CN112659128A - Robot brain and human-computer cooperative control brain parallel cooperative control method - Google Patents
Robot brain and human-computer cooperative control brain parallel cooperative control method Download PDFInfo
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- CN112659128A CN112659128A CN202011583794.0A CN202011583794A CN112659128A CN 112659128 A CN112659128 A CN 112659128A CN 202011583794 A CN202011583794 A CN 202011583794A CN 112659128 A CN112659128 A CN 112659128A
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- 210000004556 brain Anatomy 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000010992 reflux Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims 1
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Abstract
The invention discloses a robot brain and a human-computer cooperative control brain parallel cooperative control method, which belongs to the technical field of cooperative control.A mainboard, a wireless remote controller and a receiver are connected through a CAN bus to realize the transmission of unified CAN commands; the method comprises the following steps that a key word list to be identified is set in a receiver, key words spoken by a user are identified, the user does not need to conduct recording training at any place, and a CAN interface of a PLC CAN receive any data on a bus without any analysis burden difference; respectively receiving flow reflux of the mainboard, the wireless remote controller and the receiver; the two are controlled in a time-sharing way, only one of the two can transmit data to the bus in the same time period, so that false operation caused by cross control is avoided, the aim of respective control is achieved, mutual interference action is avoided, and machine control and man-machine control are cooperatively controlled by adopting a parallel connection control mode.
Description
Technical Field
The invention relates to the technical field of cooperative control, in particular to a cooperative control method for a robot brain and a human-computer cooperative control brain in parallel.
Background
In operation, people often need to communicate with a customer through a telephone, and many times, people get a pile of contact lists and have to call one input number. The speed of inputting the number becomes a bottleneck limiting the working efficiency of people, and the problems that the time is long and the efficiency is low when a user contacts a client by manually inputting the number in an office scene are solved.
How to rely on the existing desktop end communication software, the fast calling is realized through technical means, the working efficiency is improved, and the problem that people have to think is solved.
Disclosure of Invention
The invention aims to provide a robot brain and a human-computer cooperative control brain parallel cooperative control method to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the robot brain and human-computer cooperative control brain parallel cooperative control method comprises the following steps:
s1: a wireless remote controller for wireless communication is added on a 32-bit mainboard, wherein the mainboard is connected with a receiver through the wireless remote controller, and the mainboard, the wireless remote controller and the receiver are connected through a CAN bus to realize the transmission of unified CAN instructions;
s2: the remote controller and the main board simultaneously control an execution component PLC of a control vehicle body through a unified CAN command, a key word list to be identified is set in the receiver, the key words are transmitted to the interior of the LD3320 in a character mode, the key words spoken by a user are identified, the user does not need to carry out any recording training, and a CAN interface of the PLC CAN receive any data on a bus without any analysis burden difference;
s3: an application shunt is deployed in a CAN bus domain network, a plurality of groups of mainboards, wireless remote controllers and receivers are connected in a butt joint mode, the data stream application redirection of an access control list is matched, the interface IP of the application shunt is pointed, meanwhile, the port state is bound, and the flow reflux of the mainboards, the wireless remote controllers and the receivers is respectively received;
s4: the PLC knows whether the main body controlled in the time period is from a main control board of the Invitta or from a receiver of the wireless remote controller, the two are controlled in a time-sharing manner, only one main body can transmit data to the bus in the same time period, and therefore misoperation caused by cross control is avoided, the purpose of separate control is achieved, and mutual interference action is also avoided.
Furthermore, the mainboard and the receiver are connected in a quick connection mode, and the PLC, the mainboard and the receiver are connected in series through a four-core bus compounded by electric power and data.
Furthermore, the receiver is internally provided with an interface circuit, a reset circuit, a display circuit, a memory circuit, a singlechip and a booster circuit, wherein the interface circuit, the reset circuit, the display circuit, the memory circuit and the booster circuit are respectively connected with the singlechip.
Furthermore, the bus domain network side can redirect all important private line IPs needing to be optimized to the application shunt according to the uniform configuration without marking different labels on the classes of the private lines by a similar label optimization scheme.
Further, the motherboard etson TX2 is a 7.5W single-module super computer based on NVIDIA PascalTMThe GPU architecture is loaded with 8GB memory, the memory bandwidth is 59.7 GB/s, and the Jetson TX2 is provided with a plurality of standard hardware interfaces.
Further, in S4, the PLC is connected to the 10-axis robot position detection network through RK 3399.
Further, in S4, the PLC, the main board, and the receiver are powered by the 24V dc of the vehicle body, and the invida main control and the receiver are connected by the quick connection.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a robot brain and human-computer cooperative control brain parallel cooperative control method, which is characterized in that a wireless remote controller for wireless communication is added on a 32-bit mainboard, wherein the mainboard is connected with a receiver through the wireless remote controller, and the mainboard, the wireless remote controller and the receiver are connected through a CAN bus to realize the transmission of unified CAN commands; a key word list to be identified is set in the receiver, the key words are transmitted to the interior of the LD3320 in a character mode, the key words spoken by a user are identified, the user does not need to carry out any recording training, and the CAN interface of the PLC CAN receive any data on a bus without any analysis burden difference; respectively receiving flow reflux of the mainboard, the wireless remote controller and the receiver; the two are controlled in a time-sharing way, only one of the two can transmit data to the bus in the same time period, so that false operation caused by cross control is avoided, the aim of respective control is achieved, mutual interference action is avoided, and machine control and man-machine control are cooperatively controlled by adopting a parallel connection control mode.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
fig. 2 is a communication diagram of a receiver of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the cooperative control method for the robot brain and the human-computer cooperative control brain in parallel includes the following steps:
the method comprises the following steps: a wireless remote controller for wireless communication is added on a 32-bit mainboard, wherein the mainboard is connected with a receiver through the wireless remote controller, and the mainboard, the wireless remote controller and the receiver are connected through a CAN bus to realize the transmission of unified CAN instructions;
step two: the remote controller and the main board simultaneously control an execution component PLC of a control vehicle body through a unified CAN command, a key word list to be identified is set in the receiver, the key words are transmitted to the interior of the LD3320 in a character mode, the key words spoken by a user are identified, the user does not need to carry out any recording training, and a CAN interface of the PLC CAN receive any data on a bus without any analysis burden difference;
step three: an application shunt is deployed in a CAN bus domain network, a plurality of groups of mainboards, wireless remote controllers and receivers are connected in a butt joint mode, the data stream application redirection of an access control list is matched, the interface IP of the application shunt is pointed, meanwhile, the port state is bound, and the flow reflux of the mainboards, the wireless remote controllers and the receivers is respectively received;
step four: the PLC knows whether the main body controlled in the time period is from a main control board of the Yingwei Dai or from a receiver of the wireless remote controller, the two are controlled in a time-sharing manner, only one main body can transmit data to a bus in the same time period, therefore, the misoperation caused by cross control is avoided, the aim of respective control is achieved, and the mutual interference action is also avoided, the PLC is connected with a 10-axis mechanical arm position detection network through RK3399, the PLC, the main board and the receiver adopt 24V direct current power supply of a vehicle body, and the Yingwei Dai main control and the receiver adopt quick connection.
The mainboard and the receiver are connected in a quick connection mode, and the PLC, the mainboard and the receiver are connected in series through a four-core bus compounded by electric power and data.
Referring to fig. 2, the receiver is internally provided with an interface circuit, a reset circuit, a display circuit, a memory circuit, a single chip microcomputer and a booster circuit, wherein the interface circuit, the reset circuit, the display circuit, the memory circuit and the booster circuit are respectively connected to the single chip microcomputer.
The bus domain network side redirects all important private line IPs needing to be optimized to the application shunt according to uniform configuration without marking different labels on the category of the private line by a similar label optimization scheme, realizes that the master control board of the great Internet is respectively connected with a wireless remote controller and a receiver, optimizes the shunt of different connection modes, realizes link switching protection by utilizing the state characteristic of a bound port and the multi-outlet master-slave characteristic of the application shunt, can automatically rewind flow even if a high-quality outlet or the application shunt fails, and avoids interruption of data transmission service.
The motherboard is etson TX2, which is a 7.5W single-module super computer based on NVIDIA PascalTMGPU architecture, which is loaded with 8GB memory with the memory bandwidth of 59.7 GB/s, and Jetson TX2 is equipped with a plurality of unitsA standard hardware interface.
The controller has a total of 52 input-output points, some of which can be programmed to function as: DI. AI, FB, DO, PWM, PI.
With Jetson TX2, a large deep neural network can now be run on the edge device, achieving higher accuracy. The power consumption is only 7.5 watts, and the energy efficiency is more than 25 times higher than that of the current very advanced desktop CPU. This makes it very suitable for real-time processing for applications with high bandwidth and delay requirements. Including factory robots, commercial drones, enterprise collaboration devices, and smart cameras in smart cities, achieve very high computational performance, accuracy, and energy efficiency via credit card-sized modules.
CANopen is a high-level (layer 7) CAN communication protocol with an attached set of device subprotocols. As a standardized, highly configurable embedded network solution, it is widely used in the fields of real-time industrial applications, robotics, medical, transportation, automotive and aerospace, etc. The CANopen device subprotocol family specifies various standardized communication mechanisms and device functions to serve various applications. The CANopen standard is maintained by the CAN In Automation (CiA) International Consumer and manufacturer Association.
PLC feedback data protocol
PLC feedback data-second PLC sends out, green light reaction of remote controller
Communication frame frequency 1000/S, communication rate 1MBPS, bus voltage 24V, power 48W.
The main board receives the bus information and sends the control command to the bus through the read-write program corresponding to the CAN.
In conclusion; the robot brain and human-computer cooperative control brain parallel cooperative control method is characterized in that a wireless remote controller for wireless communication is added on a 32-bit mainboard, wherein the mainboard is connected with a receiver through the wireless remote controller, and the mainboard, the wireless remote controller and the receiver are connected through a CAN bus to realize the transmission of unified CAN commands; a key word list to be identified is set in the receiver, the key words are transmitted to the interior of the LD3320 in a character mode, the key words spoken by a user are identified, the user does not need to carry out any recording training, and the CAN interface of the PLC CAN receive any data on a bus without any analysis burden difference; respectively receiving flow reflux of the mainboard, the wireless remote controller and the receiver; the two are controlled in a time-sharing way, only one of the two can transmit data to the bus in the same time period, so that false operation caused by cross control is avoided, the aim of respective control is achieved, mutual interference action is avoided, and machine control and man-machine control are cooperatively controlled by adopting a parallel connection control mode.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (7)
1. The robot brain and human-computer cooperative control brain parallel cooperative control method is characterized by comprising the following steps:
s1: a wireless remote controller for wireless communication is added on a 32-bit mainboard, wherein the mainboard is connected with a receiver through the wireless remote controller, and the mainboard, the wireless remote controller and the receiver are connected through a CAN bus to realize the transmission of unified CAN instructions;
s2: the remote controller and the main board simultaneously control an execution component PLC of a control vehicle body through a unified CAN command, a key word list to be identified is set in the receiver, the key words are transmitted to the interior of the LD3320 in a character mode, the key words spoken by a user are identified, the user does not need to carry out any recording training, and a CAN interface of the PLC CAN receive any data on a bus without any analysis burden difference;
s3: an application shunt is deployed in a CAN bus domain network, a plurality of groups of mainboards, wireless remote controllers and receivers are connected in a butt joint mode, the data stream application redirection of an access control list is matched, the interface IP of the application shunt is pointed, meanwhile, the port state is bound, and the flow reflux of the mainboards, the wireless remote controllers and the receivers is respectively received;
s4: the PLC knows whether the main body controlled in the time period is from a main control board of the Invitta or from a receiver of the wireless remote controller, the two are controlled in a time-sharing manner, only one main body can transmit data to the bus in the same time period, and therefore misoperation caused by cross control is avoided, the purpose of separate control is achieved, and mutual interference action is also avoided.
2. The robot brain and human-computer cooperative brain parallel cooperative control method according to claim 1, wherein the main board and the receiver are connected in a quick connection manner, and the PLC, the main board and the receiver are connected in series through a four-core bus in which power and data are combined.
3. The cooperative control method for the brain of the robot and the brain controlled by the robot as claimed in claim 1, wherein the receiver is internally provided with an interface circuit, a reset circuit, a display circuit, a memory circuit, a single chip microcomputer and a booster circuit, and the interface circuit, the reset circuit, the display circuit, the memory circuit and the booster circuit are respectively connected to the single chip microcomputer.
4. The method as claimed in claim 1, wherein the bus domain network side redirects all important private line IPs to be optimized to the application splitter according to a uniform configuration without labeling different private line categories like a label optimization scheme.
5. The cooperative control method for the brain of the robot and the brain of the human-computer cooperative control as claimed in claim 1, wherein the main board etsonTX2 is a 7.5 w single-module super computer based on nvidipascacalTMThe GPU architecture is loaded with 8GB memory, the memory bandwidth is 59.7 GB/s, and Jetson TX2 is provided with a plurality of standard hardware interfaces.
6. The method as claimed in claim 1, wherein the PLC and the 10-axis robot arm position detection network are connected via RK3399 in S4.
7. The method for the cooperative control of the brain of the robot and the brain controlled by the robot as claimed in claim 1, wherein for S4, the PLC, the main board and the receiver are powered by 24V dc of the car body, and the great master controller and the receiver are connected by a quick connection.
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2020
- 2020-12-28 CN CN202011583794.0A patent/CN112659128A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| CN105234944A (en) * | 2015-09-06 | 2016-01-13 | 北京航空航天大学 | Nursing robot and motion control system |
| CN106054648A (en) * | 2016-07-11 | 2016-10-26 | 张晶晶 | Ultrasonic mobile positioning and unspecified human voice recognition combined intelligent household control system |
| CN110524531A (en) * | 2019-08-12 | 2019-12-03 | 智动时代(北京)科技有限公司 | A kind of robot control system and its workflow based on Internet of Things cloud service |
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Application publication date: 20210416 |