Visual compiling system for intelligent control board of robot

Abstract

The invention discloses a visual compiling system for a robot intelligent control board, relates to the technical field of robot intelligent control board development, and aims to change a traditional working process through the visual compiling system and construct a visual software and a corresponding universal robot expansion board and a robot mainboard. According to the method, a manual and intelligent generation mode is realized, customized growth editing development of the robot circuit board is realized, the problems of too long time and relatively low efficiency of a traditional development mode are solved, and the intelligence and efficiency of the robot circuit board development process are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of robot intelligent control board development, and in particular to a robot intelligent control board visual compilation system. Background Art

[0002] In the existing robot circuit board development process, schematics and layouts are mainly produced according to specific requirements, and then firmware is written according to the corresponding port definitions and requirement definitions. Usually, a common requirement is completed from design to production to verification and debugging. This process is usually time-consuming and costly, resulting in low efficiency of the entire R&D and inability to quickly and conveniently develop operations.

[0003] In view of the above technical defects, a solution is now proposed. Summary of the Invention

[0004] The purpose of the present invention is to change the traditional workflow through a visual compilation system, and to realize the customized growth editing and development of robot circuit boards by constructing visual software and corresponding universal robot expansion boards and robot main boards, thereby solving the problems of long development time and low efficiency of traditional development methods and enhancing the intelligence and efficiency of the robot circuit board development process.

[0005] The objectives of the present invention can be achieved through the following technical solutions: A robot intelligent control board visual compilation system, comprising: a robot main board, a robot expansion board and visual compilation software, wherein the robot main board and the robot expansion board each have multiple preset ports and preset interfaces, the robot main board and the robot expansion board are electrically connected, and the visual compilation software runs in a host computer, and the visual compilation software includes a component definition module, a parameter configuration module, a process design module, a register table generation module, a firmware library for storing specification information and a driver library for storing driver information. The component definition module complies with the customer requirement file to generate an intelligent control board configuration file, the parameter configuration module generates block diagram configuration information according to the preset configuration file of the intelligent control board, the process design module obtains the block diagram configuration information and retrieves the specification information adapted thereto in the firmware library, drags the block diagram in the specification information to the corresponding preset port, the register table generation module synchronously obtains the corresponding driver information in the driver library and constructs an action process to generate a register table, and then burns the register table to the robot main board and switches to the running mode; the intelligent control board compilation work is realized by triggering commands to drive the hardware to execute preset actions.

[0006] Furthermore, the preset ports include a communication port module, a power port module, a sensor port module, a motor control port and a board power port. The sensor port module includes a port that supports 8-way IO input, 4-way three-color LED light strips and 2-way DC motor control; the communication port module includes a 485 port, a USB port and a LAN port.

[0007] Furthermore, the port types supported by the expansion board include at least one of the following: a DC motor port, a stepper motor port, an electromagnetic lock control port, a temperature and humidity sensor port, and a relay control port.

[0008] Furthermore, the firmware library and driver library signals are connected to an editor.

[0009] Furthermore, the compliance steps for the intelligent control board configuration file include:

[0010] Define the types and corresponding quantities of hardware ports according to customer requirements documents;

[0011] Obtain a robot mainboard and match the corresponding hardware port type and corresponding quantity, and subtract the result. If the result is greater than 0, stack the first expansion board. Then match the remaining hardware port types and corresponding quantities with the first expansion board and subtract the result. If it is greater than 0, stack the second expansion board, and repeat the above process. The port functions of the 2n+1 expansion board (n ≥ 0 and is an integer) in the stack connection are consistent with those of the first expansion board, and the port functions of the 2n expansion board (n ≥ 1 and is an integer) in the stack connection are consistent with those of the second expansion board.

[0012] When the remaining hardware port types and corresponding quantities are 0: the robot mainboard and the information of the matching hardware port types and corresponding quantities, as well as the stacking quantity of the robot expansion boards and the information of the matching hardware port types and corresponding quantities are packaged to generate an intelligent control board configuration file.

[0013] Furthermore, the robot mainboard is equipped with a 32-bit ARM core microprocessor.

[0014] Furthermore, the register table generation module records component definitions, parameter configurations, and process logic as dynamic linked list information, stores it in the mainboard memory, and drives hardware actions through trigger commands.

[0015] Furthermore, the system operation process information is recorded and stored and uploaded to the server, and each node and each step are stored separately. When the storage capacity of each node is greater than the preset capacity:

[0016] Record the system operation process and store it on the server. The system operation process is to form the entire process from the customer demand file to the register table into several coordinated execution threads. Each execution thread has at least one sub-item that is carried out in sequence.

[0017] Collect the time it takes for a sub-item to complete this action. If the time it takes to complete this action is greater than the preset time, a manual intervention signal is generated, reminding the staff to perform the corresponding manual processing operation. Otherwise, all sub-items under different threads of the same step are obtained and the sub-item operation under the next step is performed. The above steps are repeated until the entire execution thread is completed.

[0018] At the same time, all information of manual processing operations is recorded and stored, and corresponding automatic operations are performed according to all information of manual processing operations and the comparison information of manual processing operations and automatic operations is displayed on the display screen sent to the server.

[0019] The beneficial effects of the present invention are as follows:

[0020] The present invention changes the traditional workflow through a visual compilation system. By constructing visual software and corresponding universal robot expansion boards and robot main boards, it realizes both manual and intelligent generation, and implements customized growth editing and development of robot circuit boards. This solves the problems of long development time and low efficiency of traditional development methods, and enhances the intelligence and efficiency of the robot circuit board development process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings;

[0022] Figure 1 It is a structural diagram of the intelligent control board of the present invention;

[0023] Figure 2 It is a flow chart of the present invention.

[0024] Figure 3 It is a structural diagram of the present invention. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0026] Example 1:

[0027] See also Figures 1 to 2As shown, a robot intelligent control board visual compilation system includes: a robot mainboard, a robot expansion board and visual compilation software, the robot mainboard and the robot expansion board each have multiple preset ports and preset interfaces, the robot mainboard and the robot expansion board are electrically connected, and the visual compilation software runs in a host computer. The visual compilation software includes a component definition module, a parameter configuration module, a process design module, a register table generation module, a firmware library for storing specification information and a driver library for storing driver information. The component definition module complies with the customer requirement file to generate an intelligent control board configuration file. The parameter configuration module generates block diagram configuration information based on the preset configuration file of the intelligent control board. The process design module obtains the block diagram configuration information and retrieves the specification information adapted thereto in the firmware library. The block diagram in the specification information is dragged to the corresponding preset port to connect the electronic component to the preset port. The register table generation module synchronously obtains the corresponding driver information in the driver library and constructs an action process to generate a register table, which is then burned to the robot mainboard and switched to the running mode. The intelligent control board compilation work is realized by triggering commands to drive the hardware to execute preset actions.

[0028] The robot main board and the robot expansion board are two parts. The robot main board can connect to a maximum of two robot expansion boards with different functions, and the robot main board can infinitely stack robot expansion boards with the same functions. That is, in the reconfigurable robot expansion boards stacked on a robot main board, the functions of the first and second blocks can be defined and used separately, but the functions of the reconfigurable robot universal expansion boards of the stacked blocks 3, 5, 7, ... 2n+1 (n>0 and n is an integer) are completely consistent with the interface definition functions of the first reconfigurable robot universal expansion board. The functions of the reconfigurable robot universal expansion boards of the stacked blocks 4, 6, 8, ... 2n (n>0 and n is an integer) are completely consistent with the interface definition functions of the second reconfigurable robot universal expansion board. The stacking connection method uses pin header connection, which is interconnected through 3 rows of 20-pin pin headers, i.e., the board circuit power connection port. In the present invention, port and interface have the same meaning and are used to connect electrical appliances.

[0029] like Figure 1The robot's mainboard includes a 485 communication port for communicating with the host computer, a USB communication port that can convert USB to 232, and a LAN communication port. The robot's mainboard also has three 485 ports for connecting to other sensors, one 24V high-current power output port, one controllable 12V high-current power output port, one 5V high-current power output port, eight IO input ports for connecting sensors, four three-color LED light strip ports, two DC motor ports, and more. In addition, the robot expansion board can be connected via three sets of 20-pin stacking pin headers to control four DC motors, two IO output ports for relay control and controllable high current, and eight IO input ports for sensor control. The robot expansion board can also be connected to a reconfigurable robot universal expansion board via three sets of 20-pin stacking pin headers, which can also control a corresponding number of additional components.

[0030] It should also be noted that both the robot main board and the robot expansion board have three-dimensional information that corresponds to the physical object or in the visual compilation software in a one-to-one manner, which is used for visualization and easy operation.

[0031] like Figure 2 To accommodate multiple models of reconfigurable robot universal intelligent control boards, the first step is to generate an intelligent control board configuration file based on the customer's requirements, defining the component types and quantities. This defines information such as the number of motor groups, I / O inputs, I / O outputs, and LED light strips. The number of ports on the universal robot intelligent control board is specified here.

[0032] To determine the property parameters of the motor connected to the smart control board, for example, the motor's protective rotation time, the limit delay closing time, the limit sensor, the limiter specified by the anti-pinch sensor, the state of the LED light during rotation, the motor gear position, and other information, the compliance steps of the smart control board configuration file include:

[0033] Define the types and corresponding quantities of hardware ports according to customer requirements documents;

[0034] To combine the flow of specified commands, you can drag the specified actions into the drawing box and clarify the trigger conditions by connecting lines. For example, after starting, wait for the sensor to be triggered, then start motor 2 to rotate forward, trigger a certain sensor, and then stop.

[0035] Generate block diagram configuration information according to the preset configuration file of the intelligent control board, select the corresponding number of robot main boards and robot expansion boards, drag the block diagrams of the corresponding electrical components to the positions of the corresponding robot main boards and robot expansion boards to form the intelligent control board.

[0036] Then select the corresponding electrical component drive input information or modify some drive information according to actual conditions, such as different size specifications of electrical components, different power supply requirements of electrical components, etc.

[0037] Check all processes and commands, generate corresponding register tables for all component information, motor parameter information, process information and command information and store them in memory or server.

[0038] Use a 485 serial cable, a USBA male-to-male data cable, or a LAN cable to connect to the produced robot intelligent control board, select the specified serial port, and connect.

[0039] Switch the mode to burning mode;

[0040] Upload the generated register table;

[0041] Store the uploaded register table into the memory chip.

[0042] Power on the robot intelligent control board and switch it to use mode.

[0043] The components and parameter register tables in the storage chip are loaded into the register table in the memory, and the information in the step and command register tables is converted into dynamic linked list information in the memory.

[0044] When the specified command is triggered, the corresponding components can be driven according to the information of the linked list and registers, thereby completing the manual compilation of the intelligent control board.

[0045] The intelligent operation steps of the system are:

[0046] Record the information of the system operation process and upload it to the server for storage, mark each node and each step to form sub-items, collect sub-item information during manual operation and store it accordingly. When the storage capacity of each node is greater than the preset capacity: the sub-item information includes the manually filled-in value at the node, the type of block diagram, the movement trajectory and the corresponding drive information, as well as the processing time.

[0047] That is, the entire process from customer requirement documents to register table generation is formed into several coordinated execution threads, and each execution thread has at least one sub-item that is carried out in sequence;

[0048] Collect the time it takes for a sub-item to complete this action. If the time it takes to complete this action is greater than the preset time, a manual intervention signal is generated, reminding the staff to perform the corresponding manual processing operation. Otherwise, all sub-items under different threads of the same step are obtained and the sub-item operation under the next step is performed. The above steps are repeated until the entire execution thread is completed.

[0049] At the same time, all information of manual processing operations is recorded and stored, and corresponding automatic operations are performed based on all information of manual processing operations. The comparison information of manual processing operations and automatic operations is displayed on the display screen of the server at the same time, further realizing the intelligent generation of universal circuit boards.

[0050] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A robot intelligent control board visual compilation system, characterized in that: include: A robot main board, a robot expansion board and visual compilation software, the robot main board and the robot expansion board both have multiple preset ports, the robot main board and the robot expansion board are electrically connected, the visual compilation software runs in the host computer, the visual compilation software includes a component definition module, a parameter configuration module, a process design module, a register table generation module, a firmware library for storing specification information and a distributed storage module for a driver library for storing driver information. The component definition module is used to generate a smart control board configuration file in compliance with the customer requirement file. The parameter configuration module generates block diagram configuration information through the preset configuration file of the smart control board. The process design module obtains the block diagram configuration information and calls the specification information adapted to it in the firmware library, drags the block diagram in the specification information to the corresponding preset port, and the register table generation module synchronously obtains the corresponding driver information in the driver library and constructs an action process to generate a register table, which is then burned to the robot main board to generate it.

2. A robot intelligent control board visual compilation system according to claim 1, characterized in that: The preset ports include a communication port module, a power port module, a sensor port module, a motor control port and a board power port. The sensor port module includes a port that supports 8-way IO input, 4-way three-color LED light strips and 2-way DC motor control; the communication port module includes a 485 port, a USB port and a LAN port.

3. A robot intelligent control board visual compilation system according to claim 2, characterized in that: The port types supported by the robot main board and the robot expansion board include at least one of the following: a DC motor port, a stepper motor port, an electromagnetic lock control port, a temperature and humidity sensor port, and a relay control port.

4. A robot intelligent control board visual compilation system according to claim 1, characterized in that: The firmware library and driver library signals are connected to an editor.

5. A robot intelligent control board visual compilation system according to claim 1, characterized in that: The compliance steps for the smart control board configuration file include: Define the types and corresponding quantities of hardware ports according to customer requirements documents; Obtain a robot mainboard and match the corresponding hardware port type and corresponding quantity, and subtract the result. If the result is greater than 0, stack the first expansion board. Then match the remaining hardware port types and corresponding quantities with the first expansion board and subtract the result. If it is greater than 0, stack the second expansion board, and repeat the above process. The port functions of the 2n+1 expansion board (n ≥ 0 and is an integer) in the stack connection are consistent with those of the first expansion board, and the port functions of the 2n expansion board (n ≥ 1 and is an integer) in the stack connection are consistent with those of the second expansion board. When the remaining hardware port types and corresponding quantities are 0: the robot mainboard and the information of the matching hardware port types and corresponding quantities, as well as the stacking quantity of the robot expansion boards and the information of the matching hardware port types and corresponding quantities are packaged to generate an intelligent control board configuration file.

6. A robot intelligent control board visual compilation system according to claim 1, characterized in that: The robot mainboard is equipped with a 32-bit ARM core microprocessor.

7. A robot intelligent control board visual compilation system according to claim 1, characterized in that: The register table generation module records component definitions, parameter configurations, and process logic as dynamic linked list information, stores it in the mainboard memory, and drives hardware actions through trigger commands.

8. A robot intelligent control board visual compilation system according to claim 1, characterized in that: The system operation steps are: Record the information of the system operation process and upload it to the server for storage. Mark each node and each step to form sub-items. Collect the sub-item information during the manual operation and store it accordingly. When the storage capacity of each node exceeds the preset capacity: That is, the entire process from customer requirement documents to register table generation is formed into several coordinated execution threads, and each execution thread has at least one sub-item that is carried out in sequence; Collect the time it takes for a sub-item to complete this action. If the time it takes to complete this action is greater than the preset time, a manual intervention signal is generated, reminding the staff to perform the corresponding manual processing operation. Otherwise, all sub-items under different threads of the same step are obtained and the sub-item operation under the next step is performed. The above steps are repeated until the entire execution thread is completed. At the same time, all information of manual processing operations is recorded and stored, and corresponding automatic operations are performed based on all information of manual processing operations. The synchronous records are sent to the display screen of the server to display the comparison information of manual processing operations and automatic operations.

9. A robot intelligent control board visual compilation system according to claim 1, characterized in that: The sub-item information includes the manually filled-in value at the node, the type of block diagram, the movement trajectory and the corresponding drive information, as well as the processing time.

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