A Modular Robot Control System Based on Local Area Network
A control system and local area network technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of reducing data usage efficiency and real-time performance, modules can only be installed on the robot body, etc., to improve module replaceability, Effects of improving communication efficiency and stability and improving versatility
Active Publication Date: 2019-03-22
BEIHANG UNIV
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Problems solved by technology
Most of the existing single-robot modular control systems are generally built on a wired bus communication form, such as CAN bus, resulting in modules that can only be installed on the robot body; secondly, if you want to remotely control the robot, the data of each module It must pass through a wireless module, and the data of each module is sent uniformly, which greatly reduces the efficiency and real-time performance of the data of each module
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[0020] The implementation of the technical solutions of the present invention will be described below in conjunction with the drawings and embodiments.
[0021] In the LAN-based modular robot control system realized by the embodiment of the present invention, the operating system used by all control boards is Ubuntu12.04 version, the system is based on Hydro's ROS version, and the integrated development environment used is QT4. The local area network-based modular robot control system includes a main control module, an extended function module, a local area network and a remote control module. It is assumed that there are N extended function modules, and N is a positive integer.
[0022] Such as figure 1 As shown, a router is installed on the robot body to establish a local area network and realize data transmission in the local area network. Such as figure 2 As shown, the main control module, the N expansion function modules and the remote control module communicate throu...
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The invention relates to a modularization robot control system based on the local area network, and belongs to the field of automatic control and robots. The control system comprises a master control module, extended function modules, the local area network and a remote control module. A router is installed on a robot body, the local area network is built, and the master control module, all extended function modules and the remote control module are in data transmission through the local area network. The remote control module transmits commands to the master control module and the extended function modules through the local area network, master control commands are analyzed through the master control module, contents capable of executing the master control commands are divided into corresponding command priorities, only the commands with the highest priority are executed under the condition that different executable master control commands are received at the same time, and motion of a robot is decided. The modularization robot control system is suitable for existing robot systems with complex functions, function modules and sensor modules of the robot can be changed at will without damaging the original robot system, and the system universality and the module replaceability are greatly improved.
Description
technical field [0001] The invention belongs to the field of automatic control and robot, in particular to a modular robot control system that can be used on a computer based on ROS (Robot Operating System, robot operating system). Background technique [0002] A robot is a comprehensive electromechanical system that integrates environmental perception, dynamic decision-making and planning, behavior control and execution, and can perform tasks automatically or semi-automatically. At present, the functional requirements of robots are constantly expanding, and it is becoming more and more difficult for a single controller to control the operation of the entire robot. The collaborative control of multiple modules can greatly improve the control performance of the robot. At present, most of the wireless network modules of the control system focus on the use of multi-robot control rather than the functions of a single robot. The ROS system involved is mostly wireless network comm...
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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 丁希仑陈佳伟徐坤齐静郑羿
Owner BEIHANG UNIV