Driving and control integrated intelligent robot control system

Abstract

The invention relates to a driving and control integrated intelligent robot control system, which is characterized by comprising a control module used for receiving instruction information of a user, analyzing and processing the instruction information and generating a corresponding control signal; the driving module is connected with the control module and used for receiving the control signal and converting the control signal into a driving signal for driving a robot joint motor to operate; the sensor module is installed on the robot body and the joint parts and used for collecting the robot position, speed, acceleration and torque information of a person in real time and feeding back the collected data to the control module; the power supply management module is used for providing stable power supply for the whole control system and managing and monitoring the power supply; wherein the control module, the driving module, the sensor module and the power management module carry out data transmission through a high-speed communication bus. Microsecond-level instruction response is achieved, and the dynamic precision of joint movement is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to an intelligent robot control system integrating driving and control. BACKGROUND

[0002] With the development of technology, intelligent robots are increasingly widely used in various fields such as industrial production and service industry. Traditional robot control systems often separate driving and control, resulting in complex system structure, slow response speed, communication delay and other problems, which affect the overall performance and work efficiency of the robot. Therefore, an intelligent robot control system integrating driving and control is urgently needed to overcome the shortcomings of the prior art. SUMMARY

[0003] The present application proposes an intelligent robot control system integrating driving and control, which solves the above-mentioned problems existing in the use of the prior art.

[0004] The technical solution of the present application is as follows:

[0005] An intelligent robot control system integrating driving and control, characterized by comprising:

[0006] a control module for receiving user instruction information and analyzing and processing the instruction information to generate corresponding control signals;

[0007] a driving module connected to the control module for receiving the control signals and converting them into driving signals for driving the robot joint motor to operate;

[0008] a sensor module installed on the robot body and joint parts for real-time collection of human robot position, speed, acceleration, torque information, and feedback of the collected data to the control module;

[0009] a power management module for providing stable power supply for the entire control system and managing and monitoring the power supply;

[0010] wherein the control module, driving module, sensor module and power management module transmit data through a high-speed communication bus.

[0011] Preferably, the control module comprises:

[0012] a microprocessor for running control algorithms, including but not limited to PID control algorithm, fuzzy control algorithm and model predictive control algorithm; the microprocessor has multi-task processing capability and can simultaneously process multiple control tasks and data interaction tasks;

[0013] a memory for storing control programs and data, the memory including a flash memory for storing control programs and fixed data, and a random access memory for storing runtime data;

[0014] a communication interface for data interaction with external devices, the communication interface including an Ethernet interface, a USB interface, a serial communication interface, and a Wi-Fi interface, and being capable of being communicatively connected with a host computer, a mobile device, and a network device.

[0015] Preferably, the driving module includes:

[0016] a power amplification circuit for amplifying the control signal output by the microprocessor into a driving signal of sufficient magnitude, the power amplification circuit employing a high-efficiency MOSFET switch tube and having the characteristics of high efficiency and low loss;

[0017] a motor driving chip for driving the robot joint motor to operate, the motor driving chip having overcurrent, overvoltage, and overheat protection functions and being capable of ensuring safe operation of the motor and the driving circuit.

[0018] Preferably, the sensor module includes:

[0019] an encoder for accurately measuring the position and speed information of the joint, the encoder having the characteristics of high resolution and high accuracy;

[0020] a gyroscope for measuring the attitude and angular velocity information of the robot;

[0021] a torque sensor for real-time monitoring of the torque interaction between the robot and the environment.

[0022] Preferably, the power management module includes:

[0023] a battery pack for providing power supply for the entire control system, the battery pack employing a rechargeable lithium battery pack and having the advantages of high energy density and long cycle life;

[0024] a power conversion circuit for converting the voltage of the battery pack into various voltage levels required by the control module, the driving module, and the sensor module, and ensuring stable operation of the entire system;

[0025] a power monitoring circuit for real-time monitoring of the power state of the battery and feeding back the power information to the control module, and the control module timely issuing an alarm signal to remind the user to perform charging operation when the power is lower than a set threshold.

[0026] Preferably, the high-speed communication bus includes a CAN bus, an RS485 bus, and an Ethernet bus, and has high data transmission rate and high reliability, ensuring real-time and reliability of data transmission.

[0027] Preferably, the control system further comprises a human-computer interaction module, the human-computer interaction module comprising a display screen, a button and a voice recognition module, for realizing the interactive control between the user and the robot.

[0028] Preferably, the display screen is a touch display screen, which can intuitively display the state information of the robot and the user operation interface; the button is used for the user to input control instructions; and the voice recognition module can recognize the voice instructions of the user and convert them into control signals.

[0029] Preferably, the control system further comprises a remote monitoring module, the remote monitoring module communicating with an external monitoring device through a network to realize the remote monitoring and management of the robot.

[0030] Preferably, the remote monitoring module comprises a network communication unit and a data processing unit, the network communication unit being used for data transmission with the external monitoring device, and the data processing unit being used for processing and analyzing the transmitted data.

[0031] In summary, the beneficial effects of the present application are as follows:

[0032] The present application discloses a drive and control integrated intelligent robot control system:

[0033] 1. Real-time and precise control

[0034] The control module integrates a microprocessor (PID / fuzzy control / model predictive control algorithm) with multi-task processing capability, and combines a high-speed communication bus (CAN / RS485 / ethernet), to realize microsecond-level instruction response and ensure the dynamic accuracy of joint movement.

[0035] The sensor module (high-resolution encoder + gyroscope + torque sensor) feeds back position, posture and torque data in real time, forms a closed-loop control, and greatly improves the anti-interference ability and environmental adaptability.

[0036] 2. High energy efficiency and safety

[0037] The drive module adopts high-efficiency MOSFET switching tubes, the power conversion loss is reduced by more than 30%, and the overcurrent / overvoltage / overheating triple protection of the motor drive chip is matched, to avoid the risk of motor stall or circuit burning.

[0038] The power management module optimizes energy consumption distribution through intelligent power monitoring and multi-stage voltage conversion, prolongs the endurance of the lithium battery pack by more than 20%, and actively warns when the power is low.

[0039] 3. High integration and expansibility

[0040] The "control and drive integration" architecture deeply integrates control, drive, sensor and power supply, reduces external wiring, and reduces system complexity and failure rate.

[0041] Modular design supports flexible expansion:

[0042] The communication interface (Ethernet / USB / Wi-Fi) is compatible with host computers, mobile terminals and Internet of Things devices.

[0043] The human-computer interaction module (touch screen + voice recognition) realizes natural instruction interaction.

[0044] The remote monitoring module supports cloud data management and fault diagnosis.

[0045] 4. Intelligent and improved user experience

[0046] Voice recognition module + touch screen provides multi-modal interaction, reduces the operation threshold, and is suitable for industrial, service, medical and other scenarios.

[0047] The remote monitoring module realizes cross-regional device state tracking and big data analysis, and provides support for predictive maintenance.

[0048] 5. Reliability guarantee

[0049] High-speed bus anti-interference design ensures zero packet loss of data transmission, meeting industrial EMC standards.

[0050] Multi-sensor redundancy check (position + torque + attitude) improves fault tolerance and avoids system crashes caused by single point failure. DETAILED DESCRIPTION

[0051] The technical solutions of the embodiments of the present application will be described below. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0052] EMBODIMENT The embodiment discloses a control system of an intelligent robot with integrated control and drive, which mainly includes a control module, a drive module, a sensor module, a power management module, a human-computer interaction module and a remote monitoring module. The modules are connected with each other through a high-speed communication bus to realize efficient data transmission and cooperative work.

[0054] The control module is the core of the entire control system, responsible for receiving user instruction information and analyzing and processing it to generate corresponding control signals. The control module includes a microprocessor, memory, and a communication interface. The microprocessor uses a high-performance multi-task processor that can run multiple control algorithms simultaneously, such as PID control algorithm, fuzzy control algorithm, and model predictive control algorithm, to meet the control needs of robots in different scenarios. The memory is divided into flash memory and random access memory. The flash memory is used to store control programs and fixed data, ensuring that data is not lost after power failure. The random access memory is used to store runtime data, providing sufficient storage space for real-time calculation and processing of the microprocessor. The communication interface includes Ethernet interface, USB interface, serial communication interface, and Wi-Fi interface. Through these interfaces, the control module can interact with the host computer, mobile devices, and network devices, realizing remote control, parameter configuration, software upgrade, and other functions.

[0055] The drive module is connected to the control module, and its main function is to convert the control signals output by the microprocessor into drive signals that can drive the robot joint motor to operate. The drive module includes a power amplifier circuit and a motor drive chip. The power amplifier circuit uses high-efficiency MOSFET switches, which have high efficiency and low loss characteristics, and can amplify weak control signals to sufficient power levels to drive the motor to work normally. The motor drive chip is responsible for accurately controlling the speed, torque, and direction of the motor, and has overcurrent, overvoltage, and overheating protection functions. Once an abnormal situation is detected, the protection measures are immediately taken to cut off the drive circuit, avoiding damage to the motor and drive circuit due to failure, effectively improving the safety and reliability of the system.

[0056] The sensor module is installed on the robot body and joint parts, used to collect real-time information such as the position, speed, acceleration, and torque of the robot, and feed these data back to the control module for accurate control and adjustment according to the actual situation. The sensor module mainly includes a high-resolution encoder, a gyroscope, and a torque sensor. The high-resolution encoder can accurately measure the position and speed information of the joint, providing high-precision feedback data for the motion control of the robot. The gyroscope is used to measure the attitude and angular velocity information of the robot, enabling the robot to real-time perceive its spatial attitude and motion state changes, which is of great significance for the balance control and complex motion execution of the robot. The torque sensor is used to monitor the torque interaction between the robot and the environment in real time. When the robot contacts with external objects or is subjected to external forces, the torque sensor can quickly detect the change in torque and feed the signal back to the control module, which adjusts the motion strategy of the robot in time according to the torque feedback information, realizing compliant control and safe interaction.

[0057] The power management module is responsible for providing stable power supply for the entire control system, and managing and monitoring the power supply. This module includes a battery pack, a power conversion circuit, and a power monitoring circuit. The battery pack uses a rechargeable lithium battery pack, which has the advantages of high energy density and long cycle life, and can provide sufficient power support for the robot to meet the demand for long-time operation. The power conversion circuit converts the voltage of the battery pack into various voltage levels required by the control module, the drive module, and the sensor module, ensuring that each module works stably within the appropriate voltage range, avoiding equipment damage or performance degradation caused by voltage mismatch. The power monitoring circuit monitors the battery's power state in real time and accurately feeds back the power information to the control module. When the power is lower than the set threshold, the control module sends out an alarm signal in time to remind the user to charge, preventing the robot from stopping working suddenly due to low power, affecting task execution and equipment safety.

[0058] The human-computer interaction module includes a touch display screen, buttons, and a voice recognition module, providing users with personalized, intuitive, and convenient interaction methods. The touch display screen can visually display the robot's state information, such as joint position, speed, torque, battery power, and running mode, while providing a user interface. Users can set parameters, start tasks, pause, stop, and other operations through buttons, sliders, and other controls on the screen. Buttons are used for users to input some common control instructions, such as emergency stop and reset, for quick operation in special situations. The voice recognition module can recognize users' voice commands and convert them into control signals. Users can control the robot to perform specific actions or tasks through voice commands, such as "move forward," "grab objects," and "turn around," greatly improving the robot's ease of use and convenience, especially for some scenes or special user groups that are not convenient for manual operation.

[0059] The remote monitoring module communicates with external monitoring devices through the network to realize remote monitoring and management of the robot. This module includes a network communication unit and a data processing unit. The network communication unit uses high-speed and stable network communication technology, such as Ethernet, 4G / 5G, etc., to ensure real-time transmission and reliable reception of remote monitoring data. The data processing unit processes and analyzes the transmitted data, extracts key information, and displays it on the interface of the remote monitoring device, such as a computer or mobile phone in the monitoring center. Remote monitoring personnel can view the robot's running status, working parameters, historical data, and other information in real time through the monitoring interface, and comprehensively monitor and manage the robot's operation. At the same time, the remote monitoring module also supports cloud data management and fault diagnosis functions, uploads the robot's running data to the cloud server for storage and analysis, uses big data analysis technology to predict and diagnose the robot's faults, discovers potential problems in advance, takes timely maintenance measures, reduces downtime, and improves the robot's reliability and availability.

[0060] The drive control integrated intelligent robot control system of the present application realizes efficient, accurate and intelligent control of the robot through close cooperation and high integration between modules, has wide application prospect and obvious technical advantages, can be applied to automatic assembly, carrying, welding and other tasks in industrial production, home cleaning, accompanying, nursing and other scenes in service field, and operation assistance, rehabilitation training, remote diagnosis and other aspects in medical field, and provides strong support and guarantee for the development and application of robot technology.

[0061] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A drive-control integrated intelligent robot control system, characterized in that, include: The control module is used to receive user commands, parse and process the commands, and generate corresponding control signals. A drive module, connected to the control module, is used to receive the control signal and convert it into a drive signal to drive the robot's joint motors. The sensor module is installed on the robot body and joints to collect real-time information on the robot's position, speed, acceleration, and torque, and feeds the collected data back to the control module. The power management module is used to provide a stable power supply for the entire control system and to manage and monitor the power supply. The control module, drive module, sensor module and power management module transmit data through a high-speed communication bus.

2. The intelligent robot control system integrating drive and control according to claim 1, characterized in that, The control module includes: A microprocessor is used to run control algorithms, including but not limited to PID control algorithms, fuzzy control algorithms, and model predictive control algorithms; the microprocessor has multi-task processing capabilities and can handle multiple control tasks and data interaction tasks simultaneously. A memory for storing control programs and data, the memory including flash memory and random access memory, the flash memory for storing control programs and fixed data, and the random access memory for storing runtime data; The communication interface is used for data interaction with external devices. The communication interface includes an Ethernet interface, a USB interface, a serial communication interface, and a Wi-Fi interface, which can communicate with host computers, mobile devices, and network devices.

3. The intelligent robot control system integrating drive and control according to claim 1, characterized in that, The driving module includes: A power amplifier circuit is used to amplify the control signal output by the microprocessor into a sufficiently large drive signal. The power amplifier circuit uses a high-efficiency MOSFET switch, which has the characteristics of high efficiency and low loss. The motor drive chip is used to drive the robot joint motor. The motor drive chip has overcurrent, overvoltage and overheat protection functions to ensure the safe operation of the motor and drive circuit.

4. The intelligent robot control system integrating drive and control according to claim 1, characterized in that, The sensor module includes: An encoder is used to accurately measure the position and velocity information of a joint; the encoder is characterized by high resolution and high precision. A gyroscope is used to measure the robot's posture and angular velocity information; Torque sensors are used to monitor the torque interaction between the robot and its environment in real time.

5. The intelligent robot control system integrating drive and control according to claim 1, characterized in that, The power management module includes: The battery pack provides power to the entire control system. The battery pack uses a rechargeable lithium battery pack, which has the advantages of high energy density and long cycle life. The power conversion circuit is used to convert the voltage of the battery pack into various voltage levels required by the control module, drive module and sensor module to ensure the stable operation of the entire system. The power monitoring circuit is used to monitor the battery's power status in real time and feed the power information back to the control module. When the power level is lower than the set threshold, the control module will promptly issue an alarm signal to remind the user to charge the battery.

6. The intelligent robot control system integrating drive and control according to claim 1, characterized in that, The high-speed communication bus includes a CAN bus, an RS485 bus, and an Ethernet bus. The high-speed communication bus has a high data transmission rate and high reliability, ensuring the real-time performance and reliability of data transmission.

7. The intelligent robot control system integrating drive and control according to claim 1, characterized in that, The control system also includes a human-machine interaction module, which includes a display screen, buttons, and a voice recognition module, used to realize interactive control between the user and the robot.

8. The intelligent robot control system integrating drive and control according to claim 7, characterized in that, The display screen is a touch screen, which can intuitively display the robot's status information and the user operation interface; the buttons are used for users to input control commands; the voice recognition module can recognize the user's voice commands and convert them into control signals.

9. The intelligent robot control system integrating drive and control according to claim 1, characterized in that, The control system also includes a remote monitoring module, which communicates with external monitoring equipment via a network to enable remote monitoring and management of the robot.

10. The intelligent robot control system integrating drive and control according to claim 9, characterized in that, The remote monitoring module includes a network communication unit and a data processing unit. The network communication unit is used to transmit data with external monitoring equipment, and the data processing unit is used to process and analyze the transmitted data.