CN114740848A - Multi-mode and few-drive tension mobile robot control system and control method - Google Patents

Abstract

The invention discloses a multi-mode few-drive tensioning mobile robot control system and a control method, wherein the control system is provided with a sensor, a data acquisition card, a controller, a motor driver, a stepping motor and an encoder; the control method comprises the following steps: starting self-checking before movement; setting a motion mode of the tensioning mobile robot; the robot moves in a motion mode; detecting external topographic features during the movement; the robot reaches the target position; storing the current state of the robot; and (5) stopping. The control system meets the miniaturization requirement, is low in development difficulty and cost, stores codes of multiple gaits of the robot, and can issue the control command by simple calling. The invention switches corresponding gaits by presetting three different movement gaits of the robot and cooperating with the sensing system to sense different terrain features, realizes the movement of the tension mobile robot in various terrain environments, and simultaneously, the control system has no mooring design, thereby meeting the endurance requirement of the field environment.

Description

Multi-mode and few-drive tension mobile robot control system and control method

technical field

The invention belongs to the technical field of robot control, and in particular relates to a multi-mode and few-drive tension mobile robot control system and a control method.

Background technique

The tensioned overall structure is a self-stressed network structure composed of discontinuous compression elements and continuous tensioned elements, and a tensioned mobile robot is formed by adding a drive to the tensioned overall structure to make it move.

Tension mobile robots are easy to deform and usually have multiple motion modes, which can be used in unstructured field environments. Because the tensegrity mobile robot needs more drives to maintain the dynamic stability during its movement, the control system of the robot is more complicated.

In addition, in the actual control process of the traditional tension mobile robot, it is necessary to observe the state of the robot first, manually input data to control multiple motors to achieve movement, and after the robot moves, it is necessary to manually restore the robot to the initial state for the next movement. . The operation procedure of this kind of control method is cumbersome, which greatly reduces the motion efficiency of the robot.

In order to solve the problems of complex control system and cumbersome operation procedures of the existing mobile tensioning robot, the independent tensioned ropes in the mobile tensioning robot are aggregated into sliding ropes that can slide around several nodes to form a sliding cable-driven tensioner. Pull the mobile robot. It can not only reduce the number of drives and simplify the robot control system, but also maintain the deformable characteristics of the overall structure of tension, so that the robot has the characteristics of less drives and more modes.

At present, there are few achievements in this kind of tensegrity mobile robot with few drives and multiple modes, and there is a lack of research on its systematic control method.

SUMMARY OF THE INVENTION

The present invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a multi-mode and few-drive tension mobile robot control system and control method.

The technical solution of the present invention is: a multi-mode and less-drive tension mobile robot control system, wherein the multi-mode and less-drive tension mobile robot control system is provided with:

The sensor communicates with the data acquisition card, and transmits the collected data to the data acquisition card;

Data acquisition card, which communicates with the controller, receives the external data information collected by the sensor and its own data information;

The controller performs data communication with the motor driver. The controller combines external data information and its own data information to retrieve the corresponding motion gait, and the motion gait data is transmitted to the motor driver;

The motor driver performs data communication with the stepper motor, converts the motion gait data into the stepper motor control command, and transmits the control command to the stepper motor;

The stepper motor is the execution unit, and the control instruction controls the output of the spindle of the stepper motor;

The encoder communicates with the controller and transmits the output information of the stepper motor to the controller.

Further, the sensors include a laser ranging sensor and a torque sensor. The laser ranging sensor collects the mobile robot to identify external terrain features, and the torque sensor detects and collects the motion state information of the mobile robot itself.

Furthermore, the torque sensor includes a torque sensor 1 and a torque sensor 2 . The torque sensor 1 collects motion state information of the stepping motor 1 , and the torque sensor 2 collects motion state information of the stepping motor 2 .

Further, the controller includes an embedded main control module, a stepping motor drive module, a transformer module, a motor interface, a power interface module, and a host switch.

Further, the embedded main control module includes a control instruction receiving module, a control algorithm module, and a motion control module;

The control command receiving module receives the control commands input from the outside of the infrared controller;

The control algorithm module is used for the robot to identify the terrain features of the external environment and adaptively switch the corresponding motion gait;

The motion control module is used to give the motion command of the tensegrity mobile robot.

Further, the motion gait includes the peristaltic motion gait, the inchworm motion gait and the rolling motion gait, and the motion gait is the rotation speed, steering, cycle, start and stop of the stepping motor 1 and the stepping motor 2. Controlled collection of data.

Further, the control instructions include robot motion state control, motor speed control, setting driver chip current protection, reading motor state information, reading FLASH table specified positions, modifying FLASH table specified positions, and FLASH table restoring default values.

A control method for a multi-mode and few-drive tension mobile robot control system, comprising the following steps:

a. Start the self-check before exercising

b. Set the motion mode of the tensegrity mobile robot

c. The robot moves in motion mode

d. Detecting external terrain features during movement

e. The robot reaches the target position

f. Store the current state of the robot

g. to stop.

Furthermore, in step b, a motion mode of the tension mobile robot is set, and the motion mode includes an autonomous recognition motion mode, an instruction control motion mode, and a state adjustment motion mode.

Furthermore, the autonomously identifying the motion mode includes judging the current motion gait, and judging whether the motion gait needs to be switched, and the motion gait includes the peristaltic motion gait, the inchworm motion gait, and the rolling motion gait.

The beneficial effects of the present invention are as follows:

The control system of the invention meets the requirements of miniaturization, has low development difficulty and cost, and has a high degree of integration of driver hardware design. At the same time, the codes of various gaits of the robot are stored, and control instructions can be issued only by simple calls.

The sensing and control system of the invention is simple and has good reliability. The driver adopts a drive-control integrated design, which is small in size, flexible in deployment and high in reliability. At the same time, it is matched with the sensing system to accurately identify the terrain features and the state of the robot itself, so as to meet the needs of the mobile robot in multiple applications. A variety of gait motion requirements in various terrain environments.

The control method of the invention solves the problem that the traditional mobile robot cannot effectively adapt to various terrains in the real environment by only using a single movement mode. By presetting three different movement gaits of the robot and cooperating with the sensing system to perceive different terrain features, the corresponding steps are switched. It can realize the movement of the tensegrity mobile robot in various terrain environments, and at the same time, the control system is designed without tethering, which meets the endurance requirements of the field environment.

Description of drawings

Fig. 1 is the structural block diagram of the control system in the present invention;

Fig. 2 is the key diagram of the infrared controller of the present invention;

Fig. 3 is the flow chart of control example in the present invention;

Fig. 4 is the program block diagram of autonomous identification motion pattern in the present invention;

Fig. 5 is the principle diagram of sensing terrain feature in the present invention;

Fig. 6 is the program block diagram of command control motion mode in the present invention;

FIG. 7 is an interface diagram of an embedded main control module in the present invention.

Detailed ways

Below, the present invention will be described in detail with reference to the accompanying drawings and embodiments:

As shown in Figures 1 to 7, a multi-mode and few-drive tensioning mobile robot control system, the multi-mode and less-driving tensioning mobile robot control system is provided with:

The sensor communicates with the data acquisition card, and transmits the collected data to the data acquisition card;

Data acquisition card, which communicates with the controller, receives the external data information collected by the sensor and its own data information;

The controller performs data communication with the motor driver. The controller combines external data information and its own data information to retrieve the corresponding motion gait, and the motion gait data is transmitted to the motor driver;

The motor driver performs data communication with the stepper motor, converts the motion gait data into the stepper motor control command, and transmits the control command to the stepper motor;

The stepper motor is the execution unit, and the control instruction controls the output of the spindle of the stepper motor;

The encoder communicates with the controller and transmits the output information of the stepper motor to the controller.

The sensors include a laser ranging sensor and a torque sensor. The laser ranging sensor collects the mobile robot to identify external terrain features, and the torque sensor detects and collects the motion state information of the mobile robot itself.

The torque sensor includes a torque sensor 1 and a torque sensor 2 . The torque sensor 1 collects motion state information of the stepping motor 1 , and the torque sensor 2 collects motion state information of the stepping motor 2 .

The controller includes an embedded main control module, a stepping motor drive module, a transformer module, a motor interface, a power interface module, and a host switch

The embedded main control module includes a control instruction receiving module, a control algorithm module, and a motion control module;

The control command receiving module receives the control commands input from the outside of the infrared controller;

The control algorithm module is used for the robot to identify the terrain features of the external environment and adaptively switch the corresponding motion gait;

The motion control module is used to give the motion command of the tensegrity mobile robot.

The motion gait includes a peristaltic motion gait, an inchworm motion gait and a rolling motion gait, and the motion gait is a data set for the speed, steering, cycle, and start-stop control of the stepping motor 1 and the stepping motor 2. .

The control instructions include robot motion state control, motor speed control, setting drive chip current protection, reading motor state information, reading FLASH table specified bits, modifying FLASH table specified bits, and FLASH table restoring default values.

Preferably, the embedded main control module is integrated with a stepping motor drive module, a transformer module, and a power interface module. The embedded main control module is connected with the laser ranging sensor module, the torque sensor, the power supply and the host switch.

Among them, the torque sensor is installed at the robot stepping motor. Torque sensors are installed independently in the two stepper motors.

The control circuit in the embedded main control module is used for receiving external control commands and sending motor control signals to the stepping motor driving module; the stepping motor driving module is used for receiving the motor control signals to control the stepping motor .

The hardware interface of the stepper motor drive module includes: a motor sensor and drive interface, a driver power supply interface, a motor power supply interface, an external ADC acquisition interface, and a program download interface.

The stepping motor driving module integrates the power supply chip, the driving chip and the control chip on the same control circuit board, and the circuit board has a small area and a high degree of integration.

The embedded main control module includes a control instruction receiving module, a control algorithm module, and a motion control module.

The control instruction receiving module accepts the infrared controller and is realized according to the NEC protocol, and the control instructions include robot motion state control, motor speed control, setting drive chip current protection, reading motor state information, reading FLASH table designation position, and modifying FLASH table. The specified bit and the FLASH table are restored to their default values.

The control algorithm module is used to self-identify the terrain features of the external environment for the tensegrity mobile robot, and adaptively switch the corresponding motion gait. The control algorithm is realized by calling the laser ranging sensor measurement module to store the value and make a judgment.

The motion control module is used to give the motion instructions of the tensegrity mobile robot, including three basic motion gaits, namely the peristaltic motion gait, the inchworm motion gait and the rolling motion gait. The regular motion of the data set of the stepper motor is realized.

As shown in Figure 2, the remote control includes autonomously identifying the motion mode, commanding the motion mode, state adjustment motion mode control buttons, and a recovery button for restoring the robot's initial state in situ.

The command-controlled motion mode control area includes buttons for peristaltic motion gait, inchworm motion gait and rolling motion gait.

The state adjustment motion mode control area includes tensioning the integral robot motor 1 , the forward and reverse rotation of the motor 2 and the start and stop buttons.

The overall control area includes three command buttons: start, stop and laser ranging.

The embedded main control module of the robot mainly includes a motor sensor and a drive interface, a driver power supply interface, a serial communication interface, a motor power supply interface, an external ADC acquisition interface, a program download interface, as well as a reset button, a DIP switch, and a status display LED.

Specifically, the state display LED is used for more intuitive observation of the control state of the driver, the red LED is used for power-on indication, and the green LED is used for motor running state indication. The DIP switch is used to determine the magnitude and frequency of the output motor current of the corresponding driver.

It should be noted that the embedded main control module integrates the power chip, the driver chip, the communication chip, and the control chip on the same control board, and the control board has a small area and a high degree of integration.

The control process of the robot is completed inside the body of the tensegrity robot. The tensegrity robot can move autonomously in the self-recognition motion mode and realize adaptive motion state switching according to changes in the external environment. With the tetherless design, the robot can meet the application requirements. real-world needs. At the same time, the design of the infrared controller increases the diversity of the overall robot motion and greatly simplifies the complexity of debugging the robot.

A control method for a multi-mode and few-drive tension mobile robot control system, comprising the following steps:

a. Start the self-check before exercising

b. Set the motion mode of the tensegrity mobile robot

c. The robot moves in motion mode

d. Detecting external terrain features during movement

e. The robot reaches the target position

f. Store the current state of the robot

g. to stop.

In step b, a motion mode of the tensegrity mobile robot is set, and the motion mode includes an autonomous recognition motion mode, an instruction-controlled motion mode, and a state adjustment motion mode.

The autonomously recognizing the motion mode includes judging the current motion gait, and judging whether the motion gait needs to be switched, and the motion gait includes the peristaltic motion gait, the inchworm motion gait, and the rolling motion gait.

Step a Start the self-test before exercising, including the following process:

Turn on the switch on the controller of the sliding cable tensioning mobile robot, the robot is powered on and started, detects its own state, and calls the reset program to restore to the given initial state.

Step b is to set the motion mode of the tensegrity mobile robot, including the following processes:

Click the button of the motion mode control area on the infrared controller, and set the motion mode of the tensegrity mobile robot to the autonomous recognition motion mode, the command control motion mode or the state adjustment motion mode.

In step b, the motion pattern is independently identified, which specifically includes the following steps:

First, the tensegrity mobile robot starts to move forward in the initially set creeping motion gait.

Then, the background program cyclically calls the custom Earthworm function corresponding to the gait, and each time the tensegrity mobile robot is called, the robot moves forward for one peristalsis cycle.

Then, the laser ranging sensor continuously measures the terrain features of the external environment of the tensegrity mobile robot.

After that, it senses and confirms that the terrain changes through the distance change, and sends an interrupt request to the main control module of the robot.

After that, the robot ends the current peristaltic gait motion cycle and records the current motor position information, and then calls the Reset function to restore to the initial state.

Then, the mobile robot judges the subsequent terrain according to the measurement data of the laser ranging sensor, then determines the creeping, inchworm or rolling motion gait corresponding to the terrain, and cyclically calls the Earthworm, Inchworm or Tumbling function corresponding to the gait.

Finally, the tensegrity robot continues to move forward for several cycles until the next time the laser ranging sensor senses the terrain change and sends an interrupt request.

In step b, the command to control the motion mode specifically includes the following steps:

First, the tensegrity mobile robot is in the initial state after reset, and the infrared controller calls the Key function cyclically until it reads that the user presses an instruction to control the three motion gait buttons in the motion mode control area.

Then, the main control module of the robot receives the corresponding return value of the motion gait.

Then, the robot main control module calls the Earthworm, Inchworm or Tumbling function corresponding to the creeping, inchworm or rolling motion gait according to the return value, and the robot moves for one cycle according to the creeping, inchworm or rolling motion gait.

Finally, after a single cycle of motion, the robot returns to the initial state and waits for the user to give instructions for the next cycle of motion.

In step b, the state adjustment motion mode specifically includes the following steps:

First, observe the current state of the tensegrity mobile robot and determine whether the robot needs to adjust the motor position.

Then, adjust the forward and reverse rotation of the motor in the motion mode control area and the start-stop button to fine-tune the length of the rope of the mobile robot through the state adjustment, so as to better adapt to the movement of the robot in the current environment and state.

In step b, the gait selected by the tensegrity mobile robot under different terrain features is different, and its terrain perception based on the laser sensor is also different, as follows:

The laser distance sensor is installed in the middle and upper part of the overall tensioning robot, and its vertical distance from the ground is recorded as h. The robot has different configurations at any time during the movement process, and the h value also changes accordingly. The angle formed between the measurement direction of the sensor and the vertical direction is recorded as, and the measured value of the sensor is recorded as a.

ⅰ. On the flat ground, the corresponding motion mode of the robot is the inchworm motion mode, and the measured value a of the sensor should fluctuate in the left and right intervals.

ⅱ. When the robot encounters a narrow space during the process of traveling, switch the motion mode to the creep motion mode, and the sensor measurement value a should be much smaller than that.

ⅲ. When the robot encounters a ravine in the process of traveling, switch the motion mode to the tumbling motion mode. At this time, the measured value of the sensor a should be much larger than that.

iv. When the robot encounters a downward slope during the process of traveling, switch the motion mode to the tumbling motion mode, and the measured value a of the sensor should be slightly larger than that.

ⅴ. When the robot encounters an upper slope or an obstacle during its travel, the measured value a of the sensor should be slightly smaller in both scenarios. At this time, the robot still maintains the original motion mode and continues to move for a certain distance. Start the sensor again to measure, according to the two measurements The difference between the values is used to determine whether the terrain feature is an upward slope or an obstacle, and then the motion mode is switched to the creeping motion mode of the upward slope or the tumbling motion mode of crossing the obstacle.

The control system of the invention meets the requirements of miniaturization, has low development difficulty and cost, and has high integration of driver hardware design to meet the requirements of miniaturization. At the same time, the codes of various gaits of the robot are stored, and control instructions can be issued only by simple calls.

The sensing and control system of the invention is simple and has good reliability. The driver adopts the integrated design of drive and control, which is small in size, flexible in deployment and high in reliability. At the same time, it is matched with the sensing system to accurately identify the terrain features and the state of the robot itself, so as to meet the needs of the mobile robot in multiple applications. A variety of gait motion requirements in various terrain environments.

The control method of the invention solves the problem that the traditional mobile robot cannot effectively adapt to various terrains in the real environment by only using a single movement mode. By presetting three different movement gaits of the robot and cooperating with the sensing system to perceive different terrain features, the corresponding steps are switched. It can realize the movement of the tensegrity mobile robot in various terrain environments, and at the same time, the control system is designed without tethering, which meets the endurance requirements of the field environment.

Claims (10)

1. a multi-mode less-driven tension mobile robot control system is characterized in that: the multi-mode less-driven tension mobile robot control system is provided with: The sensor communicates with the data acquisition card, and transmits the collected data to the data acquisition card; Data acquisition card, which communicates with the controller, receives the external data information collected by the sensor and its own data information; The controller performs data communication with the motor driver. The controller combines external data information and its own data information to retrieve the corresponding motion gait, and the motion gait data is transmitted to the motor driver; The motor driver performs data communication with the stepper motor, converts the motion gait data into the stepper motor control command, and transmits the control command to the stepper motor; The stepper motor is the execution unit, and the control command controls the output of the spindle of the stepper motor; The encoder communicates with the controller and transmits the output information of the stepper motor to the controller. 2. The multi-mode and few-drive tension mobile robot control system according to claim 1, wherein the sensor comprises a laser ranging sensor, a torque sensor, the laser ranging sensor collects the mobile robot to identify external terrain features, and the torque sensor Detect and collect the motion state information of the mobile robot itself. 3. The multi-mode and few-drive tension mobile robot control system according to claim 1, wherein the torque sensor comprises a torque sensor 1, a torque sensor 2, and the torque sensor 1 collects the motion state information of the stepping motor 1, The torque sensor 2 collects motion state information of the stepping motor 2 . 4. The multi-mode and few-drive tension mobile robot control system according to claim 1, wherein the controller comprises an embedded main control module, a stepping motor drive module, a transformer module, a motor interface, and a power interface Module, host switch. 5. The multi-mode less-driven tension mobile robot control system according to claim 4, wherein the embedded main control module comprises a control instruction receiving module, a control algorithm module, and a motion control module; The control command receiving module receives the control commands input from the infrared controller externally; The control algorithm module is used for the robot to identify the terrain features of the external environment and adaptively switch the corresponding motion gait; The motion control module is used to give the motion command of the tensegrity mobile robot. 6. The multi-mode less-driven tension mobile robot control system according to claim 5, wherein the motion gait comprises a peristaltic motion gait, an inchworm motion gait and a rolling motion gait, and the motion gait It is a data collection for the speed, rotation, cycle, start-stop control of stepper motor 1 and stepper motor 2. 7. The multi-mode and few-drive tension mobile robot control system according to claim 5, wherein the control instructions include robot motion state control, motor speed control, setting drive chip current protection, and reading motor state information , Read the specified bit of the FLASH table, modify the specified bit of the FLASH table, and restore the default value of the FLASH table. 8. A control method for a multi-mode and few-drive tension mobile robot control system, characterized in that: comprising the following steps: (a) Start the self-check before exercising (b) Setting the motion mode of the tensegrity mobile robot (c) The robot moves in motion mode (d) Detecting external topographic features during motion (e) The robot reaches the target position (f) Store the current state of the robot (g) stop. 9 . The control method of the multi-mode and less-driven tension mobile robot control system according to claim 8 , wherein: in step (b), a tension mobile robot motion mode is set, and the motion mode includes an autonomous recognition motion mode, The command controls the movement mode, and the state adjusts the movement mode. 10. The control method of the multi-mode and less-driven tension mobile robot control system according to claim 9, characterized in that: the autonomous identification of the motion pattern includes the judgment of the current motion gait, and the judgment of whether the motion gait needs to be switched , the motion gait includes peristaltic motion gait, inchworm motion gait, and rolling motion gait.

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