CN105234937A - General mobile chassis control system - Google Patents
General mobile chassis control system Download PDFInfo
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- CN105234937A CN105234937A CN201510657958.2A CN201510657958A CN105234937A CN 105234937 A CN105234937 A CN 105234937A CN 201510657958 A CN201510657958 A CN 201510657958A CN 105234937 A CN105234937 A CN 105234937A
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- 239000011159 matrix material Substances 0.000 claims abstract description 58
- 230000004927 fusion Effects 0.000 claims abstract description 27
- 238000005516 engineering process Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 45
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 239000004065 semiconductor Substances 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 9
- 238000013461 design Methods 0.000 abstract description 5
- 238000011161 development Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000012546 transfer Methods 0.000 description 4
- 238000013475 authorization Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Toys (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention provides a general mobile chassis control system. The general mobile chassis control system comprises a general sensor interface module, a general chassis control module, a general motor driving module and a configuration module; chassis sensors and driving motors with different interfaces can be compatible on hardware; software is provided with interface configurations to generate a sensor configuration matrix and a driving motor configuration matrix; the software view universality is realized through a multi-sensor information fusion technology and a multi-motor driving control technology; the problem of no universality of the chassis control system caused by the variety of different mobile chassis sensor interface modes and the variety of chassis driving forms is solved; and the requirements of various mobile robots on quick design, quick development and quick test of the chassis control system are preferably satisfied.
Description
Technical field
The present invention relates to the mobile chassis control technology in mobile robot field, particularly, relate to a kind of General Mobile chassis control system.
Background technology
In mobile robot field, mobile chassis is wherein most crucial parts.And the common navigate mode of mobile chassis has the multiple navigate modes such as magnetic navigation, inertial navigation, laser navigation, vision guided navigation.The sensor that different navigate modes adopts is also different, has magnetic navigation sensor, gyroscope, laser scanning and ranging instrument, binocular vision etc.The interface mode of these sensors is varied, has bus-type, and also have analog output, even if same class sensor, the product interface mode that different company produces is also various.Meanwhile, mobile chassis adopts in-wheel driving mostly, and drive motors has multiple, such as stepper motor, brush direct current motor and DC brushless motor, and different according to load, and driving power is not from tens watts to one or two hectowatt etc. yet.Various just due to the various of sensor interface mode and chassis drive form, causes that the transplantability of the diversity of mobile chassis product and mobile chassis control system is strong, versatility is not high.
Through finding the retrieval of prior art document, China's application number is 201220347852.4, Authorization Notice No. is CN202641571U, name is called the utility model of mobile robot's Universal, modular wheel undercarriage, gives a kind of based on four-wheel drive and the crashproof mobile robot's universal wheel chassis structure of ultrasonic radar.China's application number is 201320389947.7, Authorization Notice No. is CN203331024U, name is called a kind of utility model of modular universal wheeled mobile robot, gives a kind of universal wheel mobile robot structure folded interconnected layer by layer based on Three-wheel type and chassis, supporting plate, board mounting three.Although two patents are all for the cross-species transferability problem of wheeled mobile robot, but what solve is all versatility and the modularization of structural design, not can solve by the not common question of various chassis control system brought of the various and chassis drive form of different mobile chassis sensor interface mode, be not just well positioned to meet all kinds of mobile robot to chassis control system rapid Design, fast Development and the quick requirement tested yet.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of General Mobile chassis control system, the uncurrent problem of the chassis control system brought by the different diversity of mobile chassis sensor interface mode and the diversity of chassis drive form can be overcome.
According to General Mobile chassis control system provided by the invention, comprise universal sensor interface module, universal chassis control module, general-purpose machine driver module and configuration module;
Wherein, described universal sensor interface module connects described general-purpose machine driver module by described universal chassis control module; Described configuration module connects described universal chassis control module.
Preferably, described universal sensor interface module comprises bus communication interface unit, discrete signal interface unit and analog signal interface unit;
Wherein, described bus communication interface unit, described discrete signal interface unit and described analog signal interface unit are connected the sensor multi-path choice matrix unit of described general-purpose machine driver module in parallel;
Bus communication interface unit is for connecting the sensor of bus output type, and discrete signal interface unit is for connecting the sensor exported as Transistor-Transistor Logic level or CMOS level signal, and analog signal interface unit is used for the sensor that connection mode analog quantity exports.
Preferably, described universal chassis control module comprises sensor multi-path choice matrix unit, multi-sensor information fusion unit, path locus tracking cell, driver multi-path choice matrix unit, drive and control of electric machine unit and the first wireless communication interface unit;
Wherein, described sensor multi-path choice matrix unit connects described drive and control of electric machine unit by described multi-sensor information fusion unit, described path locus tracking cell, described driver multi-path choice matrix unit successively;
Described sensor multi-path choice matrix unit is connected described configuration module with described driver multi-path choice matrix unit respectively by described first wireless communication interface unit.
Preferably, described configuration module comprises user's configuration interface and the second wireless communication interface unit;
Wherein, described second wireless communication interface unit connects described sensor multi-path choice matrix unit and described driver multi-path choice matrix unit by described first wireless communication interface unit.
Preferably, described general-purpose machine driver module comprises driving stepper motor unit, brush direct current motor driver element, driven by Brush-Less DC motor unit and permagnetic synchronous motor driver element;
Wherein, described driving stepper motor unit, described brush direct current motor driver element, described driven by Brush-Less DC motor unit are connected drive and control of electric machine unit in parallel with described permagnetic synchronous motor driver element, receive the pulse-width signal that drive and control of electric machine unit transmits.
Preferably, described user's configuration interface is for generating sensor configuring matrix and drive motors configuring matrix;
It is general that described sensor configuring matrix realizes universal sensor interface module by multi-sensor information fusion technology;
Drive motors configuring matrix realizes the general of general-purpose machine driver module by the Drive Control Technique of multiclass motor.
Preferably, described bus communication interface unit comprises wired communication interface and wireless communication interface;
Described wired communication interface comprises any one in serial ports, CAN and Ethernet or appoints multiple; Described wireless communication interface comprises any one in WiFi module, bluetooth module and ZigBee module or appoints multiple.
Preferably, described general-purpose machine driver module is for driving the number of different types motor selected in mobile chassis; Number of different types motor comprises stepper motor, brush direct current motor, DC brushless motor and permagnetic synchronous motor.
Preferably, described driving stepper motor unit comprises the H-bridge drive circuit that the first connected integrated drive chips and metal-oxide-semiconductor are built; Described brush direct current motor driver element comprises the H-bridge drive circuit that the second connected integrated drive chips and metal-oxide-semiconductor are built; Described driven by Brush-Less DC motor unit comprises the three-phase bridge drive circuit that the 3rd connected integrated drive chips and metal-oxide-semiconductor are built; Described permagnetic synchronous motor driver element comprises the three-phase bridge drive circuit that the 4th connected integrated drive chips and metal-oxide-semiconductor are built;
Described first integrated drive chips, described second integrated drive chips, described 3rd integrated drive chips and described 4th integrated drive chips connect described drive and control of electric machine unit.
Preferably, described multi-sensor information fusion unit is used for the information fusion of process mobile chassis multiple sensors in real time, and described drive and control of electric machine unit controls for the digital drive of number of different types mobile chassis motor.
Compared with prior art, the present invention has following beneficial effect:
1, the processor in hardware system of the present invention has computing capability at a high speed, and wherein, be equipped with abundant I/O interface module support by sensor interface module, user can combine as required;
2, software system function of the present invention is powerful and easy to use, comprises multi-sensor information fusion unit, path locus tracking cell, movement control technology, the driving control unit of multiclass motor and the user's configuration interface based on radio communication;
3, according to actual mobile chassis be connected sensor and drive motors, the mobile chassis possessing independent navigation can be generated by rapid configuration by the present invention, thus well solve by the not common question of various chassis control system brought of the various and chassis drive form of different mobile chassis sensor interface mode, also just well meet all kinds of mobile robot to chassis control system rapid Design, fast Development and the quick requirement tested;
4, the present invention has integration and the modularity of height, allows user to carry out fast assembling mobile chassis product according to demand, no matter is software or hardware, both provides many items chooses.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is structural representation of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
In the present embodiment, General Mobile chassis control system provided by the invention, comprises universal sensor interface module 1, universal chassis control module 2, general-purpose machine driver module 3 and configuration module 4;
Wherein, described universal sensor interface module 1 connects described general-purpose machine driver module 3 by described universal chassis control module 2; Described configuration module 4 connects described universal chassis control module 2.
Described universal sensor interface module 1 comprises bus communication interface unit 11, discrete signal interface unit 12 and analog signal interface unit 13; Wherein, described bus communication interface unit 11, described discrete signal interface unit 12 and described analog signal interface unit 13 are connected the sensor multi-path choice matrix unit 21 of described general-purpose machine driver module 3 in parallel; Bus communication interface unit 11, for connecting the sensor of bus output type, receives the measured data of the various kinds of sensors that bus exports, and transfers to sensor multi-path choice matrix unit; Discrete signal interface unit 12, for connecting the sensor exported as Transistor-Transistor Logic level or CMOS level signal, receives the measured data of the various kinds of sensors that TTL or CMOS level signal exports, and transfers to sensor multi-path choice matrix unit; The sensor that analog signal interface unit 13 exports for connection mode analog quantity, receives the measured data of the various kinds of sensors of analog output, and transfers to sensor multi-path choice matrix unit.
Described universal chassis control module 2 comprises sensor multi-path choice matrix unit 21, multi-sensor information fusion unit 22, path locus tracking cell 23, driver multi-path choice matrix unit 24, drive and control of electric machine unit 25 and the first wireless communication interface unit 26; Wherein, described sensor multi-path choice matrix unit 21 connects described drive and control of electric machine unit 25 by described multi-sensor information fusion unit 22, described path locus tracking cell 23, described driver multi-path choice matrix unit 24 successively; Described sensor multi-path choice matrix unit 21 is connected described configuration module 4 with described driver multi-path choice matrix unit 24 respectively by described first wireless communication interface unit 26.
More specifically, sensor multi-path choice matrix unit 21 connects the first wireless communication interface unit 26 and multi-sensor information fusion unit 22, receive the actual multiple sensor data be connected of product that universal sensor interface module 1 transmits, and according to the sensor configuring matrix received by the first wireless communication interface unit 26, multiple sensor data are carried out to the pretreatment of matrixing mapping, then the data after process are transferred to multi-sensor information fusion unit.Multi-sensor information fusion unit 22 access path track following unit 23, multi-sensor information fusion unit can process the information fusion of various kinds of sensors, there is higher System Error-tolerance Property and real-time, it is to carrying out separately independently feature extraction and identifying processing via sensor multi-path choice matrix Hou Mei road sensing data, obtain the estimated information of every road sensor, fusion optimization is carried out again according to the result of decision of decision rule to every road sensor, finally obtain the result of decision of multi-sensor data fusion system, and transfer to path locus tracking cell.Path locus tracking cell 23 connects driver multi-path choice matrix unit 24, path locus tracking cell 23 receives coordinate of ground point information, chassis coordinate information, obstacle information and the motor rotation angle measurement information that multi-sensor data fusion unit sends over, realize trajectory planning, the velocity close-loop control that barrier constraint kept away by band, controlled quentity controlled variable exports driver multi-path choice matrix unit 24 to.Driver multi-path choice matrix unit 24 connects the first wireless communication interface unit 26 and drive and control of electric machine unit 25, the signal output part connection universal motor drive module 3 of drive and control of electric machine unit 25, the controlled quentity controlled variable received from path locus tracking cell, according to the drive motors configuring matrix received by wireless communication interface unit, is mapped to the corresponding drive and control of electric machine algorithm of drive and control of electric machine unit 25 by driver multi-path choice matrix unit 24.The closed-loop current control that drive and control of electric machine unit 25 can realize stepper motor, brush direct current motor, DC brushless motor and permagnetic synchronous motor and the pulse-width signal produced needed for corresponding motor, and export general-purpose machine driver module to.The pulse-width signal that the drive and control of electric machine unit 25 that driving stepper motor unit 31, brush direct current motor driver element 32, driven by Brush-Less DC motor unit 33 and permagnetic synchronous motor driver element 34 receive universal chassis control module 2 transmits.
Described configuration module 4 comprises user's configuration interface 42 and the second wireless communication interface unit 41; Wherein, described second wireless communication interface unit 41 connects described sensor multi-path choice matrix unit 21 and described driver multi-path choice matrix unit 24 by described first wireless communication interface unit 26.User's configuration interface 42 is graphical interfaces.User's configuration interface 42 receives user to the sensor configuration information on General Mobile chassis and drive motors configuration information in the mode of graphic interface.Sensor configuration information comprises the channel position of the sensor that be connected actual in product, sensing type and parameter sensing.After having configured, generate sensor configuring matrix and drive motors configuring matrix, then by the first wireless communication interface unit 26, sensor configuring matrix and drive motors configuring matrix are transferred to universal chassis control module 2.
Described general-purpose machine driver module 3 comprises driving stepper motor unit 31, brush direct current motor driver element 32, driven by Brush-Less DC motor unit 33 and permagnetic synchronous motor driver element 34; Wherein, described driving stepper motor unit 31, described brush direct current motor driver element 32, described driven by Brush-Less DC motor unit 33 are connected drive and control of electric machine unit 25 in parallel with described permagnetic synchronous motor driver element 34, receive the pulse-width signal that drive and control of electric machine unit 25 transmits.
Described user's configuration interface is for generating sensor configuring matrix and drive motors configuring matrix; It is general that described sensor configuring matrix realizes universal sensor interface module 1 by multi-sensor information fusion technology; Drive motors configuring matrix realizes the general of general-purpose machine driver module 3 by the Drive Control Technique of multiclass motor.
Described bus communication interface unit 11 comprises wired communication interface and wireless communication interface; Described wired communication interface comprises any one in serial ports, CAN and Ethernet or appoints multiple; Described wireless communication interface comprises any one in WiFi module, bluetooth module and ZigBee module or appoints multiple.
Described general-purpose machine driver module is for driving the number of different types motor selected in mobile chassis; Number of different types motor comprises stepper motor, brush direct current motor, DC brushless motor and permagnetic synchronous motor.
Described driving stepper motor unit 31 comprises the H-bridge drive circuit that the first connected integrated drive chips and metal-oxide-semiconductor are built; Described brush direct current motor driver element 32 comprises the H-bridge drive circuit that the second connected integrated drive chips and metal-oxide-semiconductor are built; Described driven by Brush-Less DC motor unit 33 comprises the three-phase bridge drive circuit that the 3rd connected integrated drive chips and metal-oxide-semiconductor are built; Described permagnetic synchronous motor driver element 34 comprises the three-phase bridge drive circuit that the 4th connected integrated drive chips and metal-oxide-semiconductor are built; Described first integrated drive chips, described second integrated drive chips, described 3rd integrated drive chips and described 4th integrated drive chips connect described drive and control of electric machine unit 25.
Be specially, the stepper motor pulse-width signal that the drive and control of electric machine unit 25 that driving stepper motor unit 31 receives universal chassis control module 2 transmits, via the H-bridge drive circuit that the first integrated drive chips and metal-oxide-semiconductor are built, can be used for realizing the driving of stepper motor.The brush motor pulse-width signal that the drive and control of electric machine unit 25 that brush direct current motor driver element 32 receives universal chassis control module 2 transmits, via the H-bridge drive circuit that the second integrated drive chips and metal-oxide-semiconductor are built, can be used for realizing the driving of brush direct current motor.The brushless electric machine pulse-width signal that the drive and control of electric machine unit 25 that driven by Brush-Less DC motor unit 33 receives universal chassis control module 2 transmits, via the three-phase bridge drive circuit that the 3rd integrated drive chips and metal-oxide-semiconductor are built, can be used for realizing the driving of DC brushless motor.The permagnetic synchronous motor pulse-width signal that the drive and control of electric machine unit 25 that permagnetic synchronous motor driver element 34 receives universal chassis control module 2 transmits, via the three-phase bridge drive circuit that the 4th integrated drive chips and metal-oxide-semiconductor are built, can be used for realizing the driving of permagnetic synchronous motor.
General Mobile chassis control system provided by the invention, also comprises multi-sensor information fusion unit and drive and control of electric machine unit; Wherein, described multi-sensor information fusion unit is used for the information fusion of process mobile chassis multiple sensors in real time, and described electric-motor drive unit controls for the digital drive of number of different types mobile chassis motor.
In the present embodiment, can the chassis sensor of compatible distinct interface and drive motors on hardware of the present invention, software generates sensor configuring matrix and drive motors configuring matrix by configuration interface configuration, the versatility of software view is realized again by the Drive Control Technique of multi-sensor information fusion technology and multiclass motor, solve by the not common question of various chassis control system brought of the various and chassis drive form of different mobile chassis sensor interface mode, well meet all kinds of mobile robot to chassis control system rapid Design, the requirement of fast Development and test fast.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. a General Mobile chassis control system, is characterized in that, comprises universal sensor interface module (1), universal chassis control module (2), general-purpose machine driver module (3) and configuration module (4);
Wherein, described universal sensor interface module (1) connects described general-purpose machine driver module (3) by described universal chassis control module (2); Described configuration module (4) connects described universal chassis control module (2).
2. General Mobile chassis control system according to claim 1, it is characterized in that, described universal sensor interface module (1) comprises bus communication interface unit (11), discrete signal interface unit (12) and analog signal interface unit (13);
Wherein, described bus communication interface unit (11), described discrete signal interface unit (12) and described analog signal interface unit (13) are connected the sensor multi-path choice matrix unit (21) of described general-purpose machine driver module (3) in parallel;
Bus communication interface unit (11) is for connecting the sensor of bus output type, discrete signal interface unit (12) is for connecting the sensor exported as Transistor-Transistor Logic level or CMOS level signal, the sensor that analog signal interface unit (13) exports for connection mode analog quantity.
3. General Mobile chassis control system according to claim 1, it is characterized in that, described universal chassis control module (2) comprises sensor multi-path choice matrix unit (21), multi-sensor information fusion unit (22), path locus tracking cell (23), driver multi-path choice matrix unit (24), drive and control of electric machine unit (25) and the first wireless communication interface unit (26);
Wherein, described sensor multi-path choice matrix unit (21) connects described drive and control of electric machine unit (25) by described multi-sensor information fusion unit (22), described path locus tracking cell (23), described driver multi-path choice matrix unit (24) successively;
Described sensor multi-path choice matrix unit (21) is connected described configuration module (4) with described driver multi-path choice matrix unit (24) respectively by described first wireless communication interface unit (26).
4. General Mobile chassis control system according to claim 3, is characterized in that, described configuration module (4) comprises user's configuration interface (42) and the second wireless communication interface unit (41);
Wherein, described second wireless communication interface unit (41) connects described sensor multi-path choice matrix unit (21) and described driver multi-path choice matrix unit (24) by described first wireless communication interface unit (26).
5. General Mobile chassis control system according to claim 3, it is characterized in that, described general-purpose machine driver module (3) comprises driving stepper motor unit (31), brush direct current motor driver element (32), driven by Brush-Less DC motor unit (33) and permagnetic synchronous motor driver element (34);
Wherein, described driving stepper motor unit (31), described brush direct current motor driver element (32), described driven by Brush-Less DC motor unit (33) are connected drive and control of electric machine unit (25) in parallel with described permagnetic synchronous motor driver element (34), receive the pulse-width signal that drive and control of electric machine unit (25) transmits.
6. General Mobile chassis control system according to claim 1, is characterized in that, described user's configuration interface is for generating sensor configuring matrix and drive motors configuring matrix;
It is general that described sensor configuring matrix realizes universal sensor interface module (1) by multi-sensor information fusion technology;
Drive motors configuring matrix realizes the general of general-purpose machine driver module (3) by the Drive Control Technique of multiclass motor.
7. General Mobile chassis control system according to claim 1, is characterized in that, described bus communication interface unit 11 comprises wired communication interface and wireless communication interface;
Described wired communication interface comprises any one in serial ports, CAN and Ethernet or appoints multiple; Described wireless communication interface comprises any one in WiFi module, bluetooth module and ZigBee module or appoints multiple.
8. General Mobile chassis control system according to claim 1, is characterized in that, described general-purpose machine driver module is for driving the number of different types motor selected in mobile chassis; Number of different types motor comprises stepper motor, brush direct current motor, DC brushless motor and permagnetic synchronous motor.
9. General Mobile chassis control system according to claim 5, is characterized in that, described driving stepper motor unit (31) comprises the H-bridge drive circuit that the first connected integrated drive chips and metal-oxide-semiconductor are built; Described brush direct current motor driver element (32) comprises the H-bridge drive circuit that the second connected integrated drive chips and metal-oxide-semiconductor are built; Described driven by Brush-Less DC motor unit (33) comprises the three-phase bridge drive circuit that the 3rd connected integrated drive chips and metal-oxide-semiconductor are built; Described permagnetic synchronous motor driver element (34) comprises the three-phase bridge drive circuit that the 4th connected integrated drive chips and metal-oxide-semiconductor are built;
Described first integrated drive chips, described second integrated drive chips, described 3rd integrated drive chips and described 4th integrated drive chips connect described drive and control of electric machine unit (25).
10. General Mobile chassis control system according to claim 3, it is characterized in that, described multi-sensor information fusion unit is used for the information fusion of process mobile chassis multiple sensors in real time, and described drive and control of electric machine unit controls for the digital drive of number of different types mobile chassis motor.
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| CN201510657958.2A CN105234937B (en) | 2015-10-13 | 2015-10-13 | General Mobile chassis control system |
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| CN105234937B CN105234937B (en) | 2017-12-22 |
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| CN105234937B (en) | 2017-12-22 |
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