Method and device for simultaneously and independently controlling start, stop and power of multiple actuators

Abstract

The invention discloses a method and device for simultaneously and independently controlling start, stop and power of multiple actuators, and belongs to the field of mechatronics, the device comprises a computing device, an integrated optical signal output device, a photosensitive sensor element, a signal conversion circuit and the actuators, the computing device is used for generating or receiving a control signal, and the integrated optical signal output device is used for outputting the control signal; the actuator control signal is output as an optical signal of the screen; the device and the method are combined with a proper actuator, so that scientists can be assisted to research the interaction among a large number of elements at low cost, and the device and the method can be used as a low-cost substitute for super computer simulation and are used for researching the micro-nano effect and the quantum effect of substances and a complex system theory; the method has remarkable advantages in the aspect of complex robot joint control, the requirements for robot joints and robot appearance design are low, robots with different appearances and joint sizes can use the same system, the research and development period of a new robot is shortened, and the research and development cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of mechatronics, and particularly to a method and device for simultaneously and independently controlling the start / stop and power of multiple actuators. Background Art

[0002] In the case of existing robot technologies that use a small number of high-torque reduction motors, the appearance design and structural design of the robot are greatly restricted. It is not possible to freely design a flexible surface, which is prone to causing harm to people and is not suitable for use in companion robots.

[0003] In the case of existing robot technologies that use a small number of high-torque reduction motors, the hardware system needs to be developed according to the motor. Not only does each enterprise need to allocate a dedicated large-scale hardware development team, but it is also not conducive to unified standards.

[0004] In the case of existing robot technologies that use a small number of high-torque reduction motors, the limbs of the robot often need to match the weight of the motor and use alloys, resulting in high production costs. Once scrapped, the recycling cost is also high.

[0005] In the case of existing robot technologies that use a small amount of artificial hydraulic or pneumatic muscles, the control accuracy is low. The existing biochemical microfluidics has fewer channels for disposable cost control and higher costs at the same time.

[0006] Existing biochemical microfluidic technologies have significant deficiencies in actuator control. In the prior art, the number of microfluidic channels that can be controlled at one time is small, making it difficult to meet the demand for multi-channel parallel control in complex experiments or production processes. And to achieve certain experimental or production purposes, more equipment or more complex operation processes often need to be adopted, which undoubtedly increases the cost of biochemical microfluidics.

[0007] Therefore, there is an urgent need for a new device system and method to solve these problems. Summary of the Invention

[0008] In view of the deficiencies of the prior art, the present invention provides a method and device for simultaneously and independently controlling the start / stop and power of multiple actuators, solving the problems raised in the above background art.

[0009] Technical Solution: To solve the above technical problems, according to one aspect of the present invention, more specifically, a device for simultaneously and independently controlling the start / stop and power of multiple actuators includes a computing device, an integrated optical signal output device, a photosensitive sensor element, a signal conversion circuit, and an actuator. The computing device: is used to generate or receive a control signal and output the actuator control signal as an optical signal on the screen. The computing device includes a single-chip microcomputer or other computing devices. The single-chip microcomputer includes Raspberry Pi 3b and esp32C6, and other computing devices include Allwinner and Rockchip development boards and personal computers;

[0010] The integrated optical signal output device: used to display control signals, including a screen or other integrated optical signal output devices. The screen includes screens connected by HDMI, DP, Type-C, and screens connected by SPI. Other integrated optical signal output devices include LCDs, OLEDs, and display devices dedicated to displaying ultraviolet and infrared light;

[0011] The photosensitive sensor element and signal conversion circuit: used to independently transmit the signals on the integrated optical signal output device to more than 100 independent actuators respectively. The photosensitive sensor element includes photosensitive triodes, photosensitive diodes, photosensitive resistors, cameras, and photosensitive CMOS. The signal conversion circuit includes a signal conversion circuit composed of a programmable logic controller (ATtiny13A) combined with peripheral circuits, an NE555 circuit module, a signal conversion circuit directly using multiple comparators, and a circuit jointly composed of an NE555 circuit module and a comparator;

[0012] The actuator: used to convert the received signal into the operation and work of the actuator. The actuator includes a DC geared motor, a magnetic field generator similar to an electromagnet, an ultrasonic generator, a laser generator, and an electric motor.

[0013] Furthermore, the control signals generated or received by the computing device include information such as the time to start the work of a specific actuator, the power (or speed, intensity, etc.), and the end time of the work.

[0014] Furthermore, the integrated optical signal output device displays the control signals through bright spots of various colors at different positions.

[0015] According to another aspect of the present invention, more specifically, it is a method for simultaneously and independently controlling the start / stop and power of multiple actuators, including a device for simultaneously and independently controlling the start / stop and power of multiple actuators, and includes the following steps:

[0016] Step 1: The computing device receives relevant signals for controlling the actuator or directly generates corresponding requirement information for actuator control. This information includes the time to start the work of a specific actuator, the power (or speed, intensity, etc.), and the end time of the work;

[0017] Step 2: The computing device converts the requirement information for the actuator into bright spots of various colors at different positions on the integrated optical signal output device;

[0018] Step 3: Use a photosensitive type of sensor to convert the light spot signal into an electrical signal with the help of a circuit conversion device. The photosensitive type of sensor includes integrated circuit cmos, photoresistor, photodiode, phototransistor, camera, and the circuit conversion device includes a comparator combined with an NE555 circuit module or a programmable logic controller;

[0019] Step 4: Transmit the signal converted by the integrated optical signal output device to the actuator through a specific driver to achieve the control of the actuator.

[0020] The beneficial effects of a method and device for simultaneously and independently controlling the start / stop and power of multiple actuators according to the present invention are as follows:

[0021] (1) The present invention can control a large number of actuators at one time with low cost, has the potential of ultra-low cost, and is expected to replace many actuator control solutions on the market.

[0022] (2) By combining the present device and method with suitable actuators, such as spatial ultrasonic generators, spatial laser generators, spatial magnetic generators, etc., it can help scientists study the interactions between a large number of elements at low cost, and can be used as a low-cost alternative to supercomputer simulations for studying the micro-nano effects and quantum effects of substances as well as complex system theory.

[0023] (3) The present invention has significant advantages in the control of complex robot joints. By using multiple small actuators and controlling them independently, the control of robot joints becomes more flexible and precise. The small actuators can be distributed at different positions of the joint according to the specific requirements of joint movement and work together. This greatly reduces the requirements for the design of the robot joint structure and no longer requires a complex and heavy joint structure to adapt to large motors;

[0024] This results in lower requirements for the design of robot joints and the appearance of robots, without worrying about the restriction of the motor on the appearance design. Robots with different appearances and joint sizes can use the same set of systems, which not only shortens the R & D cycle of new robots, but also reduces the R & D cost, making the R & D of robots faster and more efficient.

[0025] (4) The present invention has broad application prospects in technical fields such as biochemistry experiments and microfluidics. It can control more complex microfluidic channels at a lower cost; the present invention can control a large number of actuators at one time with low cost. Combining the control method of the present invention, precise control of more complex microfluidic channels can be achieved; multiple actuators can respectively correspond to different microfluidic channels or different control parameters to achieve precise regulation of various aspects such as the flow rate, pressure, and temperature of the fluid. Description of the Drawings

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0027] Figure 1 It is a schematic structural diagram of the device in the present invention;

[0028] Figure 2 It is a flowchart of the method in the present invention. Specific Embodiments

[0029] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0030] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Referring to Figure 1 - Figure 2 , a device for simultaneously and independently controlling the start / stop and power of multiple actuators in the present invention mainly consists of the following parts:

[0032] Computing device: A single-chip microcomputer or other computing device that can generate or receive control signals and output the control signals of the actuator as optical signals on the screen, such as Raspberry Pi 3b, esp32C6, and also includes Allwinner and Rockchip development boards, etc., as well as personal computers.

[0033] Integrated optical signal output device: A screen or other integrated optical signal output device that can display control signals, such as screens connected by hdmi, dp, tpyec. An example is a screen connected by spi, and also includes LCD, OLED, and display devices dedicated to displaying ultraviolet and infrared light.

[0034] Photosensitive sensor element and signal conversion circuit: A conversion circuit that can independently transmit the signals on the integrated optical signal output device to more than 100 independent actuators (such as motors). Among them, the photosensitive sensor elements include photosensitive triodes, photosensitive diodes, photosensitive resistors, cameras, photosensitive cmos, etc.;

[0035] The signal conversion circuit includes a signal conversion circuit composed of a programmable logic controller (ATtiny13A) combined with peripheral circuits, a signal conversion circuit composed of NE555, a signal conversion circuit directly using multiple comparators (such as LM393), and a circuit jointly composed of NE555 and comparators.

[0036] Actuator: It converts the received signal into the operation and work of the actuator. The actuator in the example is a DC geared motor, and also includes magnetic field generators such as electromagnets, ultrasonic generators, laser generators, electric motors (motors), etc. Its function is to convert electrical signals into the energy manifestation form of signals to be controlled.

[0037] Steps for implementing a method for simultaneously and independently controlling the start / stop and power of multiple actuators according to the present invention:

[0038] The single-chip microcomputer receives relevant signals (received data packets) for controlling the actuators, or the single-chip microcomputer directly generates corresponding requirement information for actuator control (using specific codes). This information generally includes the time when a specific actuator starts to work, the power (or speed, intensity, etc.), and the end time of the work.

[0039] The single-chip microcomputer converts the requirement information for the actuators into bright spots of various colors at different positions on the screen, such as brighter or darker colors.

[0040] Use a photosensitive type of sensor (including but not limited to components such as integrated circuit CMOS, photoresistor, photodiode, phototransistor, camera, etc., and a photodiode in the example), and with the help of a circuit conversion device (which can be a comparator combined with an NE555 circuit module, or a programmable logic controller similar to that in the example), convert the light spot signal into an electrical signal.

[0041] Transmit the signal converted by the integrated optical signal output device to the actuator through a specific driver, thereby achieving control.

[0042] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A device for simultaneously and independently controlling the start / stop and power of multiple actuators, comprising a computing device, an integrated optical signal output device, a photosensitive sensor element and a signal conversion circuit, and an actuator, characterized in that: The computing device: is used to generate or receive control signals, and output the actuator control signals as optical signals on the screen. The computing device includes a single-chip microcomputer or other computing devices. The single-chip microcomputer includes Raspberry Pi 3b and esp32C6, and other computing devices include Allwinner and Rockchip development boards and personal computers; The integrated optical signal output device: is used to display the control signals, including a screen or other integrated optical signal output devices. The screen includes screens connected by hdmi, dp, tpyec, and screens connected by spi. Other integrated optical signal output devices include LCD, OLED, and display devices dedicated to displaying ultraviolet and infrared light; The photosensitive sensor element and the signal conversion circuit: are used to independently transmit the signals on the integrated optical signal output device to more than 100 independent actuators respectively. The photosensitive sensor element includes a photosensitive triode, a photosensitive diode, a photosensitive resistor, a camera, and a photosensitive cmos. The signal conversion circuit includes a signal conversion circuit composed of a programmable logic controller combined with a peripheral circuit, an NE555 circuit module, a signal conversion circuit directly using multiple comparators, and a circuit jointly composed of an NE555 circuit module and a comparator; The actuator: is used to convert the received signals into the operation and work of the actuator. The actuator includes a DC reduction motor, a magnetic field generator similar to an electromagnet, an ultrasonic generator, a laser generator, and an electric motor.

2. The device for simultaneously and independently controlling the start / stop and power of multiple actuators according to claim 1, wherein: The control signals generated or received by the computing device include information on the start time, power, and end time of work of a specific actuator.

3. The device for simultaneously and independently controlling the start / stop and power of multiple actuators according to claim 2, wherein: The integrated optical signal output device displays the control signals through bright spots of various colors at different positions.

4. A method for simultaneously and independently controlling the start / stop and power of multiple actuators, including the device for simultaneously and independently controlling the start / stop and power of multiple actuators according to claim 3, characterized in that, It includes the following steps: Step 1: The computing device receives relevant signals for controlling the actuator or directly generates corresponding requirement information for actuator control. This information includes the start time, power, and end time of work of a specific actuator; Step 2: The computing device converts the requirement information for the actuator into bright spots of various colors at different positions on the integrated optical signal output device; Step 3: Use a photosensitive type sensor with the help of a circuit conversion device to convert the spot signal into an electrical signal. The photosensitive type sensor includes an integrated circuit cmos, a photosensitive resistor, a photosensitive diode, a photosensitive triode, and a camera. The circuit conversion device includes a comparator combined with an NE555 circuit module or a programmable logic controller; Step 4: Transmit the signals converted by the integrated optical signal output device to the actuator through a specific driver to achieve control of the actuator.

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