A control system for a humanoid robot

Abstract

The utility model relates to a kind of control system of humanoid robot, it includes brain module, cerebellum module, upper body drive control module, lower body drive control module and power module;Cerebellum module is connected with brain module;Upper body drive control module includes multiple first drive control units, brain module and multiple first drive units are cascaded gradually;Lower body drive control module includes multiple second drive control units, cerebellum module and multiple second drive units are cascaded gradually;Power module is connected with brain module;By the brain module and cerebellum module of being set respectively control upper body drive control module and lower body drive control module, brain module and cerebellum module work cooperatively, brain module and multiple first drive units are cascaded gradually, cerebellum module and multiple second drive units are cascaded gradually, whether rate, real-time and delay rate are all greatly improved, for humanoid robot provide high real-time, ultra-low latency, efficient bandwidth utilization, flexible topological structure communication mode.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a control system for a humanoid robot. Background Technology

[0002] Humanoid robots have many joints that move, so they need to be equipped with a control system to control them.

[0003] For example, the utility model patent with application number CN201620010064.4 proposes a real-time control system for a humanoid robot, which includes a main controller that communicates bidirectionally with a host computer via an RS232 communication module. Its output is connected to the input of an alarm module and a drive module, respectively. The output of the drive module is connected to motors installed at each joint of the humanoid robot and on the robot body. The output shaft of the motor is connected to a reducer. The signal outputs of position sensors and fault sensors installed at each joint of the robot are connected to the input of a signal conditioning module. The outputs of the signal conditioning module and the attitude detection module are connected to the input of the main controller. The main controller uses an MC9S12DG256 chip.

[0004] However, humanoid robots have many joints, and a single-chip controller cannot meet the control requirements of multiple joints, resulting in problems such as high power consumption, low real-time performance, and low computing power. Utility Model Content

[0005] In view of this, it is necessary to provide a control system for humanoid robots to solve the problems of high power consumption, low real-time performance and low computing power caused by the fact that humanoid robots have many joints and single-chip controllers cannot meet the control requirements of multiple joints.

[0006] This utility model provides a control system for a humanoid robot, including a brain module, a cerebellum module, an upper body drive control module, a lower body drive control module, and a power module; the cerebellum module is connected to the brain module; the upper body drive control module includes multiple first drive control units for controlling different parts of the upper body of the humanoid robot, and the brain module and the multiple first drive units are connected in series; the lower body drive control module includes multiple second drive control units for controlling different parts of the lower body of the humanoid robot, and the cerebellum module and the multiple second drive units are connected in series; the power module is connected to the brain module.

[0007] Furthermore, the upper body drive module includes a left shoulder / torso drive, a left hand drive, a face drive, a right hand drive, and a right shoulder / torso drive, and the brain module, the left shoulder / torso drive, the left hand drive, the face drive, the right hand drive, and the right shoulder / torso drive are connected in series.

[0008] Furthermore, the ETH1 interface of the brain module is connected to the ETH1 interface of the cerebellum module, the ETH2 interface of the brain module is connected to the J4 interface of the left shoulder / trunk actuator, the J5 interface of the left shoulder / trunk actuator is connected to the J5 interface of the left hand actuator, the J6 interface of the left hand actuator is connected to the J4 interface of the face actuator, the J20 interface of the face actuator is connected to the J5 interface of the right hand actuator, and the J6 interface of the right hand actuator is connected to the J5 interface of the right shoulder / trunk actuator.

[0009] Furthermore, the left shoulder / torso driver, left hand driver, right hand driver, and right shoulder / torso driver each drive 15 motors and output 20 pressure transmission / angle transmission signals, while the face driver drives 37 motors.

[0010] Furthermore, the lower body drive module includes a right hip joint drive and a left hip joint drive, and the cerebellum module, the right hip joint drive, and the left hip joint drive are connected in series.

[0011] Furthermore, the ETH2 interface of the cerebellum module is connected to the J4 interface of the right hip joint actuator, and the J5 interface of the right hip joint actuator is connected to the J4 interface of the left hip joint actuator.

[0012] Furthermore, both the right hip joint actuator and the left hip joint actuator drive 10 motors and output 15 pressure / angle transmission signals.

[0013] Furthermore, both the brain module and the cerebellum module include a multi-core ARM processor.

[0014] Furthermore, the control system also includes an audio module connected to the brain module.

[0015] Furthermore, the control system also includes an RGB camera, which is connected to the brain module.

[0016] Compared with existing technologies, this invention uses a brain module and a cerebellum module to control the upper body drive module and the lower body drive module respectively. The brain module and the cerebellum module work together, which has advantages such as low power consumption, dynamic power consumption adjustment, high computing power, small size, and low latency processing capabilities. At the same time, compared with traditional CAN communication, this application adopts Ethercat communication, that is, the brain module and multiple first drive units are connected in series step by step, and the cerebellum module and multiple second drive units are connected in series step by step. This significantly improves the speed, real-time performance, and latency, providing humanoid robots with a communication method with high real-time performance, ultra-low latency, high bandwidth utilization, and flexible topology. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the control system for the humanoid robot provided in this embodiment of the utility model. Detailed Implementation

[0018] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0019] like Figure 1 As shown in the figure, a control system for a humanoid robot provided in this embodiment of the present invention includes a brain module 100, a cerebellum module 200, an upper body drive control module 300, a lower body drive control module 400, and a power module 500; the cerebellum module 200 is connected to the brain module 100; the upper body drive control module 300 includes multiple first drive control units for controlling different parts of the upper body of the humanoid robot, and the brain module 100 and the multiple first drive units are connected in series; the lower body drive control module 400 includes multiple second drive control units for controlling different parts of the lower body of the humanoid robot, and the cerebellum module 200 and the multiple second drive units are connected in series; the power module 500 is connected to the brain module 100.

[0020] The brain module 100 and cerebellum module 200 control the upper body drive module 300 and lower body drive module 400 respectively. The brain module 100 and cerebellum module 200 work together, which has advantages such as low power consumption, dynamic power consumption adjustment, high computing power, small size, and low latency processing capabilities. At the same time, compared with the traditional CAN communication, this application adopts the Ethercat communication method, that is, the brain module 100 and multiple first drive units are connected in series step by step, and the cerebellum module 200 and multiple second drive units are connected in series step by step. This has significantly improved the speed, real-time performance, and latency, providing a communication method for humanoid robots with high real-time performance, ultra-low latency, high bandwidth utilization, and flexible topology.

[0021] Both the brain module 100 and the cerebellum module 200 in this embodiment include a multi-core ARM processor.

[0022] The ETH1 interface (gigabit Ethernet port) of the brain module 100 is connected to the ETH1 interface of the cerebellum module 200. The brain module 100 can be expanded to use three wireless communication methods: 3G / 4G / 5G module 110, WIFI module 120, and Bluetooth module 130.

[0023] The brain module 100 also includes 64GB of RAM (DDR), 64GB of storage chip (EMMC) and 1TB of solid-state drive (SSD), and uses a 12-core ARM-Cortex-A78AE CPU with a main frequency of 2.2GHz.

[0024] The cerebellum module 200 also includes DDR memory and EMMC storage chip, and uses a 4-core ARM-Cortex-A76 CPU and a 4-core ARM-Cortex-A55 CPU with a main frequency of up to 2.4GHz.

[0025] The upper body drive control module 300 in this embodiment includes multiple first drive control units for controlling different parts of the upper body of the humanoid robot. The brain module 100 and multiple first drive units are connected in series and mainly control the movement control of the lower limbs of the humanoid robot.

[0026] In one embodiment, the upper body drive module 300 includes a left shoulder / torso drive 310, a left hand drive 320, a face drive 330, a right hand drive 340, and a right shoulder / torso drive 350, which are connected in series in the brain module 100, the left shoulder / torso drive 310, the left hand drive 320, the face drive 330, the right hand drive 340, and the right shoulder / torso drive 350.

[0027] Specifically, the ETH2 interface of the brain module 100 is connected to the J4 interface of the left shoulder / torso controller 310, the J5 interface of the left shoulder / torso controller 310 is connected to the J5 interface of the left hand controller 320, the J6 interface of the left hand controller 320 is connected to the J4 interface of the face controller 330, the J20 interface of the face controller 330 is connected to the J5 interface of the right hand controller 340, and the J6 interface of the right hand controller 340 is connected to the J5 interface of the right shoulder / torso controller 350.

[0028] It is understandable that the brain module 100, left shoulder / torso controller 310, left hand controller 320, face controller 330, right hand controller 340 and right shoulder / torso controller 350 can be connected in other ways, as long as they can form Ethercat communication.

[0029] In this embodiment, the left shoulder / torso driver 310, left hand driver 320, right hand driver 340 and right shoulder / torso driver 350 each drive 15 motors and output 20 pressure transmission / angle transmission signals, mainly for the motion control of the upper limbs and torso. The face driver 330 drives 37 motors and mainly controls facial expressions.

[0030] It is understood that the number of motors that can be controlled by the left shoulder / torso drive 310, left hand drive 320, face drive 330, right hand drive 340 and right shoulder / torso drive 350 is not limited to the above number. The number of motors is determined according to the number of actions that need to be controlled for the corresponding part of the humanoid robot. At the same time, the number of pressure transmission / angle transmission signals that can be output should also be selected accordingly.

[0031] It should be noted that the aforementioned brain module 100, left shoulder / torso actuator 310, left hand actuator 320, face actuator 330, right hand actuator 340, and right shoulder / torso actuator 350 can also be connected in series in other order, and the order should be based on the routing of the internal circuitry of the robot. Meanwhile, the upper body actuator module 300 may also include finger actuators, etc., depending on specific needs, and there are no limitations on this.

[0032] The lower body drive control module 400 in this embodiment includes multiple second drive control units for controlling different parts of the lower body of the humanoid robot. The cerebellum module 200 and multiple second drive units are connected in series and mainly control the movement control of the lower limbs of the humanoid robot.

[0033] In one embodiment, the lower body drive module 400 includes a right hip joint drive 410 and a left hip joint drive 420, with the cerebellum module 200, the right hip joint drive 410, and the left hip joint drive 420 connected in series.

[0034] Among them, the ETH2 interface of the cerebellum module 200 is connected to the J4 interface of the right hip joint actuator 410, and the J5 interface of the right hip joint actuator 410 is connected to the J4 interface of the left hip joint actuator 420.

[0035] It is understandable that the cerebellum module 200, the right hip joint actuator 410 and the left hip joint actuator 420 can be connected in other ways, as long as they can form Ethercat communication.

[0036] In this embodiment, both the right hip joint drive controller 410 and the left hip joint drive controller 420 drive 10 motors and output 15 pressure transmission / angle transmission signals.

[0037] It is understood that the number of motors that the right hip joint drive controller 410 and the left hip joint drive controller 420 can control is not limited to the above number. The number of motors is determined according to the number of actions that need to be controlled for the corresponding part of the humanoid robot. At the same time, the number of pressure transmission / angle transmission signals that can be output should also be selected accordingly.

[0038] It should be noted that the cerebellum module 200, the right hip joint actuator 410, and the left hip joint actuator 420 can also be connected in series in other order, and the order should be based on the routing of the internal circuitry of the robot. Meanwhile, the upper body actuator module 300 may also include ankle joint actuators, etc., depending on specific needs, and there are no limitations on this.

[0039] In this embodiment, the power module 500 is connected to the brain module 100. The power module 500 mainly supplies power to the entire system. The voltage and current status data collected by the power module 500 are sent to the brain module 100 through the RS485 interface.

[0040] The brain module 100 is connected to the power module 500 via an RS485 interface.

[0041] The control system in this embodiment also includes an audio module 600, which is connected to the brain module 100.

[0042] In one embodiment, the audio module 600 includes an audio driver 610, a microphone module 620, and a speaker module 630. The brain module 100 is connected to the audio driver 610, which in turn is connected to the microphone module 620 and the speaker module 630. The audio driver 610 receives voice information from the two microphone modules 620 and transmits it to the brain module 100 via a USB interface. The brain module 100 then transmits the information the robot wants to express to the audio driver 610 via the USB interface and drives the two speaker modules 630 to operate.

[0043] The brain module 100 is connected to the audio driver 610 (7) via a USB interface.

[0044] The control system in this embodiment also includes an RGB camera 700, which is connected to the brain module 100.

[0045] The brain module 100 is connected to the RGB camera 700 via the GMSL interface.

[0046] Compared with existing technologies: 1. The entire system adopts Ethercat communication, which significantly improves upon existing CAN communication in terms of speed, real-time performance, and latency, providing humanoid robots with a communication method that offers high real-time performance, ultra-low latency, high bandwidth utilization, and flexible topology. 2. The dual ARM multi-core processors of the brain module 100 and cerebellum module 200 work together. The cerebellum is responsible for the motor control of the lower limbs, while the brain is responsible for the motor control of the upper limbs, trunk, and face, expression control, AI calculation, audio and video access and other functions. The two ARM processors work together and have advantages such as low power consumption, dynamic power consumption adjustment, high computing power, small size and low latency processing capabilities. 3. It can be miniaturized; 4. The entire control system has hundreds of transmission mechanisms, giving it a higher degree of freedom and enabling it to perform more complex spatial operations.

[0047] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A control system for a humanoid robot, characterized in that, include: Brain module; The cerebellum module is connected to the cerebral module; The upper body drive module includes multiple first drive units for controlling different parts of the upper body of the humanoid robot, and the brain module and the multiple first drive units are connected in series. The lower body drive control module includes multiple second drive control units for controlling different parts of the lower body of the humanoid robot, and the cerebellum module and the multiple second drive units are connected in series. A power module, which is connected to the brain module.

2. The control system for the humanoid robot according to claim 1, characterized in that, The upper body drive module includes a left shoulder / trunk drive, a left hand drive, a face drive, a right hand drive, and a right shoulder / trunk drive. The brain module, the left shoulder / trunk drive, the left hand drive, the face drive, the right hand drive, and the right shoulder / trunk drive are connected in series.

3. The control system for the humanoid robot according to claim 2, characterized in that, The ETH1 interface of the brain module is connected to the ETH1 interface of the cerebellum module. The ETH2 interface of the brain module is connected to the J4 interface of the left shoulder / trunk actuator. The J5 interface of the left shoulder / trunk actuator is connected to the J5 interface of the left hand actuator. The J6 interface of the left hand actuator is connected to the J4 interface of the face actuator. The J20 interface of the face actuator is connected to the J5 interface of the right hand actuator. The J6 interface of the right hand actuator is connected to the J5 interface of the right shoulder / trunk actuator.

4. The control system for the humanoid robot according to claim 2, characterized in that, The left shoulder / torso driver, left hand driver, right hand driver, and right shoulder / torso driver each drive 15 motors and output 20 pressure / angle transmission signals, while the face driver drives 37 motors.

5. The control system for the humanoid robot according to claim 1, characterized in that, The lower body drive module includes a right hip joint drive and a left hip joint drive, and the cerebellum module, the right hip joint drive, and the left hip joint drive are connected in series.

6. The control system for the humanoid robot according to claim 5, characterized in that, The ETH2 interface of the cerebellum module is connected to the J4 interface of the right hip joint actuator, and the J5 interface of the right hip joint actuator is connected to the J4 interface of the left hip joint actuator.

7. The control system for the humanoid robot according to claim 5, characterized in that, Both the right hip joint actuator and the left hip joint actuator drive 10 motors and output 15 pressure / angle transmission signals.

8. The control system for the humanoid robot according to claim 1, characterized in that, Both the brain module and the cerebellum module include a multi-core ARM processor.

9. The control system for the humanoid robot according to claim 1, characterized in that, The control system also includes an audio module that is connected to the brain module.

10. The control system for the humanoid robot according to claim 1, characterized in that, The control system also includes an RGB camera, which is connected to the brain module.

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