CN204116958U - A kind of bionic 6-leg robot control system - Google Patents
A kind of bionic 6-leg robot control system Download PDFInfo
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- CN204116958U CN204116958U CN201420527522.2U CN201420527522U CN204116958U CN 204116958 U CN204116958 U CN 204116958U CN 201420527522 U CN201420527522 U CN 201420527522U CN 204116958 U CN204116958 U CN 204116958U
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Abstract
A kind of bionic 6-leg robot control system of the present utility model, comprises microprocessor module, and for processing various information and data, in coherent system, each functional module completes predetermined task; Sensor assembly, for the detection of the environmental parameters such as the barrier in bionic 6-leg robot motion process, sound, temperature, distance; Driver module, for the steering wheel in control machine robot system and sensor assembly, realizes the control of steering wheel speed and position, completes advance, retreats, keeps straight on, turns, keeps away the actions such as barrier; Serial communication modular, for carrying out serial communication according to serial communication standard and host computer.There is special control system for six biped robots, meet the job requirement of six biped robots, the control of steering wheel speed and position can be realized, complete advance, retreat, keep straight on, turn, keep away the actions such as barrier, and adopt modular design, powerful, system is more stable.
Description
Technical field
The utility model relates to a kind of bionic 6-leg robot control system, and the function that will complete according to robot and sensor-based system feedack perform corresponding action, belongs to bio-robot movement control technology field.
Background technology
Since 20 century 70s start, the research of bionic 6-leg robot starts the road going on fast development, through the development of nearly ISUZU company, develops different types of machines.The main logic unit of robot control system or core component, also experienced by from common 51 single-chip microcomputers, AVR single chip, PIC single chip microcomputer to the integrated control system of embedded-type ARM kernel.For current control system, we have proposed a kind of bio-robot control system solution based on Embedded SoC SOPC, to solve the problem of real time control machine device people.This control system is adapted to the control problem of various revolute robot, and particularly bionic 6-leg robot controls.
Utility model content
Problem to be solved in the utility model applies current Embedded SoC control technology, provides a kind of control system of bionic 6-leg robot.
For solveing the technical problem, the utility model provides a kind of bio-robot control system based on Embedded SoC SOPC, to solve the problem of real time control machine device people.
A kind of bionic 6-leg robot control system of the present utility model, comprising:
Microprocessor module, for processing various information and data, in coherent system, each functional module completes predetermined task; Sensor assembly, for the detection of the environmental parameters such as the barrier in bionic 6-leg robot motion process, sound, temperature, distance; Driver module, for the steering wheel in control machine robot system and sensor assembly, realizes the control of steering wheel speed and position, completes advance, retreats, keeps straight on, turns, keeps away the actions such as barrier; Power module, is responsible for the power supply supply that whole six foots free robot; Serial communication modular, for carrying out serial communication according to serial communication standard and host computer; JTAG debugger, for online programming, debugging emulation.
Described microprocessor module comprises programmable system on chip (SOPC microcontroller) and associated peripheral circuits thereof.
Described microprocessor module application Embedded SoC, design SOC (system on a chip) SOPC framework, realizes the cooperation control of each intermodule.
Described driver module receives the signal that microcontroller sends, and acts on steering wheel and sensor assembly.
Described sensor assembly comprises speed pickup, position transducer, range sensor, sound transducer, temperature sensor.
Described Embedded SoC is the FPGA(field programmable gate array of embedded processor).
The beneficial effects of the utility model are: one, have special control system for six biped robots, meet the job requirement of six biped robots, the control of steering wheel speed and position can be realized, complete advance, retreat, keep straight on, turn, keep away the actions such as barrier, and adopt modular design, powerful, system is more stable; Two, adopt embedded control system, low in energy consumption, reliability is high, real-time, can for extraneous different situations rapid reaction; Three, JTAG debugging module, can be implemented in line programming, debugging emulation, flexible operation.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the utility model bionic 6-leg robot control system;
Fig. 2 is the control flow of the single steering wheel of the utility model bionic 6-leg robot control system;
Fig. 3 is the overall control flow of the utility model bionic 6-leg robot control system.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is further described.
As shown in Figure 1, the utility model take microcontroller as core, and parting blocking designs, and comprises microprocessor module, driver module, sensor assembly, power module, serial communication modular, JTAG debug each submodule.Described microprocessor module comprises microcontroller and associated peripheral circuits thereof, mainly carries out the process of various information, data, and in coherent system, each functional module completes predetermined task; Steering wheel in described driver module control machine robot system and sensor assembly, realize the control of steering wheel speed and position, complete advance, retreat, keep straight on, turn, keep away the actions such as barrier; Described sensor assembly has the sensors such as speed, position, distance, sound, temperature, the detection of the barrier in primary responsibility bionic 6-leg robot motion process, sound, temperature, distance; Described power module, is responsible for the power supply supply of whole bionic 6-leg robot, system energy off-line is moved; Described serial communication modular carries out serial communication according to serial communication standard and host computer; Described JTAG debugging can be implemented in line programming, debugging emulation.Connected by I/O port between module, such as: cable, serial ports or parallel port data line connect.
Microprocessor module comprises programmable system on chip (SOPC microcontroller) and associated peripheral circuits thereof.
Microprocessor module application Embedded SoC, design SOC (system on a chip) SOPC framework, realizes the cooperation control of each intermodule.Embedded SoC is an integrated system, and Embedded SoC is the FPGA(field programmable gate array of embedded processor).Build according to certain rule, design Embedded SoC.
Driver module receives the signal that microcontroller sends, and acts on steering wheel and sensor assembly.
As shown in Figure 2, the control flow of single steering wheel is as follows: when the program is run, arranges the serial port baud rate of specifying, if steering wheel ID is identical with it, then send steering wheel order, otherwise ID is reseted in reset.
As shown in Figure 3, when bionical six biped robot actual motion, robot receives after order starts to move ahead, if run into barrier, then turns; After turning, if clear, then move ahead, otherwise continue to turn.
Use the modular assembly of the utility model control robotics company to build bionic 6-leg robot, and achieve the servos control of robot by control system of the present utility model, comprise single leg motion control, many legs Systematical control; Achieve the craspedodrome motion control of robot, turning motion controls and keeps away barrier motion control etc.
Set forth a lot of detail in the above description so that fully understand the utility model.But above description is only preferred embodiment of the present utility model, the utility model can be much different from alternate manner described here to implement, and therefore the utility model is not by the disclosed concrete restriction implemented above.Any those skilled in the art are not departing under technical solutions of the utility model ambit simultaneously, the Method and Technology content of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solutions of the utility model, or be revised as the Equivalent embodiments of equivalent variations.Every content not departing from technical solutions of the utility model, according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solutions of the utility model protection.
Claims (6)
1. a bionic 6-leg robot control system, is characterized in that: comprising:
Microprocessor module, for processing various information and data, in coherent system, each functional module completes predetermined task;
Sensor assembly, for the detection of the environmental parameter of the movement velocity in bionic 6-leg robot motion process, barrier, sound, temperature, distance;
Driver module, for the steering wheel in control machine robot system and sensor assembly, realizes the control of steering wheel speed and position, completes advance, retreats, keeps straight on, turns, keeps away the actions such as barrier;
Power module, is responsible for the power supply supply that whole six foots free robot;
Serial communication modular, for carrying out serial communication according to serial communication standard and host computer;
JTAG debugging module, for online programming, debugging emulation.
2. bionic 6-leg robot control system according to claim 1, is characterized in that: described microprocessor module comprises programmable system on chip and associated peripheral circuits thereof.
3. bionic 6-leg robot control system according to claim 2, is characterized in that: described microprocessor module application Embedded SoC, and design SOC (system on a chip) SOPC framework, realizes the cooperation control of each intermodule.
4. bionic 6-leg robot control system according to claim 1, is characterized in that: described driver module receives the signal that microcontroller sends, and acts on steering wheel and sensor assembly.
5. bionic 6-leg robot control system according to claim 1, is characterized in that: described sensor assembly comprises speed pickup, position transducer, range sensor, sound transducer, temperature sensor.
6. bionic 6-leg robot control system according to claim 3, is characterized in that: described Embedded SoC is the FPGA(field programmable gate array of embedded processor).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420527522.2U CN204116958U (en) | 2014-09-15 | 2014-09-15 | A kind of bionic 6-leg robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420527522.2U CN204116958U (en) | 2014-09-15 | 2014-09-15 | A kind of bionic 6-leg robot control system |
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| Publication Number | Publication Date |
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| CN204116958U true CN204116958U (en) | 2015-01-21 |
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| CN201420527522.2U Expired - Fee Related CN204116958U (en) | 2014-09-15 | 2014-09-15 | A kind of bionic 6-leg robot control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199463A (en) * | 2014-09-15 | 2014-12-10 | 南京林业大学 | Six-foot bionic robot control system |
| CN105773618A (en) * | 2016-04-21 | 2016-07-20 | 奇弩（北京）科技有限公司 | Realization method for running of hexapod robot |
| CN106849767A (en) * | 2017-03-30 | 2017-06-13 | 北京智控城服科技有限公司 | A kind of joint of robot motor-drive circuit |
-
2014
- 2014-09-15 CN CN201420527522.2U patent/CN204116958U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199463A (en) * | 2014-09-15 | 2014-12-10 | 南京林业大学 | Six-foot bionic robot control system |
| CN105773618A (en) * | 2016-04-21 | 2016-07-20 | 奇弩（北京）科技有限公司 | Realization method for running of hexapod robot |
| CN105773618B (en) * | 2016-04-21 | 2018-01-19 | 奇弩（北京）科技有限公司 | A kind of implementation method of Hexapod Robot walking |
| CN106849767A (en) * | 2017-03-30 | 2017-06-13 | 北京智控城服科技有限公司 | A kind of joint of robot motor-drive circuit |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150121 Termination date: 20170915 |
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| CF01 | Termination of patent right due to non-payment of annual fee |