CN204883256U - High real -time control system of robot framework - Google Patents

Abstract

The utility model discloses a high real -time control system of robot framework is divided by central control layer, real time control layer, FPGA control layer and the mechanical floor four bibliographic categories and forms, communicate with the real time control layer through form wired or wireless network in its central control layer, new standard can be set up with topological flexibility for the real -time of system to the etherCAT bus that adopted on the real time control layer, and use cost that it has not only reduced field bus can also realize that the equipment of high accuracy is synchronous, can have characteristics such as route selection cable redundancy and functional security protocol, has application prospect widely in robot motion control field. Coenocytic treater still can satisfy the requirement that multitasking and multitask were calculated for robot system has brought more powerful calculated performance, FPGA utilizes hardware parallel processing's advantage, has broken sequential execution's mode, can accomplish more processing tasks in every clock cycle, has exceeded digital signal processor DSP's commonly used arithmetic capability.

Description

A high real-time control system architecture for robots

technical field

The utility model belongs to the technical field of robots and relates to a high real-time control system architecture of a robot.

Background technique

In recent years, with the rapid development of microprocessor and microcontroller technology, the embedded performance of robots has been rapidly improved. Among them, CPU technology has developed from several megabytes of instruction sets (ISA) in 1971 to 3GHz in 2000. After 2005, multi-core parallel processors began to rise, and CPUs were also integrated into the microprocessor structure. In recent years, the system on chip (SoC) has greatly improved the computing power of the processor by integrating a multi-core CPU and a field programmable gate array (FPGA). The development of these computer technologies has played an important role in promoting the development and application of robot technology.

However, many experts believe that there are still many challenges in robots, especially when the tasks that robots need to complete are more complex, the more sensors and joint actuators need to be configured, how to obtain multi-sensor information on the robot synchronously, and synchronously send control It becomes more and more difficult to give instructions to the various execution joints of the robot. Taking HONDA's humanoid robot ASIMO as an example, there are 57 joint actuators and dozens of sensors in its whole body, while Boston Dynamics' "BigDog" robot has 16 degrees of freedom in its whole body and 69 sensors. These multi-degree-of-freedom robot systems, in order to achieve more dynamic motion performance, they need to have the ability to process data and control in real time.

At present, there are already many devices and methods about real-time control, such as the disclosed "two-degree-of-freedom myoelectric prosthetic hand real-time control device and control method" of CN100515366, which includes three myoelectric pickup sensors, myoelectric pickup sensors and post-amplification A filter circuit, an A/D conversion circuit, a single chip microcomputer and two motors of the two-degree-of-freedom myoelectric prosthetic hand are connected in sequence. The three EMG pick-up sensors respectively collect the EMG signals from the human body, and after amplification, filtering, and A/D conversion processing, they are input into the single-chip microcomputer. The drive circuit drives the motor of the prosthetic hand to complete the four actions of the prosthetic hand; as disclosed in CN102601493B "a welding robot system and control method for real-time control of embedded multi-device" provides a welding robot system and control method for real-time control of embedded multi-device Control method, the system includes welding robot, robot control cabinet, robot teaching box, etc. The system uses a hand-held embedded real-time controller as the control core, sends motion commands through the RS-232 interface, and receives current position and speed parameters to realize The function of real-time display and control; as disclosed in CN102866646B "a kind of real-time control system and control method" discloses a kind of real-time control system, comprises first, second single-chip microcomputer and clock source, also includes by two sides and first, respectively A field programmable gate array composed of the first and second dual-port RAM modules connected to the second single-chip microcomputer and the semaphore modules connected to the first and second single-chip microcomputers and the clock source on both sides, and the clock source is used to operate the programmable gate Array, the first and second single-chip microcomputers are used to operate the programmable gate array device, the clock source is used to provide clock pulses to the programmable gate array device, the first and second dual-port RAM modules are used to realize the data bus width from 8 bits to 16-bit conversion, the semaphore module uses the semaphore signal to control the first and second dual-port RAM modules, which has the effects of bus width matching and high transmission rate.

Contents of the invention

The technical problem to be solved by the utility model is to propose a high-real-time control system platform architecture. By utilizing the latest computer technology, a control architecture with high real-time and high synchronous data processing capabilities is constructed, so that the robot system has higher controllability and scalability. sex and compatibility. This architecture utilizes the EtherCAT real-time communication protocol to realize Gigabit Ethernet data transmission. Using the FPGA processor, the control sampling rate can reach 4KHz, and up to 50 processors can perform operations in parallel, and the optimal configuration between the processors can give full play to their maximum processing and computing capabilities. For industrial bus communication (such as RS -232, RS-485, SPI, CAN, etc.) and other devices have good compatibility. This architecture can significantly improve the real-time and fast response requirements of robots, such as actuator current loop control, human-machine collaboration and safe interaction, and the processing of complex algorithms.

The technical scheme that the utility model adopts is as follows: a kind of robot high real-time control system framework, is made up of four parts of central control layer, real-time control layer, FPGA control layer and equipment layer; Described central control layer is PC, mobile terminal (such as iPhone, iPad and other equipment) or industrial manipulator, the central control layer is connected with the real-time control layer through industrial bus, Ethernet; The bus is connected to the FPGA control layer, and is connected to the device layer through the EtherCAT bus; the FPGA control layer is connected to the distributed peripheral equipment.

The working principle of the utility model is: the central control layer communicates with the real-time control layer through industrial bus or wireless network, and can not only send instructions to the real-time control layer, but also receive instructions returned by the real-time control layer, so as to realize the real-time control layer monitoring. The real-time control layer communicates with the peripheral executive controller (that is, the driver). Generally, the driver uses the CAN bus or the RS485 bus. In order to improve the real-time performance of communication (especially the real-time performance of motion), the EtherCAT bus can achieve gigabit bandwidth , which has a great advantage in real-time performance. Since the real-time control layer is a multi-core processor, the control operation and data sending and receiving can be assigned to the multi-core for processing. Among them, the data transceiver core and the FPGA control layer perform data interaction. In order to enable peripheral devices with different communication buses and different data update rates to have synchronous data update effects, FPGA uses its distributed synchronous control characteristics to realize synchronous data processing for peripheral devices. (receiving and sending), which realizes the synchronous control of different joints of the robot.

The beneficial effects of the utility model are: the utility model proposes a robot high real-time control system architecture, its central control layer can communicate with the control layer in the form of a wired or wireless network, and PC or other mobile terminals can be selected to control the control layer Sending instructions has a certain application flexibility; the EtherCAT bus adopted by the real-time control layer sets a new standard for the real-time performance and topology flexibility of the system. It not only reduces the cost of using the field bus, but also realizes high-precision equipment Synchronization, can have the characteristics of optional cable redundancy and functional safety protocol, and has a wide application prospect in the field of robot motion control. The multi-core processor brings more powerful computing performance to the robot system, and can also meet the requirements of multi-task processing and multi-task computing; FPGA uses the advantages of hardware parallel processing to break the sequential execution mode. More processing tasks can be completed, exceeding the computing power of the commonly used digital signal processor DSP.

Description of drawings

Figure 1 is a block diagram of a robot high real-time control architecture.

Detailed ways

Further illustrate the utility model below in conjunction with accompanying drawing.

With reference to Fig. 1, a kind of high real-time control system framework of the present utility model is made up of four parts of central control layer, real-time control layer, FPGA control layer and equipment layer.

The central control layer can be a PC, a mobile terminal (such as iPhone, iPad, etc.), an industrial controller, etc. It is mainly used to send and receive instructions and data to the lower controller. It has strong flexibility and can be controlled by man-machine The interactive interface performs data monitoring, scheduling, and other human intervention on the operating status of the lower controller. It can communicate with the real-time control layer through industrial bus, Ethernet or wireless.

The real-time control layer is a multi-core CPU, and the multi-core processor brings more powerful computing performance to the robot system, and can also meet the requirements of multi-task processing and multi-task computing. Taking a conventional dual-core CPU as an example, CPU-1 is mainly used to run control algorithms and store data. CPU-2 is mainly responsible for sending, receiving and confirming work.

The real-time control layer communicates with the FPGA control layer through the PCI bus, and communicates with the device layer through the EtherCAT bus. The EtherCAT bus sets a new standard for the real-time performance of the system and the flexibility of the topology. It not only reduces the cost of using the field bus, but also realizes high-precision device synchronization, and can have optional cable redundancy and functional safety protocols. It has broad application prospects in the field of robot motion control.

The FPGA control layer implements synchronous communication with peripheral distributed devices, and sends processed data to CPU-2 through PCI bus, or obtains data from CPU-2 through PCI bus and sends them to distributed peripheral devices. FPGA uses the advantages of hardware parallel processing to break the sequential execution mode, and can complete more processing tasks in each clock cycle, exceeding the computing power of the commonly used digital signal processor DSP.

The device layer is used as the actuator controller for the motion requirements of the corresponding control commands. Various sensors sense the information and status of the environment and send the data to the controller for control and decision-making.

Claims (1)

1. A robot high real-time control system architecture is characterized in that it is composed of four parts, central control layer, real-time control layer, FPGA control layer and equipment layer; The central control layer is a PC, a mobile terminal or an industrial controller, and the central control layer is connected to the real-time control layer through an industrial bus, Ethernet; the real-time control layer is a multi-core CPU, and the real-time control layer is connected to the FPGA through the PCI bus. The control layer is connected to the device layer through the EtherCAT bus; the FPGA control layer is connected to the distributed peripheral equipment.