CN111216123A - Humanoid robot arm control and fault diagnosis system - Google Patents
Humanoid robot arm control and fault diagnosis system Download PDFInfo
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- CN111216123A CN111216123A CN201911211870.2A CN201911211870A CN111216123A CN 111216123 A CN111216123 A CN 111216123A CN 201911211870 A CN201911211870 A CN 201911211870A CN 111216123 A CN111216123 A CN 111216123A
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
The invention provides a humanoid robot arm control and fault diagnosis system, which comprises: an upper computer part and an arm part; the upper computer part comprises a touch screen and a control system, wherein the touch screen is used for displaying data related to the arm part; the control system is used for controlling the arm part to perform at least one of the following operations in a closed-loop control mode according to the touch operation of the user on the touch screen: the control system comprises a task operation of the arm part, a fault diagnosis operation of the arm part, a parameter setting operation of the arm part, an adjusting operation of an assembling deviation of a steering engine component of the arm part, and is also used for indicating data and state display operation of the steering engine component of the arm part by the touch screen.
Description
Technical Field
The invention relates to the field of robots, in particular to a system for controlling arms and diagnosing faults of a humanoid robot.
Background
With the development of society and the continuous progress of science and technology, the robot technology gradually becomes a hot field of the development of society, and the first riches microsoft of the world creates a forecast of belgutz: the robot can repeat the rise of personal computers, becomes a part of daily life of people, and realizes that the robots are available at home. The novel robot toy is an industry which is different in quality, high in dispersion and not formed into a unified standard, and therefore the problems that project development difficulty is large, the period is long, technology accumulation is low and the like in the industry are caused. The trend of robot modularization and platform unification is more and more obvious.
Domestic patent CN 107309880 discloses a humanoid robot device and a control system thereof. The apparatus includes a communication circuit for establishing a connection with an external device so that the external device operates the humanoid robot apparatus through the communication circuit; the accommodating space is arranged in the device and used for accommodating external equipment, and the external equipment is connected with the communication circuit; the microprocessor is respectively connected with the communication circuit and the steering engine component, the microprocessor is used for processing first data received by the communication circuit and coming from external equipment and generating a control command, and the steering engine component is used for receiving the control command from the microprocessor and executing the control command. However, the robot is regarded as a whole by the scheme, the robot is communicated with the outside through the communication circuit, all parts are controlled through the microcontroller, the robot is a complex and unified whole in practical application and consists of a plurality of parts, all the methods are not beneficial to modularization of all the parts of the robot, and the robot is inconvenient to research and development, production and later maintenance.
Domestic patent CN 109581994 discloses a robot fault diagnosis method, system and terminal device, the method includes: running a fault diagnosis program, and diagnosing the hardware running state and the main control program running state corresponding to the fault diagnosis program; detecting whether diagnostic data reported by a fault diagnostic program is received or not; if so, analyzing the diagnostic data and packaging the diagnostic data into diagnostic information in a preset data format; the diagnostic information is saved as a diagnostic log file. The method and the device can detect hardware faults and software faults of the robot, so that maintenance personnel can detect the faults of the robot by directly calling the diagnosis log file.
However, the domestic patent CN 109581994 provides a running fault diagnosis program, which is written by a programmer in advance, and although various states and faults that may occur are considered, in practical application, various abnormal situations often occur, and when faults that are out of the range considered by the programmer occur, the solidified diagnosis program fails; secondly, when the system truly diagnoses some software BUGs, professional technicians are still required to disassemble the system, and then software writers debug and update programs, so that the problem is still time-consuming and labor-consuming to solve.
In addition, most of the existing humanoid robot arm control systems usually adopt an open-loop control mode, the control systems issue instructions to enable the arms to execute various actions, and the control mode is simple, but the problems that the instructions are lost, the arms are not executed in place and the like are often encountered.
The humanoid robot is a complex and unified whole and is composed of a plurality of parts, arms in the robot parts are very important, and the arms are final implementation tools for the robot to complete task operation, so that reasonable design, control, fault detection and maintenance upgrading of the robot arms become more important.
Firstly, the robot arm is the most movable part of the robot, wherein the communication of each joint is particularly important, but the traditional wiring mode easily causes the problems of winding, breaking and the like; secondly, in the process of assembling the robot arm, the assembling of the steering engines of all joints of the arm has more or less deviation, the two arms are difficult to assemble completely and consistently, and manual adjustment wastes time and labor; finally, in the process of executing various tasks by the arm, various abnormal conditions may be met, when the problems are met, professional technicians usually perform machine disassembly detection on the robot arm, the problems cannot be quickly positioned, the fault cause is difficult to find out, general maintenance personnel can only check hardware problems such as appearance, wiring and the like, software faults need software writers to detect, and the difficulty in troubleshooting the robot arm faults is greatly increased.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a humanoid robot arm control and fault diagnosis system which can improve the operation efficiency and simplify the operation difficulty aiming at the defects in the prior art.
According to the present invention, there is provided a humanoid robot arm control and fault diagnosis system comprising: an upper computer part and an arm part; the upper computer part comprises a touch screen and a control system, wherein the touch screen is used for displaying data related to the arm part; the control system is used for controlling the arm part to perform at least one of the following operations in a closed-loop control mode according to the touch operation of the user on the touch screen: the control system comprises a task operation of the arm part, a fault diagnosis operation of the arm part, a parameter setting operation of the arm part, an adjusting operation of an assembling deviation of a steering engine component of the arm part, and is also used for indicating data and state display operation of the steering engine component of the arm part by the touch screen.
Preferably, the data relating to the arm part comprises: the data of each joint steering engine, the running state information and the fault information.
Preferably, the control system is adapted to instruct the touch screen to display the log information for viewing of the historical data by the user.
Preferably, the arm part comprises a multi-joint mechanical arm controlled by an arm control plate, each joint of the multi-joint mechanical arm consists of an intelligent steering engine with a protection circuit, and a conductive slip ring is used for transmitting power and communication signals among the joints.
Preferably, the conductive slip ring is mounted on each rotary joint, and the input and output ends of the conductive slip ring are connected with the communication line.
Preferably, the intelligent steering engine comprises: the device comprises a motor, a drive circuit, a detection circuit, a protection circuit and a microcontroller with a CAN bus; the CAN bus is used for communicating with the outside, feeding back the angle of the motor, feeding back the temperature, feeding back the torque force and feeding back the overvoltage, overcurrent and locked-rotor state, and receiving an external instruction about executing related operations; the steering engine adopts a CAN bus to communicate with an arm control panel through a conductive slip ring.
Preferably, the upper computer partial system runs the arm task after being started, inquires whether the arm of the arm control panel is ready or not, sends data or a control command when the arm is ready, and the arm control panel replies a response message capable of identifying the command after receiving the command, verifies the command through the check code and only executes the command passing the verification.
Preferably, the upper computer part reads the firmware information in the mobile memory and then sends the firmware information to the arm part in a preset protocol format for firmware upgrade, wherein the firmware upgrade comprises firmware upgrade of an arm control panel and/or firmware upgrade of a steering engine.
The arm control and fault diagnosis system of the humanoid robot, disclosed by the invention, has the advantages that the arm part of the robot is modularized, the time for the research and development, the production and the later maintenance of the robot is greatly shortened, and the humanoid robot can be applied to different robots only by unifying a communication protocol and a structure. In the control panel device for the arm of the humanoid robot, which is designed by the invention, a plurality of inherent gesture actions are saved, the execution can be realized only by sending corresponding instructions to the control panel device by the upper computer, and various states of the arm and the finger of the robot are fed back in real time, so that the robot is practical, simple and convenient.
Drawings
A more complete understanding of the present invention, and the attendant advantages and features thereof, will be more readily understood by reference to the following detailed description when considered in conjunction with the accompanying drawings wherein:
fig. 1 schematically shows a system block diagram of a humanoid robot arm control and fault diagnosis system according to a preferred embodiment of the present invention.
Fig. 2 schematically shows an arm task flow diagram of the humanoid robot arm control and fault diagnosis system according to the preferred embodiment of the present invention.
Fig. 3 schematically shows a functional block diagram of an arm part of the humanoid robot arm control and fault diagnosis system according to a preferred embodiment of the present invention.
Fig. 4 schematically shows an example of the conductive slip ring of the arm part of the humanoid robot arm control and fault diagnosis system according to the preferred embodiment of the present invention.
Fig. 5 schematically shows the internal structure of a steering engine of the arm part of the humanoid robot arm control and fault diagnosis system according to the preferred embodiment of the invention.
Fig. 6 schematically shows a palm structure of a hand arm part of the humanoid robot arm control and fault diagnosis system according to a preferred embodiment of the present invention.
Fig. 7 is a block diagram schematically showing a display part of an upper computer part of the humanoid robot arm control and fault diagnosis system according to the preferred embodiment of the present invention.
Fig. 8 schematically shows a steering engine correction operation flow of the humanoid robot arm control and fault diagnosis system according to the preferred embodiment of the invention.
Fig. 9 schematically shows a steering engine calibration operation interface of the humanoid robot arm control and fault diagnosis system according to the preferred embodiment of the invention.
Fig. 10 schematically shows a fault diagnosis flowchart.
FIG. 11 schematically illustrates an interactive interface debugging view.
Fig. 12 schematically shows a firmware upgrade flow chart.
Fig. 13 schematically shows a firmware upgrade and jump flow diagram of the humanoid robot arm control and fault diagnosis system according to a preferred embodiment of the present invention.
It is to be noted, however, that the appended drawings illustrate rather than limit the invention. It is noted that the drawings representing structures may not be drawn to scale. Also, in the drawings, the same or similar elements are denoted by the same or similar reference numerals.
Detailed Description
In order that the present disclosure may be more clearly and readily understood, reference will now be made in detail to the present disclosure as illustrated in the accompanying drawings.
< first embodiment >
Fig. 1 schematically shows a system block diagram of a humanoid robot arm control and fault diagnosis system according to a preferred embodiment of the present invention.
As shown in fig. 1, the humanoid robot arm control and fault diagnosis system according to the preferred embodiment of the present invention comprises: a host computer portion 100 and an arm portion 200. The upper computer part 100 includes a touch screen 101 and a control system 102 (for example, a processor implementing an Android end application), and the touch screen 101 is used for displaying data related to the arm part 200; the control system 102 is configured to perform at least one of the following operations according to a touch operation of the user on the touch screen 101: controlling the arm part 200 to perform a task operation, performing a fault diagnosis operation of the arm part 200, performing a parameter setting operation of the arm part 200, performing an adjustment operation of an assembly deviation of a steering engine component of the arm part 200, and performing a display operation indicating data and a state of the steering engine component of the arm part 200 by the touch screen 101.
For example, data associated with arm part 200 includes: steering engine data, operating state information and fault information (such as fault codes) of all joints.
Preferably, the control system 102 is used to instruct the touch screen 101 to display log information for the user to view historical data.
The arm part 200 is packaged into an independent part, and the coupling relation with the Android end of the upper computer is well isolated. Preferably, arm portion 200 includes an arm control panel, a conductive slip ring, a steering engine assembly, and a palm.
For example, the arm part 200 includes, for example, two multi-joint robotic arms and is controlled by an arm control board, each joint of the multi-joint robotic arm is composed of an intelligent steering engine with a protection circuit, and a conductive slip ring is used for transmitting power and communication signals between the joints. The arm and the Android end communicate through a CANBUS, the arm receives a command issued by the Android end and data issued by the Android end to generate a related command to execute related operations, angle, temperature, voltage, current, torsion and state information of each steering engine of the arm are fed back to the Android end, and the Android end performs comprehensive judgment, then makes corresponding response and stores the data in a history log.
The Android end arm task control mode adopts closed-loop control, after the system is started, an arm task is operated, whether an arm of an arm control panel is ready is inquired, if the arm is ready, data or a control instruction is issued, the arm control panel replies a piece of response information after receiving the instruction, the response information can identify the response to the instruction, such as information including an identification code, a serial number and the like of the instruction, and the verification is carried out through a verification code, and only the verified instruction can be executed; in the mode, each process controlled by the arm can be clearly obtained, each step of completing the operation of issuing the instruction to the arm is performed, when the problems of response overtime, response error and the like occur, the system retransmits the instruction again, under the extreme condition, the system retransmits the instruction for many times and still cannot obtain an effective response, the system exits from a retransmission mechanism, the retransmission times can be taken according to actual application, and software endless loop caused by the problems of hardware and the like is avoided; no matter the Android end and the arm control panel or the arm control panel, the microcontroller and the steering engine are in a closed-loop control mode, the closed-loop control is a control mode which is flexible and high in working efficiency, and whether successful sending of instructions and operation execution are successful or not is effectively guaranteed. The arm task flow is shown in fig. 2.
< specific examples of arm parts >
In the example, the arm part of the humanoid robot is composed of an arm control panel, a conductive slip ring, a steering engine component and a palm, wherein the multi-joint mechanical arm consists of a shoulder blade, a first section arm, an elbow joint, a second section arm and a palm, the shoulder blade, the first section arm, the elbow joint and the second section arm are all provided with a steering engine, the hand-operated steering engine is used for realizing the actions of arm rotation, extension, grabbing and the like, the power and signals required by the rotation of the steering engine are provided by the conductive slip ring, the palm is provided with five independently controllable fingers, each finger is controlled by one motor respectively, not only can various anti-man gesture actions such as finger guessing, praise, hand waving and the like be executed, and can snatch the article, each joint carries out communication transmission through electrically conductive sliding ring, greatly reduced the circuit because of rotatory communication failures such as wire winding, broken string. A block diagram of the arm part is shown in figure 3.
The conductive slip ring is different from a motor, and the motor is a device for realizing electric energy conversion according to the electromagnetic induction law and mainly plays a role in generating driving torque. The conductive slip ring is a rotary joint formed by mutual friction of a rotor and a stator, and drives a shaft body and an electric brush wire to mutually rub and transmit energy and signals through a bearing, the signals and the energy are transmitted out through a lead welded on a slip ring sheet, the lead is connected with equipment, so that the signals can be smoothly transmitted to the equipment, and the conductive slip ring is mainly used for transmitting electric signals. The conductive slip ring can transmit a plurality of signal types, common signals include an encoder, a medium-high frequency signal, a USB (universal serial bus), an Ethernet signal, a CANBUS (computer-aided bus), a digital/analog video and the like, CANBUS communication is adopted in the example, the conductive slip ring is installed on each rotary joint, a communication line is connected to the input end and the output end of the rotary joint, and the problems of winding and disconnection of the robot arm in the past are effectively solved. The conductive slip ring is shown in FIG. 4
The invention designs a steering engine with a microcontroller for an arm in the design of an arm part, which comprises: the device comprises a motor, a drive circuit, a detection circuit, a protection circuit and a microcontroller with a CAN bus; the CAN bus is used for state feedback such as external communication, motor angle feedback, temperature feedback, torque feedback, overvoltage, overcurrent and stalling and the like, and receiving external instructions to execute related operations; in the steering engine with the microcontroller for the arm, the CAN bus is adopted to communicate with the arm control panel through the conductive slip ring, so that not only is a complex wiring mode omitted, but also any expansibility of the arm steering engine is realized, and the number of the steering engines CAN be increased or decreased according to different requirements without influencing the whole bus. The internal structure of the steering engine is shown in figure 5.
The palm is designed into an independent module and consists of a microcontroller, a motor component, an angle sensor, a force sensor and the like; the microcontroller is provided with a CAN bus interface and is used for communicating with the outside and communicating with the arm control panel in the design; the motor assembly consists of six motors, the six motors respectively control the freedom degree of the thumb, the index finger, the middle finger, the ring finger and the little finger, and each motor is provided with an angle sensor for acquiring the angle of the motor; the force sensor is used for acquiring the force of the palm; various gesture actions may be performed, such as: like a praise, an OK, a fist, etc., and can also grab various small objects. The palm module is shown in fig. 6.
< Upper computer portion >
The upper computer portion 100 includes a touch screen 101 and a control system 102 (e.g., a processor implementing an Android-side application). The upper computer part 100 is used for information interaction, parameter setting, fault diagnosis, firmware upgrading and the like with a lower computer (an arm control panel and a steering engine), and a display interface mainly comprises three blocks: 1. the system comprises an interactive interface, a fault diagnosis interface and a firmware upgrading interface, wherein the interactive interface is used for finely adjusting and detecting communication information of the arm, parameter setting and debugging can be carried out on an arm control panel, the fault diagnosis interface is used for visually displaying diagnosed fault information, the interactive interface can be used for debugging when a fault exceeds the range of a fault diagnosis program, and the firmware upgrading interface is used for upgrading when a software fault is diagnosed or debugged, so that the problem solving efficiency is greatly improved.
① Interactive interface, including steering engine correction and communication test interface, in the robot arm assembly process, the steering engine assembly of each joint of the arm has more or less deviation, the two arms are difficult to assemble completely, and the robot arm is a solidified structure, manual adjustment needs shell disassembly adjustment, the process is time-consuming and labor-consuming, and when the robot is assembled and needs to check arm information or set arm related information, such as software and hardware version of the arm control panel, and various parameters of the arm steering engine, the shell disassembly is still needed.
② failure diagnosis interface, in the process of executing each task by the arm, various possible abnormal situations can be encountered, when these problems are encountered, professional technicians usually carry out shell removal detection on the robot arm, it is difficult to quickly locate the problems and find out the causes of the failures, which greatly increases the difficulty of detecting the failures of the robot arm.
③ firmware upgrade interface, wherein the software upgrade speed is much faster than the hardware, when finding that the robot has a BUG, or needs to add or modify some software function, the software needs to be upgraded, and the robot arm controller is generally fixed in the control panel inside the robot, if the program burning interface is led out directly, the cost and material will be added, and the appearance of the robot will be affected, the invention provides a firmware upgrade mode for the lower computer microprocessor through the Android port, the firmware is read through the mobile memory (such as a U-disk) at the Android port, and then the firmware is sent to the lower computer for upgrade in a certain protocol format, the firmware upgrade mode is not only suitable for the arm control panel in the invention, the steering engine firmware upgrade is also suitable, the firmware upgrade flow chart is as shown in figure 12.
The most common micro-processor in the lower computers (the arm control panel and the steering engine) is a processor of a Cortex-M kernel, the processor of the kernel has the characteristics of low power consumption, good performance, convenience in debugging, low development difficulty and the like, and in order to avoid the trouble that a shell needs to be detached when a software problem occurs in the microcontroller or a new function needs to be added, the microprocessor is updated on line through an Android end-fixed piece upgrading interface. So-called online update, firstly, the memory space of the microprocessor needs to be divided, one section is used for storing a BootLoader program, and the other section is used for storing an APP, namely a firmware program. The Bootloader program is solidified in a memory through a burner, then the upper computer sends the firmware program to the Bootloader through serial ports/CAN/internet ports and other modes, the Bootloader receives the firmware program, the Flash of the firmware section is erased, and the firmware program is successfully written and then jumps to the process of running the firmware program. The firmware upgrade and jump to firmware run flow diagram is shown in fig. 13.
< technical effects >
The system of the invention adopts closed-loop control, effectively solves the problems of losing and not executing the instructions of the robot arm in the past, and the control mode can clearly acquire each step of the robot arm control, thereby not only ensuring the stability of communication, but also being easy to check when communication faults occur. The novel intelligent steering engine is designed, the steering engine can not only feed back information such as angle and torque force, but also has a protection function, and therefore the service life of the steering engine is prolonged, and the repair rate of the steering engine is reduced. The arm is additionally provided with a conductive slip ring, the conductive slip ring is arranged on each rotary joint, and the communication line is connected to the input end and the output end of the communication line, so that the problem of hardware faults of winding and breaking of the traditional robot arm is effectively solved. The firmware upgrading function of the lower computer can be used for carrying out online upgrading through the Android terminal when the lower computer needs to update the firmware due to function adjustment or software BUG, so that the trouble of shell removal and burning is avoided. In the invention, the arm and the palm are designed into a single module, so that later maintenance and replacement are facilitated when problems occur.
In conclusion, the arm control and fault diagnosis system of the humanoid robot, provided by the invention, has the advantages that the arm part of the robot is modularized, the time is greatly shortened for the research and development, the production and the later maintenance of the robot, and the humanoid robot can be applied to different robots only by unifying a communication protocol and a structure. In the control panel device for the arm of the humanoid robot, which is designed by the invention, a plurality of inherent gesture actions are saved, the execution can be realized only by sending corresponding instructions to the control panel device by the upper computer, and various states of the arm and the finger of the robot are fed back in real time, so that the robot is practical, simple and convenient.
It should be noted that the terms "first", "second", "third", and the like in the description are used for distinguishing various components, elements, steps, and the like in the description, and are not used for indicating a logical relationship or a sequential relationship between the various components, elements, steps, and the like, unless otherwise specified.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (8)
1. The utility model provides a humanoid robot arm control and fault diagnosis system which characterized in that includes: an upper computer part and an arm part; the upper computer part comprises a touch screen and a control system, wherein the touch screen is used for displaying data related to the arm part; the control system is used for controlling the arm part to perform at least one of the following operations in a closed-loop control mode according to the touch operation of the user on the touch screen: the control system comprises a task operation of the arm part, a fault diagnosis operation of the arm part, a parameter setting operation of the arm part, an adjusting operation of an assembling deviation of a steering engine component of the arm part, and is also used for indicating data and state display operation of the steering engine component of the arm part by the touch screen.
2. The humanoid robotic arm control and fault diagnosis system of claim 1, wherein the data relating to the arm part comprises: the data of each joint steering engine, the running state information and the fault information.
3. The humanoid robotic arm control and fault diagnosis system of claim 1 or 2, wherein the control system is configured to instruct the touch screen to display log information for a user to view historical data.
4. The system for controlling the arm and diagnosing the fault of the humanoid robot as claimed in claim 1 or 2, wherein the arm part comprises a multi-joint mechanical arm controlled by an arm control board, each joint of the multi-joint mechanical arm is composed of an intelligent steering engine with a protection circuit, and a conductive slip ring is used for transmitting power and communication signals among the joints.
5. The humanoid robot arm control and fault diagnosis system of claim 4, wherein a conductive slip ring is mounted on each rotary joint, and input and output ends of the conductive slip ring are connected to the communication line.
6. The humanoid robot arm control and fault diagnosis system of claim 4, characterized in that, intelligent steering engine includes: the device comprises a motor, a drive circuit, a detection circuit, a protection circuit and a microcontroller with a CAN bus; the CAN bus is used for communicating with the outside, feeding back the angle of the motor, feeding back the temperature, feeding back the torque force and feeding back the overvoltage, overcurrent and locked-rotor state, and receiving an external instruction about executing related operations; the steering engine adopts a CAN bus to communicate with an arm control panel through a conductive slip ring.
7. The humanoid robot arm control and fault diagnosis system of claim 1 or 2, wherein the upper computer partial system runs the arm task after being started, inquires whether the arm of the arm control panel is ready, issues data or control commands when the arm is ready, the arm control panel replies a response message capable of identifying the command after receiving the command, verifies the command through the check code and only executes the command that the verification passes.
8. The humanoid robot arm control and fault diagnosis system of claim 1 or 2, wherein the upper computer part reads firmware information in the mobile memory and then sends the firmware information to the arm part in a predetermined protocol format for firmware upgrade, wherein the firmware upgrade comprises firmware upgrade of an arm control panel and/or firmware upgrade of a steering engine.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102608A (en) * | 2021-12-24 | 2022-03-01 | 江苏汇博机器人技术股份有限公司 | Multifunctional robot fault diagnosis system |
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