CN101373380B - Humanoid robot control system and robot controlling method - Google Patents
Humanoid robot control system and robot controlling method Download PDFInfo
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- CN101373380B CN101373380B CN2008100631501A CN200810063150A CN101373380B CN 101373380 B CN101373380 B CN 101373380B CN 2008100631501 A CN2008100631501 A CN 2008100631501A CN 200810063150 A CN200810063150 A CN 200810063150A CN 101373380 B CN101373380 B CN 101373380B
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Abstract
The invention provides a humanoid robot control system based on the visual and wireless technology, which comprises local equipment and remote equipment, wherein the local equipment is composed of a visual perception module, a local control module, a network module and a motor control module; and the remote equipment is composed of a remote control module and a remote debugging module. The invention further provides a robot control method of the humanoid robot control system which comprises a local control mode, a remote control mode and a remote debugging control mode. The invention has the characteristic of high performance calculation of DSP, adopts visual feedback technology and wireless transmission technology, and has the abilities of autonomous real-time task planning and execution, online optimization recognition and control calculation. In a system frame, the characteristic that intelligent control modules and perception physically separated from action execution modules can finish high-level control in real time; therefore, the invention has the characteristics of high calculation efficiency, convenient debugging, and the like. In addition, research and development tasks for robots can be conducted conveniently, and research and development efficiency can be improved.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of anthropomorphic robot control system based on vision and wireless technology.
Background technology
Anthropomorphic robot can replace the mankind to finish various operations, and can expand human ability aspect a lot, is used widely in a plurality of fields such as service, medical treatment, education, amusements.The ASIMO of robot of Honda company release in 2000 has the function of the vision and the sense of hearing, can carry out simple man-machine interaction, can walk reposefully and turning, stair activity, walk, adjust walking step and stride, the change speed of travel, operating light photoswitch and door knob on the slope, even dance.
The research of anthropomorphic robot problem relates to motion control, environment sensing, mission planning etc., all perception informations obtain with the control information execution and all must realize at robot body, large-scale operand requires the main control chip of robot to have the high-speed computation characteristic, in existing anthropomorphic robot, embedded schemes such as DSP, ARM, PC104 respectively have application, wherein DSP makes robot can handle sensor informations such as vision in real time with its excellent floating-point operation performance, and application prospect is extensive.Yet in robot development's process, the modification debugging operations of DSP program is very frequent.DSP itself provides the line artificial debugging pattern of dragging, but because the wide characteristic of range of movement of unsettled defective of emulation and robot drags the line artificial debugging can't satisfy robot development's demand; And directly the program in the DSP is wiped programming, complicated operation is also consuming time serious, has limited the application of DSP in robot.
Summary of the invention
Technical matters to be solved by this invention provides a kind ofly controls debugging easily based on the anthropomorphic robot control system of vision and wireless technology.For this reason, the present invention by the following technical solutions: it comprises local device and remote equipment;
Described local device comprises following ingredient:
1). visually-perceptible module, this module comprise an analog video camera, a DSP video acquisition unit, and described DSP video acquisition unit is finished the signals collecting of visually-perceptible module and is converted to digital signal, with not compression or compressed image form storage;
2). Local Control Module: this module comprises a DSP arithmetic element, and described DSP arithmetic element is handled calculating to image, the control information of planning anthropomorphic robot;
3). mixed-media network modules mixed-media: this module comprises a DSP network element and a wireless module, and described DSP network element is connected with remote equipment by wireless module, realizes the information communication between remote equipment and anthropomorphic robot;
4). motor control module, this module comprise a DSP serial ports unit and a single-chip microcomputer electric-motor drive unit, and described DSP serial ports unit sending controling instruction drives the anthropomorphic robot action and carries out to the single-chip microcomputer electric-motor drive unit;
Described remote equipment comprises following ingredient:
5). Remote module, this module comprise a wireless remote control unit, and described wireless remote control unit is by the wireless network sending controling instruction, and the remote control anthropomorphic robot moves;
6). the remote debugging module, this module comprises a remote computer unit, described remote computer unit connects wireless network, but be provided with in the described remote computer unit with form and reside in image processing module and anthropomorphic robot control planning module, image and anthropomorphic robot control information delivery module in the remote computer unit with the firmware of software or load software.
Another technical matters to be solved of the present invention provides a kind of robot method of operating of above-mentioned anthropomorphic robot control system.For this reason, the present invention by the following technical solutions: it comprises local control model, Remote pattern, remote debugging control model.
Local control model is made up of visually-perceptible module, Local Control Module and motor control module, and all modules all are loaded into robot body; Control model may further comprise the steps:
1). open robot;
2). visually-perceptible module images acquired, view data stores in internal memory;
3). the Local Control Module reads image data, image is handled calculating, the control information of planning anthropomorphic robot, and sending controling instruction is to motor control module;
4). the steering order that motor control module will be received is resolved, and drives the anthropomorphic robot action and carries out;
5). repeating step 2～4, realize the full autokinetic movement control of anthropomorphic robot.
The Remote pattern is made up of mixed-media network modules mixed-media, motor control module and Remote module, and mixed-media network modules mixed-media and motor control module are loaded into robot body, and the Remote module is loaded in the wireless remote control instrument; Control model may further comprise the steps:
1). open robot;
2). mixed-media network modules mixed-media is set up wireless network;
3). the Remote module is sent to motor control module by wireless network with steering order;
4). the steering order that motor control module will be received is resolved, and drives the anthropomorphic robot action and carries out;
5). repeating step 3～4, realize the motion control of remote control anthropomorphic robot.
The remote debugging control model is made up of visually-perceptible module, mixed-media network modules mixed-media, motor control module and remote debugging module, and visually-perceptible module, mixed-media network modules mixed-media and motor control module are loaded into robot body, and the remote debugging module is loaded in the remote computer; Control model may further comprise the steps:
1). open robot;
2). mixed-media network modules mixed-media is set up wireless network;
3). visually-perceptible module images acquired, view data is sent to the remote debugging module by wireless network;
4). the remote debugging module is handled calculating to image, the control information of planning anthropomorphic robot, and pass through the wireless network transfer control instruction to motor control module;
5). the steering order that motor control module will be received is resolved, and drives the anthropomorphic robot action and carries out;
6). repeating step 3～5, realize the motion control of remote debugging anthropomorphic robot.
Owing to adopt technical scheme of the present invention, the robot control system based on wireless technology among the present invention has overcome the defective in the background technology, brought into play the characteristic of DSP high performance computation simultaneously, the present invention adopts visual feedback and Radio Transmission Technology, possesses the ability of autonomous real-time task planning execution and on-line optimization identification and control algolithm.In the system architecture, the characteristics of Based Intelligent Control module of Fen Liing and perception and behavior execution module make it can finish high-rise control in real time physically, have the counting yield height, debug characteristics such as convenient.The robot control system of using among the present invention can carry out robot research development tasks such as robot vision information processing, the processing of intelligent robot task, robot control, multirobot information interaction, the fusion of multirobot global information easily, improves research and development efficient.
Description of drawings
Fig. 1 is the block diagram of system of anthropomorphic robot control system provided by the present invention.
Fig. 2 is the control flow chart of local control model in the robot method of operating of anthropomorphic robot control system provided by the present invention, Remote pattern, remote debugging control model.
Fig. 3 is the decomposition composition frame chart that anthropomorphic robot control system provided by the present invention realizes three kinds of steer mode.
Fig. 4 is the systemic-function module composition frame chart of anthropomorphic robot control system provided by the present invention.
Embodiment
With reference to accompanying drawing 1.The present invention includes local device and remote equipment, is local device in the wire frame A wherein, is remote equipment in the wire frame B.
Described local device comprises following ingredient:
1). visually-perceptible module, this module comprise an analog video camera, a DSP video acquisition unit, and described DSP video acquisition unit is finished the signals collecting of visually-perceptible module and is converted to digital signal, with not compression or compressed image form storage;
2). Local Control Module: this module comprises a DSP arithmetic element, and described DSP arithmetic element is handled calculating to image, the control information of planning anthropomorphic robot;
3). mixed-media network modules mixed-media: this module comprises a DSP network element and a wireless module, and described DSP network element is connected with remote equipment by wireless module, realizes the information communication between remote equipment and anthropomorphic robot;
4). motor control module, this module comprise a DSP serial ports unit and a single-chip microcomputer electric-motor drive unit, and described DSP serial ports unit sending controling instruction drives the anthropomorphic robot action and carries out to the single-chip microcomputer electric-motor drive unit;
Described remote equipment comprises following ingredient:
5). Remote module, this module comprise a wireless remote control unit, and described wireless remote control unit is by the wireless network sending controling instruction, and the remote control anthropomorphic robot moves;
6). the remote debugging module, this module comprises a remote computer unit, described remote computer unit connects wireless network, but be provided with in the described remote computer unit with form and reside in image processing module and anthropomorphic robot control planning module, image and anthropomorphic robot control information delivery module in the remote computer unit with the firmware of software or load software.
Comprise a DSP circuit board, a simulation camera, a wireless module, a wireless remote control instrument and a common computer on the hardware, wherein DSP circuit board, simulation camera, wireless module are installed on robot body, the DSP circuit board links to each other by the analog video signal line with camera, and the DSP circuit board links to each other by RJ-45 interface netting twine with wireless module; But DSP video acquisition unit, DSP arithmetic element, DSP network element, DSP serial ports unit and single-chip microcomputer electric-motor drive unit reside in the DSP circuit board with the form of load software, but the Remote module resides in the wireless remote control instrument with the form of load software, but the remote debugging module resides in the common computer with the form of load software.
With reference to accompanying drawing 4.Visually-perceptible module, mixed-media network modules mixed-media and motor control module form perception and module F is carried out in behavior, Local Control Module, Remote module and remote debugging module are formed Based Intelligent Control module G, realize that physically the bottom mechanizing circuit carries out and the separating of high-rise algorithm controls.
Said system provided by the present invention can be divided this locality control platform that can run on robot body of serving as reasons again, runs on the Remote platform of Remote unit and run on the three platform robot development application systems that the remote debugging control platform of remote computer constitutes according to operational mode, and the three kinds of patterns such as local control model, Remote pattern, remote debugging control model that can realize are controlled anthropomorphic robot.Thereby the optimization and the organic composition of the system of realization.With reference to Fig. 3, wherein, in the wire frame C above-mentioned local control platform, wire frame D is the Remote platform, is remote debugging control platform in the wire frame E
With reference to Fig. 3, on platform is formed, module is carried out in local control platform, Remote platform and the shared perception of remote monitoring platform and behavior, local control platform adopts the Local Control Module in the Based Intelligent Control module to realize local application controls pattern, the Remote platform adopts the Remote module in the Based Intelligent Control module to realize the Remote pattern, remote debugging control platform adopts the remote monitoring module in the Based Intelligent Control module to realize long-range exploitation control model, three kinds of patterns are controlled switching by the switch on the robot body, as shown in Figure 3; Local control platform adopts the local application controls pattern of DSP: the visually-perceptible module is obtained image, send control information to motor control module after handling planning by Local Control Module, carry out action by motor control module drive machines people, realize that finally intelligent robot finishes the work; The Remote platform adopts the Remote pattern: return robot body by the controlled instruction of manual control Remote module back by the wireless network communicating control information, carry out action by motor control module drive machines people; Remote debugging control platform adopts the long-range exploitation control model of DSP: the visually-perceptible module is obtained image, by the wireless network transmitted image to remote computer, handle the planning back by remote computer and return robot body by the wireless network communicating control information, carry out action by motor control module drive machines people, realize that finally intelligent robot finishes the work.
With reference to accompanying drawing 2.Described local control model may further comprise the steps:
1). open robot;
2). visually-perceptible module images acquired, view data stores in internal memory;
3). the Local Control Module reads image data, image is handled calculating, the control information of planning anthropomorphic robot, and sending controling instruction is to motor control module;
4). the steering order that motor control module will be received is resolved, and drives the anthropomorphic robot action and carries out;
5). repeating step 2～4, realize the full autokinetic movement control of anthropomorphic robot.
Described Remote pattern may further comprise the steps:
1). open robot;
2). mixed-media network modules mixed-media is set up wireless network;
3). the Remote module is sent to motor control module by wireless network with steering order;
4). the steering order that motor control module will be received is resolved, and drives the anthropomorphic robot action and carries out;
5). repeating step 3～4, realize the motion control of remote control anthropomorphic robot.
Described remote debugging control model may further comprise the steps:
1). open robot;
2). mixed-media network modules mixed-media is set up wireless network;
3). visually-perceptible module images acquired, view data is sent to the remote debugging module by wireless network;
4). the remote debugging module is handled calculating to image, the control information of planning anthropomorphic robot, and pass through the wireless network transfer control instruction to motor control module;
5). the steering order that motor control module will be received is resolved, and drives the anthropomorphic robot action and carries out;
6). repeating step 3～5, realize the motion control of remote debugging anthropomorphic robot.
Claims (3)
1. the anthropomorphic robot control system based on vision and wireless technology is characterized in that it comprises local device and remote equipment;
Described local device comprises following ingredient:
1). visually-perceptible module, this module comprise an analog video camera, a DSP video acquisition unit, and described DSP video acquisition unit is finished the signals collecting of visually-perceptible module and is converted to digital signal, with not compression or compressed image form storage;
2). Local Control Module: this module comprises a DSP arithmetic element, and described DSP arithmetic element is handled calculating to image, the control information of planning anthropomorphic robot;
3). mixed-media network modules mixed-media: this module comprises a DSP network element and a wireless module, and described DSP network element is connected with remote equipment by wireless module, realizes the information communication between remote equipment and anthropomorphic robot;
4). motor control module, this module comprise a DSP serial ports unit and a single-chip microcomputer electric-motor drive unit, and described DSP serial ports unit sending controling instruction drives the anthropomorphic robot action and carries out to the single-chip microcomputer electric-motor drive unit;
Described remote equipment comprises following ingredient:
5). Remote module, this module comprise a wireless remote control unit, and described wireless remote control unit is by the wireless network sending controling instruction, and the remote control anthropomorphic robot moves;
6). the remote debugging module, this module comprises a remote computer unit, described remote computer unit connects wireless network, resides in image processing module and anthropomorphic robot control planning module, image and anthropomorphic robot control information delivery module in the remote computer unit but be provided with in the described remote computer unit with the form with the firmware of software or load software.
2. a kind of anthropomorphic robot control system as claimed in claim 1 based on vision and wireless technology, it is characterized in that comprising on the hardware DSP circuit board, a simulation camera, a wireless module, a wireless remote control instrument and a common computer, wherein DSP circuit board, simulation camera, wireless module are installed on robot body, the DSP circuit board links to each other by the analog video signal line with camera, and the DSP circuit board links to each other by RJ-45 interface netting twine with wireless module; But DSP video acquisition unit, DSP arithmetic element, DSP network element, DSP serial ports unit and single-chip microcomputer electric-motor drive unit reside in the DSP circuit board with the form of load software, but the Remote module resides in the wireless remote control instrument with the form of load software, but the remote debugging module resides in the common computer with the form of load software.
3. the robot method of operating based on the anthropomorphic robot control system of vision and wireless technology is characterized in that it comprises local control model, Remote pattern, remote debugging control model;
Described local control model may further comprise the steps:
1). open robot;
2). visually-perceptible module images acquired, view data stores in internal memory;
3). the Local Control Module reads image data, image is handled calculating, the control information of planning anthropomorphic robot, and sending controling instruction is to motor control module;
4). motor control module is resolved the steering order of receiving, drives the anthropomorphic robot action and carries out;
5). repeating step 2～4, realize the full autokinetic movement control of anthropomorphic robot;
Described Remote pattern may further comprise the steps:
1). open robot;
2). mixed-media network modules mixed-media is set up wireless network;
3). the Remote module is sent to motor control module by wireless network with steering order;
4). motor control module is resolved the steering order of receiving, drives the anthropomorphic robot action and carries out;
5). repeating step 3～4, realize the motion control of remote control anthropomorphic robot;
Described remote debugging control model may further comprise the steps:
1). open robot;
2). mixed-media network modules mixed-media is set up wireless network;
3). visually-perceptible module images acquired, view data is sent to the remote debugging module by wireless network;
4). the remote debugging module is handled calculating to image, the control information of planning anthropomorphic robot, and pass through the wireless network transfer control instruction to motor control module;
5). motor control module is resolved the steering order of receiving, drives the anthropomorphic robot action and carries out;
6). repeating step 3～5, realize the motion control of remote debugging anthropomorphic robot.
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| CN2008100631501A CN101373380B (en) | 2008-07-14 | 2008-07-14 | Humanoid robot control system and robot controlling method |
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Cited By (1)
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| CN110039556A (en) * | 2019-05-04 | 2019-07-23 | 北京鲲鹏神通科技有限公司 | A kind of unmanned sale thin pancake robot control system |
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| CN103869773A (en) * | 2014-03-04 | 2014-06-18 | 南昌大学 | Master end machine-based method for correcting feedback force by force feedback controller |
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Application publication date: 20090225 Assignee: Zhejiang Guozi Robot Technology Co., Ltd. Assignor: Zhejiang University Contract record no.: 2013330000081 Denomination of invention: Humanoid robot control system and robot controlling method Granted publication date: 20110615 License type: Exclusive License Record date: 20130422 |
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