CN-119610119-B - Networked robot control system and control method

CN119610119BCN 119610119 BCN119610119 BCN 119610119BCN-119610119-B

Abstract

The application discloses a networked robot control system and a control method, wherein the networked robot control system comprises an upper computer, a bus and a plurality of monomer driving and controlling units, the plurality of monomer driving and controlling units are connected with a plurality of soft robots in a one-to-one correspondence manner, the plurality of monomer driving and controlling units are connected with the upper computer through the bus, each monomer driving and controlling unit comprises a communication master station, a first communication slave station, a second communication slave station and a multi-channel mixing valve, the first communication slave station and the second communication slave station are respectively connected with the communication master station, the second communication slave station is connected with the multi-channel mixing valve, and the types of the first communication slave station and the second communication slave station are different. The application can output accurate air pressure and synchronously drive, thereby improving efficiency, reducing cost and enhancing real-time control and sensing of the soft robot.

Inventors

JIANG MEI
Zhan Linru
HAO JINGYUE
LIANG XIAOTAO
HUANG HAIMING

Assignees

深圳大学

Dates

Publication Date: 20260505
Application Date: 20241230

Claims (7)

1. The networked robot control system is characterized by comprising an upper computer, a bus and a plurality of monomer driving and controlling units, wherein the plurality of monomer driving and controlling units are connected with a plurality of soft robots in a one-to-one correspondence manner, the plurality of monomer driving and controlling units are connected through the bus, and the bus is connected with the upper computer; Each monomer driving control unit comprises a communication master station, a first communication slave station, a second communication slave station and a multichannel mixing valve, wherein the first communication slave station and the second communication slave station are respectively connected with the communication master station, and the second communication slave station is connected with the multichannel mixing valve; In each monomer driving control unit, the first communication slave station acquires sensing information and sends the sensing information to the upper computer through the communication master station, the upper computer acquires control information according to the sensing information and sends the control information to the second communication slave station through the communication master station, so that the second communication slave station controls the multichannel mixing valve according to the control information; The second communication slave station comprises a digital-to-analog conversion slave station and a digital quantity slave station, the multichannel mixing valve comprises a proportional valve and an electromagnetic valve, the digital-to-analog conversion slave station is connected with the proportional valve, and the digital quantity slave station is connected with the electromagnetic valve; The communication master station is an IO-Link master station and comprises a slave station chip, a master control chip, a first driving chip, a second driving chip and a plurality of connecting physical layer chips, wherein the slave station chip is connected with the master control chip, the master control chip is respectively connected with the first driving chip and the second driving chip, the first driving chip is respectively connected with part of the connecting physical layer chips, and the second driving chip is respectively connected with the other part of the connecting physical layer chips; The first communication slave station is an ADC-type IO-Link slave station, and comprises a first physical layer chip, a first micro control unit, an analog-to-digital conversion chip and a first integrated operational amplifier circuit, wherein the first micro control unit is in communication connection with the analog-to-digital conversion chip, the first micro control unit is in communication connection with the first physical layer chip, and the first integrated operational amplifier circuit is connected with the analog-to-digital conversion chip; the digital-to-analog conversion slave station is a DAC type IO-Link slave station, and comprises a second physical layer chip, a second micro control unit, a digital-to-analog conversion chip and a second integrated operational amplifier circuit, wherein the second physical layer chip is in communication connection with the second micro control unit, the second micro control unit is in communication connection with the digital-to-analog conversion chip, and the second integrated operational amplifier circuit is connected with the digital-to-analog conversion chip; The digital quantity type slave station is a digital quantity type IO-Link slave station and comprises a third physical layer chip, a third micro control unit and an optical coupling isolation amplifying circuit, wherein the third physical layer chip is in communication connection with the third micro control unit, and the optical coupling isolation amplifying circuit is connected with the third micro control unit; The first physical layer chip is connected with a corresponding part of the connecting physical layer chip, and the second physical layer chip and the third physical layer chip are respectively connected with another corresponding part of the connecting physical layer chip.
2. The networked robot control system of claim 1, wherein the monomer drive control unit further comprises an air pressure sensor, the air pressure sensor is connected to the first communication slave station, and the air pressure sensor collects an analog signal of the environment and transmits the analog signal to the first communication slave station, so that the first communication slave station obtains sensing information according to the analog signal.
3. The networked robotic control system of claim 1, wherein the monomer drive control unit further comprises a gas source coupled to the multi-channel mixing valve, the multi-channel mixing valve receiving the control information to cause the multi-channel mixing valve to perform gas pressure regulation based on the control information.
4. A control method based on the networked robot control system according to any one of claims 1 to 3, characterized in that the control method comprises: the first communication slave station in each monomer driving control unit acquires sensing information and sends the sensing information to the upper computer through the communication master station; the upper computer obtains control information corresponding to each monomer driving and controlling unit according to a plurality of sensing information corresponding to a plurality of monomer driving and controlling units, and sends the control information to the second communication slave station corresponding to each monomer driving and controlling unit through the communication master station corresponding to each monomer driving and controlling unit; And the second communication slave station corresponding to each monomer driving control unit controls the multichannel mixing valve according to the control information.
5. The control method of a networked robot control system according to claim 4, wherein the sensing information is a current air pressure value; The first communication slave station in each monomer driving unit acquires sensing information, which specifically comprises: the air pressure sensor collects analog quantity signals of the environment and sends the analog quantity signals to the first communication slave station; The first communication slave station obtains a current air pressure value according to the analog quantity signal.
6. The control method of the networked robot control system according to claim 4, wherein the control information includes an analog quantity control value and a pulse waveform control value; the upper computer sends the control information to the second communication slave stations corresponding to the monomer driving and controlling units through the communication master stations corresponding to the monomer driving and controlling units, specifically: In each monomer drive control unit, the upper computer sends the analog quantity control value to a digital-to-analog conversion slave station through the communication master station, and the upper computer sends the pulse waveform control value to a digital quantity slave station through the communication master station.
7. The control method of the networked robot control system according to claim 6, wherein the second communication slave station controls the multichannel mixing valve according to the control information, specifically comprising: The digital-to-analog conversion converts the analog quantity control value into a target analog quantity signal and sends the target analog quantity signal to a proportional valve, and the proportional valve regulates air pressure according to the target analog quantity signal; The digital slave station converts the pulse waveform control value into a pulse signal and sends the pulse signal to the electromagnetic valve, and the electromagnetic valve adjusts the air pressure according to the pulse signal.

Description

Networked robot control system and control method Technical Field The application relates to the technical field of robot control, in particular to a networked robot control system and a networked robot control method. Background The functional structure of the pneumatic soft robot is more complex, and a higher-performance pneumatic control system is required. The prior pneumatic control system has the defects of few channels, insufficient precision, low data transmission efficiency and the like, and is difficult to control a complex soft robot. Accordingly, the prior art is still in need of improvement and development. Disclosure of Invention The application mainly aims to provide a networked robot control system and a networked robot control method, and aims to solve the problem that control is difficult due to the fact that control channels of complex soft robots are few in the prior art. The first aspect of the embodiment of the application provides a networked robot control system, which comprises an upper computer, a bus and a plurality of single body driving and controlling units, wherein the single body driving and controlling units are in one-to-one correspondence with a plurality of soft robots, the single body driving and controlling units are connected with the upper computer through the bus, the bus is connected with the upper computer, each single body driving and controlling unit comprises a communication master station, a first communication slave station, a second communication slave station and a multichannel mixing valve, the first communication slave station and the second communication slave station are respectively connected with the communication master station, the second communication slave station is connected with the multichannel mixing valve, in each single body driving and controlling unit, the first communication slave station acquires sensing information and sends the sensing information to the upper computer through the communication master station, and the upper computer acquires control information according to the sensing information and sends the control information to the second communication slave station through the communication master station so that the second communication slave station controls the multichannel mixing valve according to the control information. Optionally, in one embodiment of the present application, the monomer driving unit further includes a barometric sensor, where the barometric sensor is connected to the first communication slave station, and the barometric sensor collects an analog signal of an environment and sends the analog signal to the first communication slave station, so that the first communication slave station obtains sensing information according to the analog signal. Optionally, in one embodiment of the present application, the monomer driving unit further includes a gas source, and the gas source is connected to the multi-channel mixing valve, and the multi-channel mixing valve receives the control information, so that the multi-channel mixing valve performs gas pressure adjustment according to the control information. Alternatively, in one embodiment of the present application, the second communication slave station includes a digital-to-analog slave station and a digital-to-analog slave station, the multi-channel mixing valve includes a proportional valve and a solenoid valve, the digital-to-analog slave station is connected to the proportional valve, and the digital-to-analog slave station is connected to the solenoid valve. Optionally, in an embodiment of the present application, the communication master station includes a slave station chip, a master control chip, a first driving chip, a second driving chip, and a plurality of connection physical layer chips, where the slave station chip is connected to the master control chip, the master control chip is respectively connected to the first driving chip and the second driving chip, the first driving chip is respectively connected to a part of the connection physical layer chips, and the second driving chip is respectively connected to another part of the connection physical layer chips. Optionally, in one embodiment of the present application, the first communication slave station includes a first physical layer chip, a first micro control unit, an analog-to-digital conversion chip and a first integrated operational amplifier circuit, where the first micro control unit is communicatively connected to the analog-to-digital conversion chip, the first micro control unit is communicatively connected to the first physical layer chip, and the first integrated operational amplifier circuit is connected to the analog-to-digital conversion chip; The digital-to-analog conversion slave station comprises a second physical layer chip, a second micro control unit, a digital-to-analog conversion chip and a second integrated operational amplifier circuit, wherein the second physical layer