A CPLD-based automatic adaptation system for robot-controlled chassis

Abstract

The present invention provides a CPLD-based automatic adaptation system for a robot's controlled-by-wire chassis, belonging to the field of robot motion control and embedded systems. The system implements digital logic design within the CPLD, pre-programming the fixed control protocol required by the robot's computing unit into the CPLD, determining a unique CAN message category code, connecting the CPLD serial port to a host computer, and using the Ymodem communication protocol to transmit a configuration table (provided by the manufacturer or compiled by the system based on the category code) to an SD card controlled by the CPLD via the host computer and the serial port. The CPLD then parses the configuration table, converts the message formats of the chassis data protocol into the format required by the robot's computing unit, and performs a handshake to achieve chassis control.

Description

Technical Field

[0001] The invention relates to a CPLD-based robot wire-controlled chassis automatic adaptation system, belonging to the field of robot motion control and embedded technology. Background Art

[0002] The robot computing system (i.e., computing unit) and the chassis control system belong to different architectures. When using a wire-controlled chassis for the first time, the control program needs to be modified and the communication adaptation and debugging needs to be performed according to the communication protocol. For robot software development teams or chassis users who use chassis purchased from different manufacturers, lack on-site support from manufacturers, or lack embedded developers, the use is relatively complicated and troublesome, and is prone to errors, which may cause safety problems. Summary of the Invention

[0003] The present invention aims to provide a CPLD-based automatic adaptation system for a robot-controlled-by-wire chassis, which can ensure the stability of the control program of the computing unit and avoid the potential safety hazards caused by manual debugging handshakes.

[0004] To achieve the above-mentioned purpose, the present invention is implemented through the following technical solutions:

[0005] It includes a main state machine module, a clock module, a model switching analysis module, a serial port module, an SD card module, and a two-way CAN control module; specifically includes the following steps:

[0006] Establish a coding list for each data element, perform digital logic design in CPLD, and write the fixed control protocol required by the robot computing unit into CPLD;

[0007] Determine the unique CAN control module message category code, connect the CPLD to the host computer through the serial port module, perform a data response handshake with the automatic adaptation system serial port module through the host computer serial port module, send the configuration table to the CPLD through the Ymodem protocol and save it to the SD card module; the configuration table converts the various message formats of the chassis data protocol into the format required by the robot computing unit, and performs a handshake to realize the control of the chassis;

[0008] The main state machine module controls the reading and parsing of file data and compares it with the calculation unit data in different categories. If both ends are in direct control mode, the corresponding data will be logically assigned.

[0009] Preferably, the ID and data format of the computing unit are known and fixed.

[0010] Preferably, the ID and data format of the calculation unit include: a control can ID list, a motion model and control method, and a list of data formats of each ID.

[0011] The advantages of this invention are: it ensures the stability of the computing unit control program, eliminating the need for extensive modification and debugging required for chassis replacement, making it easy to use and saving development manpower and time. The handshake is highly accurate, the protocol is clear, and it is error-prone, avoiding the safety hazards associated with manual handshake debugging. The wire-controlled chassis, compatible with various CAN protocols, is highly versatile and easy to implement. DETAILED DESCRIPTION

[0012] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0013] The chassis control system consists of two parts: control and data feedback. The IDs and data formats required by the computing unit program are known and fixed, and can be embedded in the CPLD program or Flash memory at the factory. The automatic adaptation system uses digital logic design to program the hardware in the CPLD. The system primarily consists of a main state machine module, a clock module, a model switching analysis module, a serial port module, an SD card module, and a two-channel CAN control module. This example uses a computing unit CAN baud rate of 500kbps with standard data frames, and a chassis baud rate of 250kbps with extended data frames. The host computer program is written in QT.

[0014] First, create a code list for each data element. For example, 0 represents unused, 1 represents linear velocity, 2 represents angular velocity, 11 represents enabling custom operating mode, 12 represents selecting custom operating mode, 13 represents lighting control, 20 represents the sum check bit, and 23 represents the CRC-8 / MAXIM check bit. Furthermore, 30-39 represent the motion model and control method. 30 represents direct linear and angular velocity control (a universal model, commonly used chassis control method, and the default control method). 31 provides steering angle and linear velocity control for three wheels, and 32 provides steering angle and linear velocity control for the four-wheel Ackerman model.

[0015] Write the control ID and data format required by the chassis into the control txt file (the manufacturer can provide assistance upon request). The file contents are as follows:

[0016] First include the control can id list, such as: 0x11, 0x13, 0x15.

[0017] Then there are motion models and control methods, such as 31.

[0018] Then there is a list of data formats for each ID, such as 0x11,8,1-0.001,2,11,1,12,1,2-0.001,2,0,1,A3,1

[0019] The representative ID is 0x11, the message length is 8, the first data is the linear velocity, the unit is mm / s, the length is 2 bytes, the second data element is the custom operation mode enable, the length is 1 byte, the third data element is the custom operation mode selection, the length is 1 byte, the fourth data is the angular velocity, the unit is mrad / s, the length is 2 bytes, the following byte is not used, and the last byte is the CRC-8 / MAXIM check bit.

[0020] After a data handshake between the host computer's serial port and the auto-adaptation system's serial port, the file is sent to the CPLD via the Ymodem protocol and saved to the SD card. The main state machine module then reads and parses the file data, categorizing it and comparing it with the calculation unit data. If both ends use direct control, the corresponding data is logically assigned. For example, if the linear speed is 0.001 m / s, the high and low bits of the linear speed are assigned to the corresponding calculation unit CAN1 data bits.

[0021] The data feedback and control command implementation methods are the same. After the system and chassis are connected, the chassis control feedback data can be forwarded and adapted.

[0022] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A CPLD-based robot-by-wire chassis automatic adaptation system, characterized by , including main state machine module, clock module, model switching analysis module, serial port module, SD card module, and two-way CAN control module; The specific steps include: Establish a coding list for each data element, perform digital logic design in CPLD, and write the fixed control protocol required by the robot computing unit into CPLD; Determine the unique CAN control module message category code, connect the CPLD to the host computer through the serial port module, perform a data response handshake with the automatic adaptation system serial port module through the host computer serial port module, send the configuration table to the CPLD through the Ymodem protocol and save it to the SD card module; the configuration table converts the various message formats of the chassis data protocol into the format required by the robot computing unit, and performs a handshake to realize the control of the chassis; The main state machine module controls the reading and parsing of file data and compares it with the calculation unit data in different categories. If both ends are in direct control mode, the corresponding data will be logically assigned.

2. The CPLD-based robot-by-wire chassis automatic adaptation system according to claim 1, characterized in that: The ID and data format of the computing unit are known and fixed.

3. The CPLD-based robot-by-wire chassis automatic adaptation system according to claim 2, characterized in that: The id and data format of the calculation unit include: control can id list, motion model and control method, and each id data format list.