CN216351951U - Motion control system of biped robot - Google Patents
Motion control system of biped robot Download PDFInfo
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- CN216351951U CN216351951U CN202123108715.3U CN202123108715U CN216351951U CN 216351951 U CN216351951 U CN 216351951U CN 202123108715 U CN202123108715 U CN 202123108715U CN 216351951 U CN216351951 U CN 216351951U
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Abstract
The utility model relates to a motion control system of a biped robot, comprising: the processing unit is used for processing the acquired measurement data and configuring an output control signal of the biped robot; the motor control unit is used for responding to the control signal to control the voltage and current output of the motor so as to enable the motor to be in an expected rotating speed and an expected steering; the steering engine control unit responds to the control signal to control the voltage and current output of the steering engine, and the steering engine simulates a human joint to enable the biped robot to be in a specified running state; the motion state detection unit acquires the spatial motion speed and the spatial azimuth inclination angle of the biped robot, and the external environment detection unit acquires the surrounding environment state of the biped robot. The utility model utilizes the cooperative work of all units, and has high integration level and stronger expansibility.
Description
Technical Field
The utility model relates to the technical field of robot control, in particular to a motion control system of a biped robot.
Background
With the development of sensor technology and bionic technology, robot control equipment receives more and more attention. The biped walking robot can walk vertically and has good freedom degree, flexible, free and stable action. As a bionic robot, the robot can realize biped walking and related actions. Biped robots contain abundant dynamics as a dynamic system controlled by machinery. In future production life, the humanoid biped walking robot can help human to solve a series of dangerous or heavy work such as carrying things, emergency rescue and the like.
In the prior art, robots such as biped robots mostly use steering engines to replace joint movement, and algorithm programs are executed through a steering engine control system to realize stable operation of the robots and finish specified actions. However, the control system of the robot has low control precision and accuracy, and is difficult to effectively adapt to subsequently executed task work due to limitations of operation and control, low integration level and the existence of obstacles for acquiring the real-time speed and the space attitude of the robot.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems in the background art, the utility model provides a motion control system of a biped robot, which has high control precision and high integration level.
The utility model provides the following technical scheme:
a biped robotic motion control system comprising:
the processing unit is used for processing the acquired measurement data and configuring an output control signal of the biped robot;
the motor control unit is used for responding to the control signal to control the voltage and current output of the motor so as to enable the motor to be in an expected rotating speed and an expected steering;
the steering engine control unit responds to the control signal to control the voltage and current output of the steering engine, and the steering engine simulates a human joint to enable the biped robot to be in a specified running state;
the motion state detection unit is used for acquiring the spatial motion speed and the spatial orientation inclination angle of the biped robot so as to judge the real-time spatial state of the biped robot;
the external environment detection unit is used for acquiring the surrounding environment state of the biped robot so as to judge the obstacle avoidance distance;
the power management unit is used for supplying electric energy required by the biped robot;
and the communication unit is used for the biped robot to receive and transmit interactive internal and external data information.
Preferably, the external environment detection unit includes:
the infrared detection sensor comprises an infrared emission circuit and an infrared receiving circuit, and the infrared receiving circuit is coupled with the processing unit to feed back an infrared analog signal;
the ultrasonic detection sensor comprises an ultrasonic transmitting circuit, an ultrasonic receiving circuit and an ultrasonic signal conditioning circuit which are coupled with the processing unit so as to feed back an ultrasonic analog signal input to the processing unit;
and the laser radar sensor is used for constructing a map, positioning navigation and target identification.
Preferably, the motion state detection unit comprises an inertia detection sensor, the inertia detection sensor comprises an IMU sensor type, and the IMU sensor is connected with the processing unit through an IIC to feed back motion parameters of the biped robot in real time and transmit the motion parameters to the processing unit.
Preferably, the IMU sensor is MPU-60X 0.
Preferably, the processing unit can determine whether the biped robot is in a falling state according to data fed back by the external environment detection unit and/or the motion state detection unit.
Preferably, the processing unit is a 32-bit Arm processor, and the processor can receive and couple and process the digital signal and the analog signal.
Preferably, the motor control unit outputs a voltage and a current for driving the motor to operate according to the PWM signal with the corresponding duty ratio sent by the processing unit.
Preferably, the steering engine control unit is connected with the processing unit, and the steering engine control unit converts the PWM signal sent by the processing unit into a power signal for driving the steering engine to operate, and realizes the position control of the current steering engine by counting the number of pulses sent by the steering engine in real time, and obtains an angle signal of the current steering engine.
Preferably, the power management unit may monitor the power of a battery of the robot system in real time, and report to the processing unit when the power is lower than a set threshold.
Preferably, the communication unit is connected with the processing unit, and the communication connection of the communication unit comprises RS485 communication and/or CAN communication.
The utility model has the beneficial effects that:
the robot obstacle avoidance and pre-collision avoidance system comprises a processing unit, a motor control unit, a steering engine control unit, a motion state detection unit, an external environment detection unit, a laser radar, an infrared detection unit and an ultrasonic sensor, wherein the processing unit is used for configuring operation parameters of the motor control unit and the steering engine control unit, the motion state detection unit is used for detecting working parameters of the biped robot and feeding the working parameters back to the processing unit, the external environment detection unit is used for acquiring the surrounding environment state of the biped robot and judging obstacle avoidance distance so as to feed the obstacle avoidance distance back to the processing unit, and the external environment detection unit is provided with the laser radar, the infrared detection unit and the ultrasonic sensor so as to effectively and accurately assist the obstacle avoidance and pre-collision of the robot; the motion state detection unit is provided with an inertia detection sensor, so that the inclination angle and the motion speed of the biped robot in the X, Y, Z axis direction can be effectively monitored, and the units are cooperatively operated, so that the integration level is high, and the expansibility is stronger.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a circuit diagram of an ultrasonic sensor of the present invention;
FIG. 3 is a circuit diagram of one embodiment of an IMU sensor provided in the present invention;
FIG. 4 is a circuit diagram of a second embodiment of an IMU sensor according to the present invention;
FIG. 5 is a circuit diagram of the motor control unit of the present invention;
fig. 6 is a circuit diagram of the steering engine control unit of the utility model.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example 1:
referring to fig. 1, the present embodiment provides a motion control system for a biped robot, including:
the processing unit is used for processing the acquired measurement data and configuring an output control signal of the biped robot;
the motor control unit is used for responding to the control signal to control the voltage and current output of the motor so as to enable the motor to be in an expected rotating speed and an expected steering;
the steering engine control unit responds to the control signal to control the voltage and current output of the steering engine, and the steering engine simulates a human joint to enable the biped robot to be in a specified running state;
the motion state detection unit is used for acquiring the spatial motion speed and the spatial orientation inclination angle of the biped robot so as to judge the real-time spatial state of the biped robot;
the external environment detection unit is used for acquiring the surrounding environment state of the biped robot so as to judge the obstacle avoidance distance;
the power management unit is used for supplying electric energy required by the biped robot;
and the communication unit is used for the biped robot to receive and transmit interactive internal and external data information.
The processing unit can judge whether the biped robot is in a falling state according to data fed back by the external environment detection unit and/or the motion state detection unit. The combination technical solution according to the present invention can be applied to biped robots, but is not limited thereto.
Specifically, the external environment detection unit includes:
the infrared detection sensor comprises an infrared transmitting circuit and an infrared receiving circuit, and the infrared receiving circuit is coupled with the processing unit to feed back an infrared analog signal;
referring to fig. 2, the ultrasonic detection sensor can select a TDC1000 chip, can be configured for a plurality of emission pulses and frequencies, gains and signal thresholds, can also be set according to programming, can detect ultrasonic waves passing through different media within a large distance range, and has high sensitivity;
and the laser radar sensor is used for constructing a map, positioning navigation and target identification.
In this embodiment, the processing unit is a 32-bit Arm processor, and the processor can receive and couple the digital signal and the analog signal; the motion state detection unit comprises an inertia detection sensor, the inertia detection sensor comprises an IMU sensor, and the IMU sensor is connected with the processing unit through the IIC to feed back the motion state parameters of the biped robot in real time and transmit the motion state parameters to the processing unit.
Optionally, the IMU sensor is MPU-60X0, see fig. 3 and 4, which integrates a 3-axis MEMS gyroscope, a 3-axis MEMS accelerometer, and an extendable digital motion processor DMP to monitor the tilt angle and the motion velocity of the biped robot in the X, Y, Z-axis direction.
Example 2:
on the basis of embodiment 1, the motor control unit outputs the voltage and the current for driving the motor to operate according to the PWM signal with the corresponding duty ratio sent by the processing unit, referring to fig. 5, the motor control unit is composed of 3 pairs of MOSFETs, the MOSFETs select UCC27211 chips, and adjust the three-phase PWM waveform for driving the motor to operate according to the full-bridge inverter circuit, the motor control unit can be configured with at least two motors for driving the biped robot, and can monitor the motor, and realize the closed-loop control of the driving motor according to the motor operating parameters such as the current, the angular displacement stroke, the rotating speed and the like fed back by the motor.
In this embodiment, the steering engine control unit is connected to the processing unit, referring to fig. 6, the steering engine control unit converts the PWM signal sent by the processing unit into a power signal for driving the steering engine to operate, the steering engine control unit may be configured with at least two pairs of steering engines, one pair of steering engines is used for simulating knee joints, the other pair of steering engines is used for simulating foot joints, position control of the current steering engine may be implemented by counting the number of pulses sent by the steering engines in real time, and an angle signal of the current steering engine may be obtained.
In this embodiment, the power management unit may monitor the power of the battery of the robot system in real time and report to the processing unit when the power is lower than a set threshold, and the power management unit is configured with a facility for charging the biped robot system.
In the embodiment, the communication unit is connected with the processing unit, in the internal communication of the biped robot, the communication connection of the communication unit comprises RS485 communication and/or CAN communication, and meanwhile, the communication unit CAN send state information such as operation and position of the biped robot to the external interactive system.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes and modifications can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (10)
1. A biped robotic motion control system, comprising:
the processing unit is used for processing the acquired measurement data and configuring an output control signal of the biped robot;
the motor control unit is used for responding to the control signal to control the voltage and current output of the motor so as to enable the motor to be in an expected rotating speed and an expected steering;
the steering engine control unit responds to the control signal to control the voltage and current output of the steering engine, and the steering engine simulates a human joint to enable the biped robot to be in a specified running state;
the motion state detection unit is used for acquiring the spatial motion speed and the spatial orientation inclination angle of the biped robot so as to judge the real-time spatial state of the biped robot;
the external environment detection unit is used for acquiring the surrounding environment state of the biped robot so as to judge the obstacle avoidance distance;
the power management unit is used for supplying electric energy required by the biped robot;
and the communication unit is used for the biped robot to receive and transmit interactive internal and external data information.
2. The biped robot motion control system of claim 1, wherein: the external environment detection unit includes:
the infrared detection sensor comprises an infrared emission circuit and an infrared receiving circuit, and the infrared receiving circuit is coupled with the processing unit to feed back an infrared analog signal;
the ultrasonic detection sensor comprises an ultrasonic transmitting circuit, an ultrasonic receiving circuit and an ultrasonic signal conditioning circuit which are coupled with the processing unit so as to feed back an ultrasonic analog signal input to the processing unit;
and the laser radar sensor is used for constructing a map, positioning navigation and target identification.
3. The biped robot motion control system of claim 1, wherein: the motion state detection unit comprises an inertia detection sensor, the inertia detection sensor comprises an IMU sensor type, and the IMU sensor is connected with the processing unit through an IIC (inter integrated Circuit) so as to feed back motion parameters of the biped robot in real time and transmit the motion parameters to the processing unit.
4. The biped robot motion control system of claim 3, wherein: the IMU sensor is MPU-60X 0.
5. The biped robot motion control system of claim 1, wherein: the processing unit can judge whether the biped robot is in a falling state according to the data fed back by the external environment detection unit and/or the motion state detection unit.
6. The biped robot motion control system of claim 1, wherein: the processing unit is a 32-bit Arm processor which can receive and process the digital signal and the analog signal in a coupling mode.
7. The biped robot motion control system of claim 1, wherein: and the motor control unit outputs the voltage and the current for driving the motor to operate according to the PWM signal with the corresponding duty ratio sent by the processing unit.
8. The biped robot motion control system of claim 1, wherein: the steering engine control unit is connected with the processing unit and converts the PWM signals sent by the processing unit into power signals for driving the steering engine to operate, the position control of the current steering engine is realized by counting the number of pulses sent by the steering engine in real time, and angle signals of the current steering engine are obtained.
9. The biped robot motion control system of claim 1, wherein: the power management unit can monitor the electric quantity of a battery of the robot system in real time and report the processing unit when the electric quantity is lower than a set threshold value.
10. The biped robot motion control system of claim 1, wherein: the communication unit is connected with the processing unit, and the communication connection of the communication unit comprises RS485 communication and/or CAN communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123108715.3U CN216351951U (en) | 2021-12-10 | 2021-12-10 | Motion control system of biped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123108715.3U CN216351951U (en) | 2021-12-10 | 2021-12-10 | Motion control system of biped robot |
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| CN216351951U true CN216351951U (en) | 2022-04-19 |
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| CN202123108715.3U Active CN216351951U (en) | 2021-12-10 | 2021-12-10 | Motion control system of biped robot |
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