal generator, clock module connect the back successively and are connected with sensing mechanism; Sensing mechanism comprises sensor and camera; The data of sensing mechanism sampling transfer to CPU module through communication network, and the control command of CPU module transfers to topworks through communication network.
2. drive sampling system certainly based on the described a kind of teleoperation robot of claim 1, it is characterized in that: topworks is a zero-order holder.
3. drive sampling system certainly based on the described a kind of teleoperation robot of claim 1, it is characterized in that: communication module had both comprised signal receiving/transmission devices such as switch, also comprised communication network.Information display module links to each other with CPU module, and its function is information such as the speed that shows the current operation of teleoperation robot, direction, manipulator joint angle, teleoperation robot periphery video image.
One kind based on the described a kind of teleoperation robot of claim 1 from driving the method for sampling of sampling system, it is characterized in that: may further comprise the steps
1) sensing mechanism sampled data, and count;
2) sensing mechanism sends data, and counts;
3) clock module is according to the counting and the counting adjustment sampling period of sending data of sampled data.
The sensing mechanism sampled data realizes that through counter n, the i that is arranged in the clock module when sensing mechanism once sampling data, the n assignment is n+1 with the counting that sends data; If sensing mechanism is just sampled and do not sent data, the i assignment is 0; When sensing mechanism sends a secondary data, the n assignment is 0, and the i assignment is i+1.
5. a kind of teleoperation robot according to claim 4 is characterized in that from the method for sampling that drives sampling system: the data buffer is used to store the data that sensing mechanism sends recently; Data processing module calculates the difference of the data of storing in new data of sampling and the data buffer, and when 2 norms of this difference surpassed given threshold value a (0 < a < 0.5), sensing mechanism sent data.
6. a kind of teleoperation robot according to claim 4 is characterized in that from the method for sampling that drives sampling system: the step in clock module adjustment sampling period is following in the step 3:
1) after each sensing mechanism transmission or sampled data, clock module reads n, i value;
2) clock module compares n, i value and built-in m (0 < m < 5) value, and when n=m+1, clock module is h+ Δ (0 < Δ < 0.5h) with sampling period h assignment, is 0 with the n assignment simultaneously; When i=m, clock module is the h-Δ with sampling period h assignment, is 0 with the i assignment simultaneously.
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| CN105353695A (en) * | 2015-12-10 | 2016-02-24 | 成都理工大学 | Feedback event driven type analog signal frequency conversion acquisition circuit and acquisition method |
| CN108680489A (en) * | 2018-07-10 | 2018-10-19 | 苏州赛维新机电检测技术服务有限公司 | A kind of anticorrosive property detecting system of metal fittings |
| CN110114019A (en) * | 2016-12-08 | 2019-08-09 | 安托踏实公司 | For cutting the surgery system of anatomical structure according at least one objective plane |
| CN110226966A (en) * | 2018-05-14 | 2019-09-13 | 安托踏实公司 | For cutting the surgery system of anatomical structure according at least one objective plane |
| US11607229B2 (en) | 2016-12-08 | 2023-03-21 | Orthotaxy S.A.S. | Surgical system for cutting an anatomical structure according to at least one target plane |
| US11633233B2 (en) | 2016-12-08 | 2023-04-25 | Orthotaxy S.A.S. | Surgical system for cutting an anatomical structure according to at least one target cutting plane |
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| CN108680489A (en) * | 2018-07-10 | 2018-10-19 | 苏州赛维新机电检测技术服务有限公司 | A kind of anticorrosive property detecting system of metal fittings |
| CN108680489B (en) * | 2018-07-10 | 2020-08-04 | 苏州赛维新机电检测技术服务有限公司 | Corrosion resistance detection system for metal fittings |
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