Robot chassis control system and method based on time hard synchronization

A control system and robot technology, applied in the direction of program control manipulators, instruments, manipulators, etc., can solve the problems of untimely response to requests, uncertain delays, etc.

Active Publication Date: 2020-10-20
武汉威文科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot chassis control system and method based on time hard synchro

Method used

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  • Robot chassis control system and method based on time hard synchronization
  • Robot chassis control system and method based on time hard synchronization
  • Robot chassis control system and method based on time hard synchronization

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Experimental program
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Embodiment 1

[0027] Please refer to figure 1 , which is a structural diagram of a robot chassis control system based on time-hard synchronization disclosed in the present invention. A robot chassis control system based on time-hard synchronization disclosed in the present invention includes an integrated SOC chip, in which the SOC chip Embedded with an ARM processor and FPGA device, the FPGA device is a semi-custom circuit in an application-specific integrated circuit, and is a programmable logic array, which can effectively solve the problem that the number of gate circuits of the original device is small .

[0028] The robot chassis control system also includes a host computer electrically connected to the ARM processor through the RS232 serial port;

[0029] When multiple sensors are used to monitor the control parameters of the robot chassis (refer to figure 1 The sensor 1, sensor 2...) in the sensor are mounted to the FPGA, and based on the parallel processing characteristics of the...

Embodiment 2

[0046] When there is no relevant serial port in the FPGA that can be mounted to the sensor, for example, there is no 485 serial port in the FPGA, but the 485 bus serial port is currently the most widely used and most common bus form in the industry. When it is necessary to connect external sensors through the 485 serial port, it can be considered to simulate the 485 communication protocol through software inside the FPGA, and then add a 485 level conversion chip to convert the 1.8VTTL level of the FPGA to the level required by the 485 serial port, thereby realizing The FPGA communicates with external sensors through the 485 serial port.

[0047] specific reference Figure 4 , which is an implementation diagram of the FPGA mounted to the sensor. In this embodiment, it is considered that a processor and a memory are respectively set in the sensor drive processing module, wherein the execution program of the simulated 485 communication protocol written can be stored in the In th...

Embodiment 3

[0050] In order to ensure that the data reported by the ARM processor is not lost or leaked, under this embodiment, a buffer module is provided on the FPGA, and the buffer module can use a FIFO buffer, which is a buffer link of the system. If there is no FIFO buffer It is impossible for the whole system to work normally without the controller. It mainly has several functions:

[0051] 1) Cache the continuous data stream to prevent data loss during machine loading and storage operations;

[0052] 2) The data is collected and stored in the machine, which can avoid frequent bus operations and reduce the burden on the CPU;

[0053] 3) Allow the system to perform DMA operations to improve data transmission speed. This is a very important point. If the DMA operation is not used, the data transmission will not meet the transmission requirements, and the burden on the CPU will be greatly increased, and the data storage work cannot be completed at the same time.

[0054] Therefore, s...

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Abstract

The invention discloses a robot chassis control system and method based on time hard synchronization, and the system and method carry all sensors based on a high-speed processing SOC chip with an embedded FPGA + ARM core, and achieve the algorithm of the whole chassis control system. Compared with an FPGA + ARM heterogeneous separation scheme, the integration level and the communication interconnection rate of the system can be further improved. Data requests and responses of all sensors can be processed in real time by means of the efficient and powerful parallel processing capacity of the FPGA; meanwhile, a global clock module is constructed in the FPGA, and the FPGA automatically marks timestamps according to the clock module when processing the sensor data, assembles all the sensor data into frames and sends the frames to the ARM core. The ARM is responsible for logic protocol analysis and control process scheduling, plays a connection link role, and performs encapsulation and uploading of a lower computer network communication protocol and analysis and task scheduling of an instruction issued by an upper computer. The method ensures that the robot chassis control system can effectively solve the problem of data transmission delay, and has a good application prospect.

Description

technical field [0001] The invention belongs to the field of automation control, and in particular relates to a robot chassis control system and method based on time hard synchronization. Background technique [0002] With the development of Industry 4.0, various types of robots have emerged in various industries such as medical care, industry, electric power, agriculture, and public security, and the demand for robots has also exploded. However, the chassis is the core component for the smooth and robust operation of the robot. For the chassis of existing robots, the STM32 chip based on ARM in the control system is considered as the control center to realize the control of the chassis. Because of its low cost, convenient development and short production cycle, it has been widely used. [0003] With the increasing complexity of the industrial environment and the increasing demand for industrial monitoring and detection, it means that the number of sensors required for robo...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06F15/78
CPCB25J9/161B25J9/1661G06F15/7817
Inventor 白迪崔勇强
Owner 武汉威文科技有限公司
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