Three-axis all-moving thin-small-sized double-MCU wireless transmission motor controller

Abstract

The invention particularly relates to a three-axis all-moving thin-small-sized double-MCU wireless transmission motor controller, which comprises a motion pose acquisition module for acquiring the pose information of the current motor controller, a control module comprising a first control unit and a second control unit, and a control module for controlling the current control demand and the current feedback information based on the pose information, the current control demand, the current feedback information and the motor end encoder information, based on a vector control algorithm, a first control unit is used for generating first and second six-path PWM output signals, and / or a second control unit is used for generating third six-path PWM output signals, and a driving module is used for respectively driving a first motor, a second motor and a third motor to execute corresponding actions according to the three six-path PWM output signals; and controlling wireless communication between the current controller and at least one target controller through the wireless transceiving module. Therefore, the problems of large size, slow response, low data transmission precision and the like of the controller in the aspects of size, data transmission and absolute pose acquisition are solved.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a three-axis full-motion thin and small dual MCU (MicroController Unit) wireless transmission motor controller. Background Art

[0002] Joint drives are essential core components of high-performance robots, such as exoskeletons, robotic arms, powered prostheses, and humanoid robots. With the development of high-performance servo drive units, the current mainstream joint drive mode has shifted to motor drive. Among them, the motor, reducer, and controller are the three core components of motor-type joint drives, and the performance of the controller will directly affect the output performance of the motor and reducer.

[0003] In the related technologies, although the controllers have met these requirements to a certain extent, there are still many shortcomings in terms of size, data transmission efficiency and absolute position acquisition, which are specifically manifested in the following aspects: (1) Size problem: Traditional motor controllers are large in size, which affects the compactness and aesthetics of the overall design of the robot, and also affects the power density and driving performance of the joint drive, increasing the weight, energy consumption and response speed of the system; (2) Data transmission: There are many wiring harnesses between the motor and the host computer in the existing system, which affects the system robustness and dynamic response speed. At the same time, too long wiring harnesses will cause signal interference, which is not conducive to precise control; (3) Absolute position acquisition: Traditional absolute encoders are large in size, which increases the size of the drive unit and hinders the compact design of the robot joint drive, which needs to be solved urgently. Summary of the invention

[0004] The present application provides a three-axis full-motion thin and small dual-MCU wireless transmission motor controller to solve the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller.

[0005] The first aspect of the present application provides a three-axis full-motion thin and small dual-MCU wireless transmission motor controller, which is designed based on a preset thin and small size, and mainly includes a motion posture acquisition module, a control module, a drive module and a wireless transceiver module, wherein:

[0006] The motion posture acquisition module includes a motion processing unit, which is used to obtain the posture information of the current motor controller through the motion processing unit;

[0007] The control module includes a first control unit and a second control unit. The control module generates a first six-channel PWM (Pulse Width Modulation) output signal and a second six-channel PWM output signal based on the vector control algorithm using the first control unit based on the posture information, the current control demand, the current feedback information and the motor end encoder information, and / or generates a third six-channel PWM output signal based on the vector control algorithm using the second control unit, wherein the control module transmits data with the motion posture acquisition module and the drive module through an SPI (Serial Peripheral Interface), IIC (Inter-Integrated Circuit) or UART (Universal Asynchronous Receiver-Transmitter) communication interface;

[0008] The driving module is used to drive the first motor to perform a corresponding action according to the first six-channel PWM output signal, and / or drive the second motor to perform a corresponding action according to the second six-channel PWM output signal, and / or drive the third motor to perform a corresponding action according to the third six-channel PWM output signal, so as to perform three-axis full-motion control through the first six-channel PWM output signal, the second six-channel PWM output signal and the third six-channel PWM output signal;

[0009] The wireless transceiver module reuses the wireless transceiver function of the control module to control the wireless communication between the current controller and at least one target controller, and controls the control module to perform over-the-air upgrade.

[0010] According to one embodiment of the present application, the above-mentioned three-axis full-motion thin and small dual MCU wireless transmission motor controller, wherein the three-axis full-motion thin and small dual MCU wireless transmission motor controller is made using a preset PCB (Printed Circuit Board) board, and the preset PCB board adopts a six-layer partition design, and the ground layer and power layer wiring are separated from the signal line. Different widths of wiring are selected according to the different current carrying capacity of each layer of the preset PCB board. At the same time, the module division of the preset PCB board is determined based on the function of the components on the preset PCB board or the current size, so that different modules are isolated from each other.

[0011] According to one embodiment of the present application, the second control unit of the control module includes:

[0012] a detection subunit, used to detect whether the first control unit is in an abnormal state;

[0013] The processing subunit is used for, when the first control unit is in the abnormal state, allowing the second control unit to take over, restart, and freeze the first control unit.

[0014] According to one embodiment of the present application, the wireless transceiver module includes:

[0015] A wireless communication unit, used to reuse the wireless transceiver function of the second control unit in the control module to control the wireless communication between the current controller and at least one target controller;

[0016] The first upgrade unit is used to send the upgrade program from the host computer to the second control unit through the wireless transceiver function, so as to use the first upgrade unit to perform firmware upgrade on the second control unit based on the upgrade program.

[0017] According to one embodiment of the present application, the wireless transceiver module further includes:

[0018] The second upgrade unit is used to reuse the wireless transceiver function of the second control unit in the control module, and at the same time download the upgrade program received by the second control unit based on the UART communication interface of the first control unit to upgrade the firmware of the first control unit based on the upgrade program.

[0019] According to one embodiment of the present application, the motion posture acquisition module includes:

[0020] A multi-axis attitude sensor, the multi-axis attitude sensor includes a three-axis gyroscope, a three-axis acceleration sensor and a digital motion processor, so as to utilize the digital motion processor to calculate the pitch angle, yaw angle and roll angle of the motor controller based on the data detected by the three-axis gyroscope and the three-axis acceleration sensor, obtain the posture information of the motor controller, and transmit the posture information to the control module through a preset communication interface, wherein the multi-axis attitude sensor obtains the spatial posture of the joint component where it is located, determines the absolute rotation angle data of the joint component by calculating the posture difference between the multi-axis attitude sensor and the adjacent joints, so as to obtain the spatial posture and absolute rotation angle of multiple joint components, so that the motor end does not need to be installed with an absolute encoder.

[0021] According to one embodiment of the present application, the above-mentioned three-axis full-motion thin and small dual MCU wireless transmission motor controller also includes: the motor controller is provided with a plurality of data interfaces, including a USB wired interface, a CAN wired interface, and an SPI wired interface, and the wireless transceiver module includes a wireless Wi-Fi interface and a Bluetooth wireless interface, wherein the motor controller realizes wired cascading between multiple controllers through the CAN wired interface, and utilizes the wireless Wi-Fi interface and / or Bluetooth wireless interface to realize wireless cascading with at least one target controller to control data transmission between boards.

[0022] According to one embodiment of the present application, the above-mentioned three-axis full-motion thin and small dual-MCU wireless transmission motor controller also includes:

[0023] A phase current sampling circuit is used to collect raw phase current data and transmit the raw phase current data to the driving module, so as to convert the raw phase current data into vector control feedback data and transmit it to the control module through the driving module;

[0024] an over-voltage and under-voltage detection circuit, used to detect a bus voltage value, and to perform an over-voltage protection action when the bus voltage value is greater than a first preset voltage value, or to perform an under-voltage protection action when the bus voltage value is less than a second preset voltage value, wherein the first preset voltage value is greater than the second preset voltage value;

[0025] An over-temperature detection circuit, used to detect the temperature of the current controller and perform an over-temperature protection action when the temperature of the current controller is greater than a preset temperature;

[0026] A power supply module is used to respectively supply power to the motion posture acquisition module, the control module, the drive module, the phase current sampling circuit, the over-voltage and under-voltage detection circuit, the over-temperature detection circuit and the wireless transceiver module.

[0027] According to the three-axis full-motion thin and small dual-MCU wireless transmission motor controller of the embodiment of the present application, a motion posture acquisition module that obtains the posture information of the current motor controller through a six-axis motion processing unit and / or a nine-axis motion processing unit includes a control module of a first control unit and a second control unit. Based on the posture information, current control requirements, current feedback information and motor-end encoder information, the first control unit is used to generate the first and second six-way PWM output signals based on the vector control algorithm, and / or the second control unit is used to generate the third six-way PWM output signal. A driving module is used to drive the first motor, the second motor, and the third motor to perform corresponding actions according to the first six-way PWM output signal and / or the second six-way PWM output signal and / or the third six-way PWM output signal. The wireless transceiver module multiplexes the wireless transceiver function of the control module to control the wireless communication between the current controller and at least one target controller, and the wireless transceiver module multiplexes the UART communication interface of the control module to control the control module to upgrade. As a result, the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller are solved. Through the three-axis full-motion thin and small dual MCU wireless transmission motor controller, three-axis full motion is achieved based on a thin and small circuit board with dual MCU. At the same time, it can cover the three degrees of freedom of the high-performance robot system and provide the absolute position information of the robot joints, thereby realizing precise control of the high-performance robot joints and improving the compactness, robustness and reliability of the system.

[0028] The second aspect of the present application provides a robot, comprising: a robot body, a joint arranged on the robot body, and at least one three-axis full-motion thin-type dual-MCU wireless transmission motor controller as described in the above embodiment, wherein the at least one three-axis full-motion thin-type dual-MCU wireless transmission motor controller is embedded in the robot joint to control the joint movement.

[0029] According to the robot of the embodiment of the present application, the above-mentioned three-axis full-motion thin and small dual MCU wireless transmission motor controller solves the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller. Through the three-axis full-motion thin and small dual MCU wireless transmission motor controller, a three-axis full-motion three-axis full-motion is achieved based on a thin and small circuit board using dual MCUs. At the same time, it can cover the three degrees of freedom of the high-performance robot system and provide absolute position information of the robot joints, thereby realizing precise control of the high-performance robot joints and improving the compactness, robustness and reliability of the system.

[0030] The third aspect of the present application provides a control method for a three-axis full-motion thin and small dual-MCU wireless transmission motor controller, which adopts the three-axis full-motion thin and small dual-MCU wireless transmission motor controller described in the above embodiment. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller is designed based on a preset thin and small size, and mainly includes a motion posture acquisition module, a control module, a drive module and a wireless transceiver module, wherein the method includes the following steps:

[0031] Obtain the current position information of the motor controller through the motion processing unit;

[0032] Based on the posture information, current control requirements, current feedback information and motor-end encoder information, a first control unit of the control module is used to generate a first six-channel PWM output signal and a second six-channel PWM output signal based on a vector control algorithm, and / or a second control unit of the control module is used to generate a third six-channel PWM output signal based on the vector control algorithm, wherein the control module transmits data with the motion posture acquisition module and the drive module through an SPI, IIC or UART communication interface;

[0033] driving the first motor to perform a corresponding action according to the first six-channel PWM output signal, and / or driving the second motor to perform a corresponding action according to the second six-channel PWM output signal, and / or driving the third motor to perform a corresponding action according to the third six-channel PWM output signal, so as to perform three-axis full-motion control through the first six-channel PWM output signal, the second six-channel PWM output signal and the third six-channel PWM output signal;

[0034] The wireless transceiver module is utilized to reuse the wireless transceiver function of the control module, so as to control the wireless communication between the current controller and at least one target controller based on the wireless transceiver module, and at the same time control the control module to perform firmware upgrade, wherein the three-axis full-motion thin and small dual MCU wireless transmission motor controller is manufactured by adopting a preset PCB board, and the preset PCB board adopts a six-layer partition design, and the ground layer and power layer wiring are separated from the signal line. Different widths of wiring are selected according to the different current carrying capacity of each layer of the preset PCB board. At the same time, the module division of the preset PCB board is determined based on the function of the components or the current size on the preset PCB board, so that different modules are isolated from each other.

[0035] According to the control method of the three-axis full-motion thin and small dual-MCU wireless transmission motor controller of the embodiment of the present application, a motion posture acquisition module for obtaining the posture information of the current motor controller through a six-axis motion processing unit and / or a nine-axis motion processing unit includes a control module of a first control unit and a second control unit. Based on the posture information, current control requirements, current feedback information and motor-end encoder information, the first control unit is used to generate the first and second six-way PWM output signals based on the vector control algorithm, and / or the second control unit is used to generate the third six-way PWM output signal. A driving module is used to drive the first motor, the second motor, and the third motor to perform corresponding actions according to the first six-way PWM output signal and / or the second six-way PWM output signal and / or the third six-way PWM output signal. The wireless transceiver module multiplexes the wireless transceiver function of the control module to control the wireless communication between the current controller and at least one target controller, and the wireless transceiver module multiplexes the UART communication interface of the control module to control the control module to upgrade. As a result, the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller are solved. Through the three-axis full-motion thin and small dual MCU wireless transmission motor controller, three-axis full motion is achieved based on a thin and small circuit board with dual MCU. At the same time, it can cover the three degrees of freedom of the high-performance robot system and provide the absolute position information of the robot joints, thereby realizing precise control of the high-performance robot joints and improving the compactness, robustness and reliability of the system.

[0036] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0038] Figure 1 A block diagram of a three-axis full-motion thin and small dual-MCU wireless transmission motor controller provided according to an embodiment of the present application;

[0039] Figure 2 This is a schematic diagram of a three-axis full-motion thin and small dual-MCU wireless controller module design according to an embodiment of the present application;

[0040] Figure 3 This is a schematic diagram of the structure distribution of a three-axis full-motion thin and small dual-MCU wireless controller according to an embodiment of the present application;

[0041] Figure 4A connection diagram of an STM32 (STMicroelectronics 32-bit Microcontroller) F405 microprocessor according to an embodiment of the present application;

[0042] Figure 5 A connection diagram of an ESP32 (Espressif 32-bit Microcontroller) microprocessor according to an embodiment of the present application;

[0043] Figure 6 A connection diagram of a DRV8323 (Texas Instruments Three-Phase GateDriver) driver chip according to an embodiment of the present application;

[0044] Figure 7 This is a schematic diagram of the first voltage drop circuit connection of the DRV8323 driver chip according to one embodiment of the present application;

[0045] Figure 8 This is a connection diagram of a three-phase inverter circuit according to an embodiment of the present application;

[0046] Fig. 9 A connection diagram of an MPU6050 (Six-Axis Motion Processing Unit) motion processing unit according to an embodiment of the present application;

[0047] Fig.10 This is a flow chart of the control method of a three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0049] The following describes the three-axis full-motion thin and small dual MCU wireless transmission motor controller of the embodiment of the present application with reference to the accompanying drawings. In view of the problems of large energy consumption, slow response and low data transmission accuracy in the size, data transmission and absolute posture acquisition of the controller mentioned in the above background technology, the present application provides a three-axis full-motion thin and small dual MCU wireless transmission motor controller, in which a motion posture acquisition module for acquiring the posture information of the current motor controller through a multi-axis motion processing unit includes a control module of a first control unit and a second control unit, based on the posture information, the current control requirement, the current feedback information and the motor end encoder information, the first control unit is used to generate the first and second six-way PWM output signals based on the vector control algorithm, and / or the second control unit is used to generate the third six-way PWM output signal, a driving module, which is used to drive the first motor, the second motor and the third motor to perform corresponding actions according to the first six-way PWM output signal and / or the second six-way PWM output signal and / or the third six-way PWM output signal, respectively, and the wireless transceiver module multiplexes the wireless transceiver function of the control module to control the wireless communication between the current controller and at least one target controller and the UART communication interface of the control module is multiplexed by the wireless transceiver module to control the control module to upgrade. As a result, the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller are solved. Through the three-axis full-motion thin and small dual MCU wireless transmission motor controller, three-axis full motion is achieved based on a thin and small circuit board with dual MCU. At the same time, it can cover the three degrees of freedom of the high-performance robot system and provide the absolute position information of the robot joints, thereby realizing precise control of the high-performance robot joints and improving the compactness, robustness and reliability of the system.

[0050] Specifically, before introducing the embodiments of the present application, we first introduce the relevant background technology and some existing problems. The joint driver is an indispensable core component of high-performance robots, such as exoskeletons, mechanical arms, powered prostheses, humanoid robots, etc. With the development of high-performance servo drive units, the current mainstream joint drive method has been fully transformed to motor drive, among which the motor, reducer, and controller are the three core parts of the motor-type joint driver. The performance of the controller will directly affect the output performance of the motor and reducer. However, due to the high technical difficulty, the existing controllers are still facing a series of application bottlenecks that need to be solved after development. The following is an introduction from three aspects: controller size, data transmission, and absolute posture acquisition method.

[0051] First, in terms of size, the motor controller is too large, which will cause the high-performance robot control system to be too bloated. In order to cover the six degrees of freedom of the upper or lower limbs, the existing high-performance robot system generally needs to use six motors. Since the current motor controller is mainly provided by the motor manufacturer, its size is generally too large to be placed at the motor end, and the controller and the host computer need to be placed together at the waist and back. According to the ordinary exoskeleton 2-1-0 type motor layout, the six motor controllers need to be placed at the waist of the exoskeleton or in the matching backpack, which not only increases the overall size and affects the aesthetics, but also reduces the motion response speed because all wiring harnesses need to be led from the motor end to the "bulge". In addition, the current mainstream high-performance robots are all powered by batteries. Due to the limitation of battery energy density, they often face the bottleneck problem of short battery life. In the reality that the battery technology level has been slow to break through, the controller is too large and heavy, which will affect the power density and driving performance of the high-performance robot joint drive.

[0052] Secondly, in terms of data transmission, too many wires between the motor and the host computer will affect the robustness and dynamic response speed of the control system. The number of wire harnesses between the existing controller, motor and host computer can reach up to 12 (3 motor three-phase wires + 5 Hall wires + 2 CAN (Controller Area Network) wires + 2 power lines). If the three-axis motor is to be driven at the same time, the number of wire harnesses introduced into the control system will reach as many as 28 (shared power lines and CAN lines). Too many wire harnesses not only affect the compactness and lightweight of the control system, but also affect the robustness of the high-performance robot control system. Moreover, too many and too long wire harnesses will cause interference between signals, which will have an adverse effect on precise control. In addition, in the high-performance robot control system, for the control of six degrees of freedom, a large amount of data must be transmitted between the controller and the host computer, and between the controllers, which requires a large amount of computing power for the control unit. Using only one control unit will affect the control stability and response speed of the high-performance robot.

[0053] Finally, in terms of obtaining the absolute position and posture of high-performance robot joints, the use of absolute encoders to obtain absolute position and posture will cause the axial size of the drive unit to be bloated. Existing high-performance robots often use Hall encoders to obtain the relative speed of the motor, and install absolute encoders at the end of the motor to obtain the absolute position and posture of the joint through rotation angle conversion. However, existing absolute encoders are often divided into code disc type or rotary resistor type. The size of the absolute encoder is too large, which squeezes the axial size of the high-performance robot driver, seriously affecting its further compactness.

[0054] Therefore, based on the problems existing in the above-mentioned motor controller in terms of size, data reception and transmission, and absolute posture acquisition, the embodiment of the present application proposes a three-axis full-motion, three-axis full-motion, thin and small dual MCU wireless transmission motor controller to achieve joint control with more compact size, more precise response, and more efficient data transmission.

[0055] Specifically, Figure 1 A block diagram of a three-axis full-motion thin and small dual-MCU wireless transmission motor controller provided in an embodiment of the present application.

[0056] like Figure 1 As shown, the three-axis full-motion thin and small dual MCU wireless transmission motor controller is designed based on a preset thin and small size. The three-axis full-motion thin and small dual MCU wireless transmission motor controller 10 includes: a motion posture acquisition module 100, a control module 200, a drive module 300 and a wireless transceiver module 400.

[0057] Among them, the motion posture acquisition module 100 includes a motion processing unit, which is used to obtain the posture information of the current motor controller through the motion processing unit; the control module 200 includes a first control unit and a second control unit. The control module 200 generates a first six-way PWM output signal and a second six-way PWM output signal based on the vector control algorithm using the first control unit based on the posture information, the current control requirements, the current feedback information and the motor end encoder information, and / or generates a third six-way PWM output signal based on the vector control algorithm through the second control unit. Among them, the control module 200 communicates with the motion posture acquisition module 100 and the driver through the SPI, IIC or UART communication interface. Module 300 performs data transmission; driving module 300 is used to drive the first motor to perform corresponding actions according to the first six-way PWM output signal, and / or drive the second motor to perform corresponding actions according to the second six-way PWM output signal, and / or drive the third motor to perform corresponding actions according to the third six-way PWM output signal, so as to perform three-axis full-motion control through the first six-way PWM output signal, the second six-way PWM output signal and the third six-way PWM output signal; the wireless transceiver module 400 reuses the wireless transceiver function of the control module 200, and is used to control the wireless communication between the current controller and at least one target controller, and at the same time control the control module 200 to perform air upgrades.

[0058] According to one embodiment of the present application, the above-mentioned three-axis full-motion thin and small dual MCU wireless transmission motor controller, wherein the three-axis full-motion thin and small dual MCU wireless transmission motor controller is manufactured using a preset PCB board, the preset PCB board adopts a six-layer partition design, the ground layer, the power layer routing and the signal line are separated, and different widths of routing are selected according to the different current carrying capacity of each layer of the preset PCB board. At the same time, the module division of the preset PCB board is determined based on the function of the components on the preset PCB board or the current size, so that different modules are isolated from each other.

[0059] According to one embodiment of the present application, the second control unit of the control module includes: a detection subunit, used to detect whether the first control unit is in an abnormal state; and a processing subunit, used to allow the second control unit to take over, restart, and freeze the first control unit when the first control unit is in an abnormal state.

[0060] According to one embodiment of the present application, a motion posture acquisition module includes: a multi-axis posture sensor, the multi-axis posture sensor includes a three-axis gyroscope and a three-axis acceleration sensor and a digital motion processor, so as to use the digital motion processor to calculate the pitch angle, yaw angle and roll angle of the motor controller based on the data detected by the three-axis gyroscope and the three-axis acceleration sensor, obtain the posture information of the motor controller, and transmit the posture information to the control module through a preset communication interface, wherein the multi-axis posture sensor obtains the spatial posture of the joint component where it is located, determines the absolute rotation angle data of the joint component by calculating the posture difference between the multi-axis posture sensor and the adjacent joints, so as to obtain the spatial posture and absolute rotation angle of multiple joint components, so that the motor end does not need to be installed with an absolute encoder.

[0061] Among them, the preset thin and small size and the preset PCB board can be set by technical personnel in this field according to actual usage requirements, and are not specifically limited here.

[0062] Specifically, the three-axis full-motion thin and small dual MCU wireless transmission motor controller adopted in the embodiment of the present application takes into account the actual application scenarios, and needs to reduce the preset PCB board area and the number of components used, and finally can control the preset PCB size of 45*55*7.8mm as a square circuit board; the preset PCB adopts a six-layer partition design, and the ground layer and power layer routing are separated from the signal line. According to the different current carriers, different widths of routing are selected. At the same time, in order to avoid line crosstalk, the spacing between the lines needs to be strictly controlled; in terms of device layout, the components on the entire preset PCB board are divided into different modules according to their functions or working current sizes, so that the modules are isolated from each other and the electromagnetic interference between different modules is reduced. At the same time, because it directly drives the motor and the working current is large, factors such as device selection and heat dissipation are also comprehensively considered in the preset PCB design.

[0063] Specifically, if Figure 2 and Figure 3 As shown, the embodiment of the present application mainly includes a power supply unit, i.e., a power supply module, a motion processing unit, i.e., a motion posture acquisition module 100, a control unit, i.e., a control module 200, a drive unit, i.e., a drive module 300, and an interface unit, wherein the control module 200 is mainly composed of two MCU chips, i.e., a first control unit and a second control unit, which generate three independent six-channel PWM signals, and use one circuit board to control three motors separately at the same time, covering the three degrees of freedom of the high-performance robot system, thereby increasing the computing power and realizing functions such as three-axis full motion and data transmission, and at the same time making the control more stable, significantly improving the signal processing capability, and being able to detect whether the first control unit is in an abnormal state through the second control unit, and when the operating state of the first control unit is in an abnormal state, the second control unit takes over, restarts, and freezes the first control unit, wherein the computing power of the two control units can cover stable three-axis motion.

[0064] Specifically, if Figure 4 As shown, first, the first control unit in the control module 200 of the embodiment of the present application can select STM32F405RGT6 as a control chip, which has a higher frequency of operation speed, can perform high-speed digital processing, and can complete all demand operations within a specified time. The present application is based on the posture information, current control requirements, current feedback information and motor end encoder information of the current motor controller, and the first control unit is used to generate the first six-way PWM output signal and the second six-way PWM output signal based on the vector control algorithm, that is, the timers TIM1 and TIM8 of the STM32 chip are used to generate two six-way PWM output signals respectively and transmit them to the drive module 300, so as to realize the control of the basic indicators such as the torque, speed and position of the motor, and at the same time, the present application uses the communication ports such as SPI, IIC, UART of the STM32 chip to transmit and control data with the onboard drive module 300 and motion processing unit. In addition, the STM32 chip also has a high-precision analog-to-digital converter, which can quickly process and analyze the transmission information, and the phase current amplified by the amplifier is input to the analog-to-digital conversion port of the STM32 chip to participate in the feedback operation of the vector control.

[0065] Secondly, if Figure 5As shown, the second control unit in the control module 200 of the embodiment of the present application can select ESP32-PICO-D4 as the co-processing control chip. The ESP32 chip is a control chip that integrates 2.4GHz Wi-Fi and Bluetooth 4.0 dual-mode. It can be used as an independent system on chip or as a slave device of other MCU master control solutions. It can provide Wi-Fi and Bluetooth communication functions through SPI / SDIO (Secure Digital Input Output) or serial bus protocols such as IIC and UART. The present application uses the ESP32 chip, which can transmit data with the STM32 chip through the SPI and UART communication interfaces, greatly improving the computing power and control accuracy of the first control unit and the second control unit. At the same time, the ESP32 chip has two MCPWM (Multi-Channel Pulse Width Modulation, multi-channel pulse width modulation) unit, each unit can generate six PWM signal outputs based on the vector control algorithm and transmit them to the drive module 300. In the embodiment of the present application, an MCPWM unit of the ESP32 chip is used to generate a six-way PWM output signal based on the vector control algorithm, that is, a third six-way PWM output signal is generated based on the vector control algorithm by an MCPWM in the second control unit for controlling different types of motors.

[0066] Therefore, the embodiment of the present application adopts two control chips, namely the first control unit and the second control unit, which can not only meet the basic functional requirements of controlling three motors at the same time, but also because of the large number of interfaces, it can communicate with a variety of peripherals, making the current motor controller more modular and broadening the scope of use. Among them, the main interfaces can include CAN communication interface, USB (Universal Serial Bus) communication interface, SPI communication interface, etc., which are not specifically limited here.

[0067] Again, if Figure 6 and Figure 7As shown, the driving module 300 of the embodiment of the present application selects the DRV8323 chip, which is a three-phase gate driving chip and can receive the control information of the control module 200, and then drive the three motors to operate, that is, receive the first six-way PWM output signal and the second six-way PWM output signal generated by the first control unit based on the vector control algorithm, and / or receive the third six-way PWM output signal generated by the second control unit based on the vector control algorithm, and then drive the first motor to perform corresponding actions according to the first six-way PWM output signal, and / or drive the second motor to perform corresponding actions according to the second six-way PWM output signal, and / or drive the third motor to perform corresponding actions according to the third six-way PWM output signal, so as to perform three-axis full-motion control through the first six-way PWM output signal, the second six-way PWM output signal and the third six-way PWM output signal, and control the 6-way MOS (Metal-Oxide-Semiconductor Field-Effect Transistor, metal oxide semiconductor field effect transistor) tube opening and closing. At the same time, the chip has two high-performance current amplifiers, which can detect the data of motor phase current for vector control algorithm, and has an SPI communication interface, which can communicate with the control chip STM32 or ESP32. The amplifier gain of DRV8323 is configured through the control chip. The whole controller board has three DRV8323 chips, which can drive three motors at the same time. Only one DRV8323 chip needs to use the first voltage drop circuit. Therefore, through the above-mentioned control module 200 and drive module 300, that is, the dual MCU mechanism is adopted, the three-axis full motion of the motor is realized, which meets the basic functional requirements of controlling three motors at the same time, and can cover the three degrees of freedom of the high-performance robot system.

[0068] Again, if Figure 8 and Fig. 9As shown, the motion posture acquisition module 100 of the embodiment of the present application selects the MPU6050 chip. The motion posture acquisition module 100 can be a six-axis motion processing unit or a nine-axis motion processing unit. The motion posture acquisition module 100 is mainly a multi-axis posture sensor. The multi-axis posture sensor integrates a three-axis gyroscope and a three-axis acceleration sensor and an expandable DMP (Digital Motion Processor) to obtain the posture information of the current motor controller. The main acquisition method is to use the digital motion processor to calculate the pitch angle, yaw angle and roll angle of the motor controller based on the data detected by the three-axis gyroscope and the three-axis acceleration sensor, obtain the posture information of the motor controller, and transmit the information through a preset communication interface, such as through I2C (Inter-Integrated Circuit, two-wire interface) communication interface communicates with STM32 to transmit posture data, and transmits the acquired posture information of the current motor controller to the control module 200. The control module 200 generates a first six-way PWM output signal and a second six-way PWM output signal based on the vector control algorithm using the first control unit based on the acquired posture information, current control requirements, current feedback information and motor-end encoder information, and / or generates a third six-way PWM output signal based on the vector control algorithm through a MCPWM in the second control unit of the control module 200. Then, the driving module 300 drives the first motor to perform corresponding actions according to the first six-way PWM output signal, and / or drives the second motor to perform corresponding actions according to the second six-way PWM output signal, and / or drives the third motor to perform corresponding actions according to the third six-way PWM output signal, thereby realizing three-axis full-motion control.

[0069] Among them, the multi-axis attitude sensor obtains the spatial posture of the joint component where the multi-axis attitude sensor is located, and calculates the posture difference between the spatial posture of the joint component and the spatial posture of the adjacent joint components of the multi-axis attitude sensor, so as to determine the absolute rotation angle data of the joint component through the posture difference between multiple controllers, and obtain the spatial posture and absolute rotation angle of multiple joint components of the multi-axis attitude sensor, so that there is no need to install an absolute encoder at the end of the motor.

[0070] According to one embodiment of the present application, the wireless transceiver module includes: a wireless communication unit, which is used to multiplex the wireless transceiver function of the second control unit in the control module to control the wireless communication between the current controller and at least one target controller; a first upgrade unit, which is used to send the upgrade program from the host computer to the second control unit through the wireless transceiver function, so as to use the first upgrade unit to upgrade the firmware of the second control unit based on the upgrade program.

[0071] According to one embodiment of the present application, the wireless transceiver module also includes: a second upgrade unit, which is used to multiplex the wireless transceiver function of the second control unit in the control module, and at the same time, based on the UART communication interface of the first control unit, download the upgrade program received by the second control unit to upgrade the firmware of the first control unit based on the upgrade program.

[0072] According to one embodiment of the present application, the motor controller is provided with multiple data interfaces, including a USB wired interface, a CAN wired interface, and an SPI wired interface, and the wireless transceiver module includes a wireless Wi-Fi interface and a Bluetooth wireless interface, wherein the motor controller realizes wired cascading between multiple controllers through the CAN wired interface, and utilizes the wireless Wi-Fi interface and / or the Bluetooth wireless interface to realize wireless cascading with at least one target controller to control data transmission between boards.

[0073] Specifically, Figure 5 As shown, the wireless transceiver module 400 of the embodiment of the present application selects to use the ESP32-PICO-D4 chip. In the embodiment of the present application, the wireless transceiver module 400 reuses the wireless transceiver function of the second control unit in the control module 200, that is, the WiFi and Bluetooth functions of ESP32 are used for wireless transmission of data, which can realize wireless communication between the current controller and at least one target controller, that is, realize wireless communication between the current controller and other controllers and the host computer, and send the upgrade program from the host computer to the second control unit through the wireless transceiver function, so as to use the first upgrade unit to perform firmware upgrade on the second control unit based on the upgrade program. At the same time, the wireless transceiver module 400 can reuse the UART communication interface between the STM32 chips, and download the upgrade program received by the second control unit based on the UART communication interface of the first control unit, so as to perform firmware upgrade on the first control unit based on the upgrade program, thereby completing the air upgrade of the control chip STM32 and APP (Application) development, etc., wherein the antenna design part selects a ceramic antenna, which occupies a small space and has stable performance, and can effectively improve the integration of the motherboard.

[0074] It should be noted that the two control units in the embodiment of the present application can have more peripheral interfaces, including wired communication interfaces and wireless communication interfaces. In addition to the wired communication interfaces CAN, SPI, and USB that can be connected to peripherals, there are also wireless transmission capabilities Wi-Fi and Bluetooth. The communication interface of the first control unit includes a USB wired interface, a CAN wired interface, and an SPI wired interface. The wireless transceiver module includes a wireless Wi-Fi interface and a Bluetooth wireless interface. The motor controller can realize wired cascading between multiple controllers through the CAN wired interface, and can also use the wireless Wi-Fi interface and / or Bluetooth wireless interface to realize wireless cascading with at least one target controller to control data transmission between boards. At the same time, it can also communicate with the host computer through USB or wireless means, and can also be connected to other peripherals through the wired interface SPI, such as speakers, cameras, etc.; the motor controller can respectively realize wired or wireless data transmission and master-slave control with the host computer or external controller port through the USB interface or the Wi-Fi interface, and the motor controller can also reuse the USB interface to realize firmware burning of the first control unit. Therefore, wireless communication transmission can reduce wiring harnesses and has high developability. Wired communication transmission can enrich the interface and connect with other wired devices to integrate more functions.

[0075] According to one embodiment of the present application, the above-mentioned three-axis full-motion thin and small dual MCU wireless transmission motor controller 10 also includes: a phase current sampling circuit, which is used to collect phase current raw data and transmit the phase current raw data to the drive module 300, so as to convert the phase current raw data into vector control feedback data and transmit it to the control module 200 through the drive module 300; an over-voltage and under-voltage detection circuit, which is used to detect the bus voltage value, and perform an overvoltage protection action when the bus voltage value is greater than a first preset voltage value, or perform an undervoltage protection action when the bus voltage value is less than a second preset voltage value, wherein the first preset voltage value is greater than the second preset voltage value; an over-temperature detection circuit, which is used to detect the temperature of the current controller, and perform an over-temperature protection action when the temperature of the current controller is greater than the preset temperature; a power supply module, which is used to respectively power the motion posture acquisition module 100, the control module 200, the drive module 300, the phase current sampling circuit, the over-voltage and under-voltage detection circuit, the over-temperature detection circuit and the wireless transceiver module 400.

[0076] Among them, the first preset voltage value, the second preset voltage value and the preset temperature can be set by those skilled in the art according to actual design requirements, or can be obtained through a limited number of computer simulations, and are not specifically limited here.

[0077] Specifically, if Figure 2 and Figure 3As shown, the embodiment of the present application mainly includes a power supply unit, i.e., a power supply module, a motion processing unit, i.e., a motion posture acquisition module 100, a control unit, i.e., a control module 200, a drive unit, i.e., a drive module 300, and an interface unit, wherein the power supply module is responsible for supplying power to the entire controller system, i.e., supplying power to the motion posture acquisition module 100, the control module 200, the drive module 300, and the wireless transceiver module 400 respectively. The entire power supply circuit can be divided into three parts: a bus power supply, 5V, and 3.3V. The bus power supply comes from an external power adapter, directly drives the motor and provides a basic power supply for other circuit modules in the controller. The drive control chip and the three-phase inverter circuit select the bus power supply as the starting power supply. The first step-down circuit uses the LMR16006 (Texas Instruments 1.6A Synchronous Step-Down) integrated in the DRV8323 chip. The buck operation of the BUCK type buck regulator chip is relatively independent of the gate drive. By configuring the resistance ratio at the chip pin, the output voltage can be adjusted to 5V and output to the second buck circuit. The second buck circuit uses LDO (Low Dropout Linear Regulator) low-dropout linear regulator core AZ1117 (Analog Devices 1.1A Low Dropout Linear Regulator) and LP5907 (Texas Instruments 150mA Low Noise LowDropout Linear Regulator) chips to obtain digital 3.3V and analog 3.3V voltages as the starting voltage of other chips and the driving voltage of the analog circuit.

[0078] Furthermore, in an embodiment of the present application, the power supply module supplies power to the phase current sampling circuit, and the phase current raw data is collected by the phase current sampling circuit through the sampling resistor of the inverter circuit, and the phase current raw data is transmitted to the amplifier of the drive module 300 for signal amplification. The amplifier output circuit of the drive module 300 is connected to the control module 200, and after analog-to-digital conversion, the phase current raw data is transmitted to the control module 200 as vector control feedback data through the drive module 300.

[0079] Furthermore, in an embodiment of the present application, the over-voltage and under-voltage detection circuit is powered by the power supply module, the bus voltage value is detected by the analog-to-digital converter of the control module 200, and an overvoltage protection action is performed when the bus voltage value is greater than a first preset voltage value, or an undervoltage protection action is performed when the bus voltage value is less than a second preset voltage value, so that an interrupt program is started when the bus voltage value is overvoltage or undervoltage, the motor is stopped, and the circuit is protected.

[0080] Furthermore, in an embodiment of the present application, the power supply module supplies power to the over-temperature detection circuit, and the thermistor in the over-temperature detection circuit is used to transmit a signal to the drive module 300 to detect the temperature of the current controller, and when the temperature of the current controller is greater than a preset temperature, an interrupt program is started to stop the motor operation and perform circuit over-temperature protection.

[0081] In summary, according to the specific discussion of the embodiments of the present application, the following beneficial effects can be achieved:

[0082] (1) The controller used in this application has a simple structure and a small size. It can control three motors at the same time using one circuit board, covering the three degrees of freedom of a high-performance robot system. For the six degrees of freedom of a general high-performance robot system, two controllers of this invention can be used to achieve it, thereby effectively avoiding the problem of too many motor controllers in the current robot field, which affects the unit energy density, and further improves the overall compactness and energy efficiency of the system.

[0083] (2) This application uses a dual MCU design, which can meet the basic functional requirements of controlling three motors at the same time, and the control is more stable and the signal processing capability is significantly improved. At the same time, due to the large number of interfaces, it can communicate with a variety of peripherals, making the controller more modular and broadening the scope of use.

[0084] (3) The present application also has a wireless transmission function, which can realize wireless communication between boards and with the host computer, greatly reducing the number of wire harnesses and the possibility of wire harness detachment caused by reciprocating motion, thereby improving control robustness and data bandwidth. At the same time, due to the wireless function, further controller function expansion can be carried out, such as App development, control hardware over-the-air upgrade, etc., which broadens the control possibilities.

[0085] (4) The onboard six-axis attitude sensor of the present application can provide the absolute position information of the robot joints without increasing the axial size of the driver, making the axial size of the driver more compact, and there is no need to rely on the existing absolute encoder angle conversion method, making the calculation of the robot's forward and reverse kinematics simpler.

[0086] (5) The present application adopts a vector control algorithm, which has the natural advantages of small jitter at low speed rotation and fast and smooth direction change compared to the traditional motor drive method, which is conducive to application in the field of robot control.

[0087] According to the three-axis full-motion thin and small dual-MCU wireless transmission motor controller of the embodiment of the present application, a motion posture acquisition module that obtains the posture information of the current motor controller through a six-axis motion processing unit and / or a nine-axis motion processing unit includes a control module of a first control unit and a second control unit. Based on the posture information, current control requirements, current feedback information and motor-end encoder information, the first control unit is used to generate the first and second six-way PWM output signals based on the vector control algorithm, and / or the second control unit is used to generate the third six-way PWM output signal. A driving module is used to drive the first motor, the second motor, and the third motor to perform corresponding actions according to the first six-way PWM output signal and / or the second six-way PWM output signal and / or the third six-way PWM output signal. The wireless transceiver module multiplexes the wireless transceiver function of the control module to control the wireless communication between the current controller and at least one target controller, and the wireless transceiver module multiplexes the UART communication interface of the control module to control the control module to upgrade. As a result, the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller are solved. Through the three-axis full-motion thin and small dual MCU wireless transmission motor controller, three-axis full motion is achieved based on a thin and small circuit board with dual MCU. At the same time, it can cover the three degrees of freedom of the high-performance robot system and provide the absolute position information of the robot joints, thereby realizing precise control of the high-performance robot joints and improving the compactness, robustness and reliability of the system.

[0088] An embodiment of the present application also provides a robot, comprising: a robot body, joints arranged on the robot body, and at least one three-axis full-motion thin-film dual-MCU wireless transmission motor controller of the above-mentioned embodiment, wherein at least one three-axis full-motion thin-film dual-MCU wireless transmission motor controller is embedded in the robot joint to control the joint movement.

[0089] According to the robot of the embodiment of the present application, the above-mentioned three-axis full-motion thin and small dual MCU wireless transmission motor controller solves the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller. Through the three-axis full-motion thin and small dual MCU wireless transmission motor controller, a three-axis full-motion three-axis full-motion is achieved based on a thin and small circuit board using dual MCUs. At the same time, it can cover the three degrees of freedom of the high-performance robot system and provide absolute position information of the robot joints, thereby realizing precise control of the high-performance robot joints and improving the compactness, robustness and reliability of the system.

[0090] Fig.10 It is a flow chart of the control method of the three-axis full-motion thin and small dual-MCU wireless transmission motor controller of the embodiment of the present application.

[0091] like Fig.10 As shown, the control method of the three-axis full-motion thin and small dual-MCU wireless transmission motor controller adopts the three-axis full-motion thin and small dual-MCU wireless transmission motor controller of the above embodiment. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller is designed based on a preset thin and small size, and mainly includes a motion posture acquisition module, a control module, a drive module and a wireless transceiver module, wherein the method includes the following steps:

[0092] In step S1001, the position information of the current motor controller is obtained through the motion processing unit;

[0093] In step S1002, based on the posture information, the current control demand, the current feedback information and the motor end encoder information, the first control unit of the control module is used to generate the first six-channel PWM output signal and the second six-channel PWM output signal based on the vector control algorithm, and / or the second control unit of the control module is used to generate the third six-channel PWM output signal based on the vector control algorithm, wherein the control module transmits data with the motion posture acquisition module and the drive module through the SPI, IIC or UART communication interface;

[0094] In step S1003, the first motor is driven to perform a corresponding action according to the first six-channel PWM output signal, and / or the second motor is driven to perform a corresponding action according to the second six-channel PWM output signal, and / or the third motor is driven to perform a corresponding action according to the third six-channel PWM output signal, so as to perform three-axis full-motion control through the first six-channel PWM output signal, the second six-channel PWM output signal and the third six-channel PWM output signal;

[0095] In step S1004, the wireless transceiver module is utilized to multiplex the wireless transceiver function of the control module, so as to control the wireless communication between the current controller and at least one target controller based on the wireless transceiver module. At the same time, the control module is controlled to perform firmware upgrade, wherein the three-axis full-motion thin and small dual MCU wireless transmission motor controller is manufactured using a preset PCB board, the preset PCB board adopts a six-layer partition design, the ground layer and the power layer wiring are separated from the signal line, and wiring of different widths is selected according to the different current carrying capacity of each layer of the preset PCB board. At the same time, the module division of the preset PCB board is determined based on the function of the components on the preset PCB board or the current size, so that different modules are isolated from each other.

[0096] According to the control method of the three-axis full-motion thin and small dual-MCU wireless transmission motor controller of the embodiment of the present application, a motion posture acquisition module for obtaining the posture information of the current motor controller through a six-axis motion processing unit and / or a nine-axis motion processing unit includes a control module of a first control unit and a second control unit. Based on the posture information, current control requirements, current feedback information and motor-end encoder information, the first control unit is used to generate the first and second six-way PWM output signals based on the vector control algorithm, and / or the second control unit is used to generate the third six-way PWM output signal. A driving module is used to drive the first motor, the second motor, and the third motor to perform corresponding actions according to the first six-way PWM output signal and / or the second six-way PWM output signal and / or according to the third six-way PWM output signal. The wireless communication between the current controller and at least one target controller is controlled by multiplexing the wireless transceiver function of the control module through the wireless transceiver module, and the UART communication interface of the control module is multiplexed through the wireless transceiver module to control the control module to upgrade. As a result, the problems of high energy consumption, slow response, low data transmission accuracy, etc. in terms of size, data transmission and absolute posture acquisition of the controller are solved. Through the three-axis full-motion thin and small dual MCU wireless transmission motor controller, three-axis full motion is achieved based on a thin and small circuit board with dual MCU. At the same time, it can cover the three degrees of freedom of the high-performance robot system and provide the absolute position information of the robot joints, thereby realizing precise control of the high-performance robot joints and improving the compactness, robustness and reliability of the system.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0099] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0100] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory, a read-only memory, an erasable and editable read-only memory or a flash memory, a fiber optic device, and a portable optical disk read-only memory. In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0101] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0102] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0103] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0104] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A three-axis full-motion thin and small dual MCU wireless transmission motor controller, characterized in that: The three-axis full-motion thin and small dual MCU wireless transmission motor controller is designed based on a preset thin and small size, and mainly includes a motion posture acquisition module, a control module, a drive module and a wireless transceiver module, wherein: The motion posture acquisition module includes a motion processing unit, which is used to obtain the posture information of the current motor controller through the motion processing unit; The control module includes a first control unit and a second control unit. The control module generates a first six-way PWM output signal and a second six-way PWM output signal based on the vector control algorithm using the first control unit based on the posture information, the current control demand, the current feedback information and the motor end encoder information, and / or generates a third six-way PWM output signal based on the vector control algorithm using the second control unit, wherein the control module transmits data with the motion posture acquisition module and the drive module through an SPI, IIC or UART communication interface; The driving module is used to drive the first motor to perform a corresponding action according to the first six-channel PWM output signal, and / or drive the second motor to perform a corresponding action according to the second six-channel PWM output signal, and / or drive the third motor to perform a corresponding action according to the third six-channel PWM output signal, so as to perform three-axis full-motion control through the first six-channel PWM output signal, the second six-channel PWM output signal and the third six-channel PWM output signal; The wireless transceiver module reuses the wireless transceiver function of the control module to control the wireless communication between the current controller and at least one target controller, and controls the control module to perform over-the-air upgrade.

2. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to claim 1 is characterized in that: The three-axis full-motion thin and small dual-MCU wireless transmission motor controller is manufactured using a preset PCB board. The preset PCB board adopts a six-layer partition design, and the ground layer and power layer wiring are separated from the signal line. Different widths of wiring are selected according to the different current carrying capacity of each layer of the preset PCB board. At the same time, the module division of the preset PCB board is determined based on the function of the components on the preset PCB board or the current size, so that different modules are isolated from each other.

3. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to claim 1 is characterized in that: The second control unit of the control module comprises: a detection subunit, used to detect whether the first control unit is in an abnormal state; The processing subunit is used for, when the first control unit is in the abnormal state, allowing the second control unit to take over, restart, and freeze the first control unit.

4. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to claim 1 is characterized in that: The wireless transceiver module comprises: A wireless communication unit, used to reuse the wireless transceiver function of the second control unit in the control module to control the wireless communication between the current controller and at least one target controller; The first upgrade unit is used to send the upgrade program from the host computer to the second control unit through the wireless transceiver function, so as to use the first upgrade unit to perform firmware upgrade on the second control unit based on the upgrade program.

5. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to claim 4 is characterized in that: The wireless transceiver module further includes: The second upgrade unit is used to reuse the wireless transceiver function of the second control unit in the control module, and at the same time download the upgrade program received by the second control unit based on the UART communication interface of the first control unit to upgrade the firmware of the first control unit based on the upgrade program.

6. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to claim 1 is characterized in that: The motion posture acquisition module comprises: A multi-axis attitude sensor, the multi-axis attitude sensor includes a three-axis gyroscope, a three-axis acceleration sensor and a digital motion processor, so as to utilize the digital motion processor to calculate the pitch angle, yaw angle and roll angle of the motor controller based on the data detected by the three-axis gyroscope and the three-axis acceleration sensor, obtain the posture information of the motor controller, and transmit the posture information to the control module through a preset communication interface, wherein the multi-axis attitude sensor obtains the spatial posture of the joint component where it is located, determines the absolute rotation angle data of the joint component by calculating the posture difference between the multi-axis attitude sensor and the adjacent joints, so as to obtain the spatial posture and absolute rotation angle of multiple joint components, so that the motor end does not need to be installed with an absolute encoder.

7. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to claim 1 is characterized in that: Also includes: The motor controller is provided with a variety of data interfaces, including a USB wired interface, a CAN wired interface, and an SPI wired interface. The wireless transceiver module includes a wireless Wi-Fi interface and a Bluetooth wireless interface. The motor controller realizes wired cascading between multiple controllers through the CAN wired interface, and utilizes the wireless Wi-Fi interface and / or Bluetooth wireless interface to realize wireless cascading with at least one target controller to control data transmission between boards.

8. The three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to claim 1 is characterized in that: Also includes: A phase current sampling circuit is used to collect raw phase current data and transmit the raw phase current data to the driving module, so as to convert the raw phase current data into vector control feedback data and transmit it to the control module through the driving module; an over-voltage and under-voltage detection circuit, used to detect a bus voltage value, and to perform an over-voltage protection action when the bus voltage value is greater than a first preset voltage value, or to perform an under-voltage protection action when the bus voltage value is less than a second preset voltage value, wherein the first preset voltage value is greater than the second preset voltage value; An over-temperature detection circuit, used to detect the temperature of the current controller and perform an over-temperature protection action when the temperature of the current controller is greater than a preset temperature; A power supply module is used to respectively supply power to the motion posture acquisition module, the control module, the drive module, the phase current sampling circuit, the over-voltage and under-voltage detection circuit, the over-temperature detection circuit and the wireless transceiver module.

9. A robot, characterized in that: include: A robot body, a joint arranged on the robot body and at least one three-axis full-motion thin-type dual-MCU wireless transmission motor controller as described in any one of claims 1-7, wherein the at least one three-axis full-motion thin-type dual-MCU wireless transmission motor controller is embedded in the robot joint to control the joint movement.

10. A control method for a three-axis full-motion thin and small dual-MCU wireless transmission motor controller, characterized in that: A three-axis full-motion thin and small dual-MCU wireless transmission motor controller according to any one of claims 1 to 7 is used, wherein the three-axis full-motion thin and small dual-MCU wireless transmission motor controller is designed based on a preset thin and small size, and mainly includes a motion posture acquisition module, a control module, a drive module and a wireless transceiver module, wherein the method includes the following steps: Obtain the current position information of the motor controller through the motion processing unit; Based on the posture information, current control requirements, current feedback information and motor-end encoder information, the first control unit of the control module is used to generate a first six-way PWM output signal and a second six-way PWM output signal based on a vector control algorithm, and / or the second control unit of the control module is used to generate a third six-way PWM output signal based on the vector control algorithm, wherein the control module transmits data with the motion posture acquisition module and the drive module through an SPI, IIC or UART communication interface; driving the first motor to perform a corresponding action according to the first six-channel PWM output signal, and / or driving the second motor to perform a corresponding action according to the second six-channel PWM output signal, and / or driving the third motor to perform a corresponding action according to the third six-channel PWM output signal, so as to perform three-axis full-motion control through the first six-channel PWM output signal, the second six-channel PWM output signal and the third six-channel PWM output signal; The wireless transceiver module is utilized to reuse the wireless transceiver function of the control module, so as to control the wireless communication between the current controller and at least one target controller based on the wireless transceiver module, and at the same time control the control module to perform firmware upgrade, wherein the three-axis full-motion thin and small dual MCU wireless transmission motor controller is manufactured by adopting a preset PCB board, and the preset PCB board adopts a six-layer partition design, and the ground layer and power layer wiring are separated from the signal line. Different widths of wiring are selected according to the different current carrying capacity of each layer of the preset PCB board. At the same time, the module division of the preset PCB board is determined based on the function of the components or the current size on the preset PCB board, so that different modules are isolated from each other.

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