CN205139614U - Imitative motion control of people robot ware based on it is embedded - Google Patents

Abstract

The utility model forms an embedded real-time controller by means of a CPLD programmable logic control unit, and particularly relates to a motion controller based on an embedded humanoid robot, which has an ARM microprocessor, a voice module, a touch screen, a keyboard and a mouse, etc. Input device interface; the input port of the ARM microprocessor receives the input signal of the input device, and the voice module is used to detect the sound control command and voice broadcast; the touch screen is used as the input and output unit, and the command can be manually input through the touch screen interface, and the humanoid robot can also be displayed. The operating status of each joint; the keyboard and mouse are used as the input unit of the ARM chip, which can be used to change the motor parameter settings; the ARM microprocessor processes the input signal in real time and communicates with the CPLD programmable logic control unit, and the CPLD programmable logic control unit is used for address Decode, and send the command to multiple C8051 single-chip microcomputers in broadcast mode; it converts the command into pulses, controls the stepper motor driver, and the stepper motor drives the motor to rotate or stop.

Description

Embedded Humanoid Robot Motion Controller

technical field

The utility model relates to an embedded humanoid robot motion controller, in particular to an embedded controller using an ARM microprocessor (4) and a uC/OS-II embedded operating system for controlling multiple A shaft motor linkage belongs to the technical field of robots.

Background technique

Before the present utility model, looking at the drive of multi-axis motor linkage control at home and abroad, there are many control methods. The design direction of foreign motion controllers has three characteristics: motion controllers based on computer standard bus; Soft type open motion controllers; embedded structure motion controllers. The PMAC motion controller based on DSP technology of American DeltaTau Digital System Company uses Motorola's DSP560002 as the core CPU. The technology is very mature. It is characterized by powerful functions and is suitable for complex motion control occasions, such as robots. But it has few control points, and while increasing the control points, the price will increase a lot, so it cannot be popularized in ordinary control occasions.

Utility model content

The purpose of this utility model is to overcome the above-mentioned defects and provide a motion controller based on an embedded humanoid robot.

The technical scheme of the utility model is:

An embedded humanoid robot motion controller, which can control 20-axis degrees of freedom linkage, and can process the signals fed back by encoders and gravity acceleration sensors. The technical scheme of the utility model is: a motion controller based on an embedded humanoid robot, which is characterized in that the voice module, the touch screen and the keyboard and mouse are respectively connected to the voice interface, the touch screen interface and the keyboard and mouse interface of the ARM microprocessor, and the ARM The microprocessor communicates with the CPLD complex programmable logic unit, and transmits the instruction string to the input interface of the CPLD complex programmable logic unit. The CPLD complex programmable logic unit decodes the instruction string and outputs it to the single-chip microcomputer, and the single-chip microcomputer controls the stepping motor drive The chip drives the stepping motor, and the state of the stepping motor is fed back to the microcontroller by the signal feedback unit to realize closed-loop control;

The voice module is a hardware unit with LD3320 chip as the core to realize the voice recognition function. The data line and address line of LD3320 are directly connected to the ARM microprocessor in parallel, and both use 1k ohm pull-up resistors. A0 is used to judge whether it is a data segment or an address segment; control signals RDB, WRB, CSB, reset signal RSTB and The interrupt return signal INTB is connected to the ARM microprocessor, and a 10k ohm pull-up resistor is used to assist the system to work stably;

The ARM microprocessor chooses ST's 32-bit processor STM32F104ZET6 chip based on the ARM Cortex-M3 core as the main controller chip. The embedded operating system uC/OS-Ⅱ is used to realize unified task scheduling and peripheral device management;

Complex programmable logic unit chooses EPM3256ATI144 series CPLD chip as address decoding and data transmission. The CPLD chip is connected to the single-chip microcomputer using a four-wire system, two of which are used for address selection flags and single-chip enable signals, and the other two lines are used as serial port receiving and sending for data transmission. The CPLD chip adopts broadcast control to ensure the consistency of multiple motor movements, and can control twenty-axis motor linkage;

The signal feedback unit is composed of an absolute encoder and a gravitational acceleration sensor, and feeds back the speed of the stepping motor (8) and the inclination angle of the plane where the stepping motor is located to the single-chip microcomputer, and the single-chip microcomputer processes the data fed back by the encoder to control the speed of the motor in real time And compensate the angle of the motor, and at the same time transmit the data fed back by the gravity acceleration sensor to the ARM microprocessor, and the ARM microprocessor performs forward motion analysis and inverse motion on each joint in the walking of the humanoid robot according to the D-H coordinate calculation Analyze and establish a library of dangerous points in the posture of the humanoid robot when walking, and adjust the motor of a joint with the smallest stability margin on the premise of satisfying the maximum stability margin to make the humanoid robot walk more stable.

The utility model has the advantages and effects that the peripheral circuit is simple, the cost is low, and the speed and positioning control of the multi-axis stepping motor can be realized through humanized human-computer interaction. The utility model uses a voice module to collect voice commands, and can also use a touch screen to manually input commands, and uses a mouse and keyboard interface to connect an external mouse and keyboard to assist command input, which is simple and convenient to use. The control chip uses the uC/OS-Ⅱ real-time operating system to schedule each module of the control system, and uses the rich control functions provided by uC/GUI to provide a simple and friendly human-computer interaction interface, which can display the humanoid robot. The running status of each joint motor.

Other advantages and effects of the present utility model will continue to be described below.

Description of drawings

Fig. 1 is a block schematic diagram of the structural principle of the utility model controller;

Figure 2 is the I/O allocation diagram for ARM and CPLD communication;

Fig. 3 is the concrete circuit schematic diagram of the utility model;

Fig. 4 is the voice collection module of the present utility model;

Fig. 5 is the peripheral circuit of single-chip microcomputer (6) of the present utility model;

Fig. 6 is the motor driving circuit of the present utility model;

Fig. 7 is the power supply circuit of the utility model controller;

detailed description

1. ARM microprocessor is a high-end microcontroller designed based on the principle of RISC. The instruction set and related decoding mechanism are much simpler than those of complex instruction set computers. Such simplification realizes High instruction throughput, excellent interrupt response, and cost-effective processor macro-units can not only run the operating system, but also be used for real-time control. Compared with DSP, DSP is mainly used for computing data signals, such as encryption Decryption, modulation and demodulation, etc., the main advantages of DSP are powerful data processing capabilities and high operating speed, while ARM microprocessors have relatively strong transaction management functions, which can be used to run applications, etc., and their advantages are mainly reflected in In terms of control, it is more suitable for industrial control, motor drive, etc. In addition, the ARM microprocessor architecture is designed for the low-budget market, and the cost is much lower than that of DSP.

2. The CPLD complex programmable logic device is used for instruction compilation and addressing. The main function is to save the interface for the ARM microprocessor, reduce the time it takes for the ARM microprocessor to send instructions, and calculate the pose algorithm for the ARM microprocessor, saving time, so that the system responds faster and the control is more precise.

3. As shown in Figure 1: the voice module, touch screen, keyboard and mouse are respectively connected to the voice module interface, touch screen interface, and mouse and keyboard interface of the ARM microprocessor. High-speed memory (flash memory of 512KB and SRAM of 64KB), has the instruction execution speed of 1.25Mips/MHz, has provided the hardware basis for the loading of complex algorithm, and it has 112 general-purpose input and output ports, and the utility model has just utilized wherein 38 GPIOs transfer data in parallel with peripheral components.

4. As shown in Figure 2: ARM microprocessor and CPLD can be connected through 22 interfaces, two of which are serial ports, and the remaining 20 are the flag bits of the C8051 address. The CPLD chip is directly connected to the C8051 through 4 interfaces. Connected, two of them are RX, TX serial port lines, the other two are CE, CS is the enable signal and chip selection flag bit of C8051, CPLD can control twenty degrees of freedom linkage, each degree of freedom occupies 4 interfaces, Twenty degrees of freedom occupy 80 I/O ports of CPLD chip altogether, CPLD chip and ARM communication occupy 22 I/O ports, CPLD chip consumes 102 I/O ports altogether, so the chip of the present invention is to choose CPLD The chip is the EPM3256ATI144 series chip.

5. As shown in Figure 3: the P1 unit is a standard 10-pin JTAG download interface, in which pin 1 is the test clock input TCK, which is connected to the PA14 pin of the microprocessor chip, and pin 3 is the test data output TDO, which is connected to the The PB3 pin of the microprocessor chip is connected, and the pin 4 is the reference voltage input, which is the same as the working voltage of the chip 3.3V. The pin 5 is the test mode selection TMS, which is connected with the PA13 pin of the microprocessor chip, and the pin 6 is the test reset. nRST is connected to the nRST pin of the microprocessor chip, pin 9 is the test data input TDI, connected to the PA15 pin of the microprocessor chip, and pin 10 is GND.

6. The voice module adopts LD3320 chip as the core hardware unit to realize the voice recognition function.

7. As shown in Figure 4: the data lines and address lines (P0~P7) of LD3320 are directly connected to the STM32F104ZET6 chip GPIO (PB0~PB9) in parallel, and all use 1k ohm pull-up resistors, of which the PB3 interface is connected to the standard The 10-pin JTAG test output pin TDO is connected, PB4 is connected to the JTAG test reset pin, A0 is used to judge whether it is a data segment or an address segment; control signals RDB, WRB, CSB, reset signal RSTB, interrupt return signal INTB and clock signal CLK Connect with STM32F104ZET6 chip GPIO (PD0~PD5) respectively, and use 10k ohm pull-up resistors to assist the system to work stably.

8. Select Delta A series HMIDOP as the touch screen. The touch screen interface is connected to the GPIO (PA9, PA10) serial port of the ARM microprocessor. By programming the touch screen program, the parameters of the motor can be directly changed on the man-machine interface interface, such as the rotating Angle, acceleration and deceleration when starting and stopping. On the display interface, a linkage mechanism with 19 degrees of freedom is established. Each degree of freedom represents a joint motor. When the motor is rotating, the movement can also be seen on the display interface status.

9. The stepper motor drive circuit is composed of C8051F410 series microcontroller and THB6064H drive chip.

10 As shown in Figure 5, the J4 unit is a four-wire interface for downloading the MCU program, the MCU I/O (P0.4~P0.7) port is connected to the CPLD chip for transmitting instructions, and the MCU enable signal CE is connected to the CPLD chip. The P0.7 of the single-chip microcomputer is connected, the chip selection signal CS of the single-chip microcomputer is connected with the P0.6 of the single-chip microcomputer, the serial port receiving end RX of the single-chip microcomputer is connected with the P0.5 of the single-chip microcomputer, the serial port sending end TX of the single-chip microcomputer is connected with the P0.4 of the single-chip microcomputer, and the ADC of the C8051F410 single-chip microcomputer The subsystem integrates a 27-channel analog multiplexer (AMUX0) and a 200ksps 12-bit successive approximation register ADC. The ADC integrates a track-and-hold circuit, a programmable window detector and a hardware accumulator. The on-chip SilionLabs second-wire (C2) The development interface allows the use of the product MCU installed on the final application system for non-intrusive (does not occupy on-chip resources), full-speed, online system debugging. The utility model uses C2 to download and debug single-chip microcomputer programs, P0.3, P0 .2, P0.1 are respectively connected to M1, M2, M3 of the driver chip, P0.0 controls the driving reference voltage Vref, P1.7, P1.6, P1.5 are respectively connected to the Enable, CW/CCW, CLK of the driver chip Connection, P1.2, P1.3, and P1.4 are feedback signal interfaces, which can input acceleration sensor feedback signals and encoder feedback signals.

11. Choose THB6064H as the driver chip of the stepping motor, and drive the peripheral circuit of the chip.

12. As shown in Figure 6, the THB6064H chip has 7 control pins and 4 output pins. The M1, M2, and M3 pins are subdivision number selection terminals, and Vref is the reference voltage input terminal. When Vref is at a high potential , so that the NPN transistor Q2 is turned on, and the resistor R5 is grounded through Q2. At this time, the PNP transistor Q1 is turned on, and the collector and emitter of Q1 short-circuit the resistor R2 and the diode D2, so that the voltage of Vref rises, Vref≈ (5-1)/(4.7+1)V, when Vref is at a low potential, the NPN transistor Q2 is turned off, and the resistor R5 becomes a high potential. At this time, the PNP transistor Q1 is turned off, and the resistor R2 and diode D2 participate in the separation voltage circuit to reduce the potential of Vref, Vref≈(5-0.7)/(10+4.7+1)V, by adjusting the high and low potential of the Vref pin, the current value of the output pin of the drive chip can be realized, so that the stepper When the motor rotates, the current is large, and the stepper motor also uses a certain brake current when it stops. The output pins OUT1A, OUT2A, OUT1B, and OUT2B of the driver chip are respectively connected to the four wires of the two-phase hybrid stepper motor. Enable is The enable terminal of the driver chip, when Enable=0, all the outputs of the driver chip are zero, when Enable=1, the driver chip works normally, CW/CCW is the direction control terminal of the stepper motor, and CW/CCW is low power Normally, the motor rotates forward, and when CW/CCW is high, the motor reverses. CLK is the pulse input terminal. By adjusting the duty cycle of the input pulse, the speed of the stepping motor can be adjusted. CLK is a square wave from -0.2 to VDD , the maximum pulse frequency is 200KHz, and the minimum pulse width is 2.3us.

Claims (5)

1. based on Embedded anthropomorphic robot motion controller, it is characterized in that voice module, touch-screen and keyboard and mouse are connected on the speech interface of ARM microprocessor respectively, touch screen interface and keyboard and mouse interface, ARM microprocessor and CPLD complex programmable logic unit communication, and the strings of commands is transferred to CPLD input interface, CPLD complex programmable logic unit is by strings of commands decoding, and export to single-chip microcomputer, Single-chip Controlling driving chip, Driving Stepping Motor action, state and the pose signal of stepper motor action feed back to single-chip microcomputer by signal feedback unit, realize closed-loop control.

2. according to claim 1 based on Embedded anthropomorphic robot motion controller, it is characterized in that voice module is that the hardware cell being core with LD3320 chip realizes speech identifying function, the data line of LD3320, address wire adopt parallel mode directly to connect with ARM microprocessor, all adopt 1k Europe pull-up resistor, it is data segment or address field that A0 is used for judgement; Control signal RDB, WRB, CSB, reset signal RSTB and interruption return signal INTB connects with ARM microprocessor, adopts 10k ohm pull-up resistor, backup system steady operation.

3. according to claim 1 based on Embedded anthropomorphic robot motion controller, it is characterized in that ARM microprocessor selects the 32 bit processor STM32F104ZET6 chips based on ARMCortex-M3 kernel of ST company as master controller chip, adopt embedded OS uC/OS-II to realize unified task scheduling and peripherals administration.

4. according to claim 1 based on Embedded anthropomorphic robot motion controller, it is characterized in that complex programmable logic unit selects EPM3256ATI144 series CPLD chip as address decoding and data transmission, CPLD chip adopts four-wire system to be connected with single-chip microcomputer, wherein two lines are used for address selection zone bit and single-chip microcomputer enable signal, other two lines are as the reception of serial ports and transmission, for transmitting data, CPLD chip adopts broadcast type to control, ensure the consistance of multiple motor movement, 20 spindle motor interlocks can be controlled.

5. according to claim 1 based on Embedded anthropomorphic robot motion controller, it is characterized in that signal feedback unit is made up of absolute type encoder and Gravity accelerometer, by the tilt angle feed-back of the rotating speed of stepper motor and stepper motor place plane to single-chip microcomputer, the data of single-chip microcomputer process encoder feedback, the rotating speed of real-time control motor also compensates the angle of motor, send the data that Gravity accelerometer feeds back to ARM microprocessor simultaneously, by ARM microprocessor according to D-H coordinate computation, forward kinematics analysis and inverse motion analysis are carried out to each joint in Humanoid Robot Based on Walking, and the dangerous point existed in pose during Humanoid Robot Based on Walking is set up a storehouse, premised on the situation meeting maximum stable nargin, the motor in the joint that modification stability nargin is minimum, make Humanoid Robot Based on Walking more stable.