CN-121973229-A - Robot based on embedded domain control

CN121973229ACN 121973229 ACN121973229 ACN 121973229ACN-121973229-A

Abstract

The invention discloses a robot based on embedded domain control, which comprises an embedded domain control module, a power supply management module and an executing mechanism, wherein the embedded domain control module, the power supply management module and the executing mechanism are arranged on a robot trunk, the executing mechanism comprises a joint motor, a sensor, a servo motor and a brake mechanism, and a task layer-driving layer-hardware layer-mathematical function library four-layer architecture is arranged in the embedded domain control module to realize function modularization taking a task as a unit. When the hardware is replaced, only the hardware layer driving code is required to be modified, meanwhile, the single-function module can be independently debugged through modularized development, the operation safety is comprehensively enhanced, the risks of starting faults, out-of-control motors and falling loads are avoided, zero falling risk is realized, and the scenes with extremely high safety requirements of families, medical treatment and the like can be met.

Inventors

YANG SHUAI
CONG YAO

Assignees

西安蓝虫具身智能科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260324

Claims (10)

1. The robot based on the embedded domain control is characterized by comprising an embedded domain control module, a power supply management module and an executing mechanism, wherein the embedded domain control module, the power supply and the power supply management module are arranged on the trunk of the robot; the embedded domain control module is internally provided with a task layer-driving layer-hardware layer-mathematical function library four-layer architecture, so that function modularization taking tasks as units is realized; the task layer is a top layer, task files of the functional modules are deployed, and one task file in the task layer contains an implementation logic or control program for an interface provided by a designated task based on a driving layer; The driving layer is a middle layer, packages with program packages for realizing each flow of the task module, and provides a standardized function interface for the task layer or the same layer driving layer according to task logic call; The hardware layer is a bottom layer, and is packaged with an initialization and starting program of the peripheral equipment of the executing mechanism, and a standardized function interface for calling the peripheral equipment is provided for the driving layer or the task layer; The mathematical function library is a support layer, is packaged with mathematical functions required by realizing specific functions in the functional module, and provides standardized function interfaces for the driving layer and the driving layer; When executing the task, the task layer calls a task module function interface of the driving layer and a peripheral function interface of the hardware layer according to task logic, and drives corresponding peripheral in the executing mechanism to execute the task.
2. The robot based on embedded domain control of claim 1, wherein the embedded domain control module is further deployed with a software-hardware cooperative program, peripheral equipment applicable to different hardware is built in a hardware layer, a cooperative control function interface is integrated in a driving layer, and software-hardware cooperative control logic is deployed in a task layer; the embedded domain control module is integrated with a multichannel GPIO interface, a CAN bus interface, an RS485 bus interface, a USART communication interface, an AD sampling interface and a PWM output interface, and provides a real-time data acquisition and instruction output channel.
3. The robot based on embedded domain control of claim 1, wherein the power management module comprises a soft start module connected with a power supply through an air switch and a direct current contactor, wherein the soft start module receives a PWM signal sent by the embedded domain control module to adjust the starting current slope; the soft start module comprises a current control part and a power supply detection part; The current control part comprises an MOS tube and a PWM wave input circuit, wherein a source electrode of the MOS tube is connected with a negative electrode of a power supply, and a drain electrode of the MOS tube is connected with a negative electrode of a robot load; the power supply detection part comprises a sampling resistor connected in series to the negative electrode of an output loop of the power supply and a resistor voltage dividing circuit connected in parallel with the sampling resistor, wherein an ADC (analog to digital converter) of the embedded domain control module measures the voltage of the voltage dividing resistor circuit and acquires the current value of the power supply circuit; The current control and the current sampling of the power supply circuit are completed by the processing of the embedded domain control module.
4. The embedded domain control-based robot of claim 3, wherein a control program for adjusting a starting current slope of the soft start module is deployed in a task layer, and the control logic is: a. The starting stage comprises the steps of outputting a high level through GPIO to enable a direct current contactor to be closed, then outputting a PWM signal to a soft starting module, and setting an initial duty ratio; b. real-time regulation, namely, reading a current sampling value in real time, and if the current is 1.2 times smaller than rated current, lifting the PWM duty ratio according to a set speed, and if the current is 1.2 times larger than or equal to the rated value, suspending lifting and maintaining the current duty ratio until the current falls back; c. and finishing the starting, namely finishing the soft starting after the duty ratio reaches 100% and the current is stable.
5. The embedded domain control based robot of claim 1, wherein the joint motors use a collimation drive driver, the joint motors communicate with an embedded domain control module through a CAN bus, the embedded domain control module monitors the joint motor signals in real time, including motor position, rotation speed, current and fault code, received at a hardware layer, and performs the following monitoring at a task layer: When the current value of the joint motor is close to the threshold value, a load reducing instruction is sent, the output torque of the joint motor is limited to be smaller than or equal to the rated torque and is continuously monitored, normal operation is restored when the current value of the joint motor is smaller than the rated current, a communication overtime threshold value is set for the joint motor, and when the joint motor does not receive the instruction within a certain time, the joint motor enters an disabling state.
6. The embedded domain control-based robot of claim 1 or 5, wherein the task layer is further provided with a signal loss detection task, the task counts each signal, the counter is incremented by one every cycle, and the counter of the signal is cleared at the signal receiving position of the hardware layer; When judging that a certain joint motor signal is lost, judging the abnormal state of the joint motor by backtracking the fault code in the last frame of motor data packet, and carrying out grading treatment: If the fault code has no fault, the CAN bus signal is lost, the embedded domain control module tries to establish communication again in a mode of restarting communication, and reports the situation; If the fault is judged to be an over-temperature fault, triggering a safe stop instruction to control the joint motor to enter a low torque mode, and clearing the fault and recovering the torque output of the joint motor when the temperature of the motor is waited to recover to a normal range; if the fault is judged to be overload fault, the joint motor immediately stops working, and after the joint motor returns to normal, the fault is cleared and the work is recovered; When the power-off motor fails to clear, a stop command of the joint motor is sent, and the condition of the motor is recorded.
7. The robot based on embedded domain control of claim 1, wherein each servo motor is provided with a separate servo driver, and the servo drivers are connected to the embedded domain control module through a motor communication interface and an RS485 bus; The brake mechanism comprises an electromagnetic brake arranged on a servo driver and a brake relay connected with an embedded domain control module, wherein the control end of the brake relay is connected with the output of an optical coupler isolation plate, the input of the optical coupler isolation plate is connected with a GPIO interface of the embedded domain control module, and the embedded domain control module controls the electromagnetic brake through the on-off of the brake relay.
8. The robot of claim 7, wherein the task layer is provided with a brake control task for performing servo motor brake linkage control to prevent the load from falling, and the linkage control logic is as follows: a. The state judgment comprises the steps that a brake control task reads a state signal of a servo motor controller in real time, and when the servo motor controller enters a disabled state due to a fault, an embedded domain control module controls the servo motor to stop torque output through a hardware layer; b. when the servo motor controller is detected to enter an disabling state and the output torque of the servo motor is smaller than the working torque, immediately driving the output high level through the hardware layer relay to control the actuation of the brake relay, and powering off and locking the electromagnetic brake; When the servo motor controller is detected to release the fault and enter an enabling state and the output torque of the servo motor is working torque, the hardware layer relay outputs low level to release the brake relay, and the servo motor is allowed to act after a certain time delay.
9. The embedded domain control-based robot of claim 1, wherein the task layer is further provided with task_los tasks, which set different monitoring times of 50-200 ms for different signals, wherein the monitoring comprises monitoring of motor states, sensor data states and domain control communication states; The data uploading, namely combining and packaging the signal health codes of all signals and sending the signals to an industrial personal computer through a USB serial port; And the industrial personal computer responds to the abnormal information in the signal health code received by the industrial personal computer, reminds a user of the abnormal position through the human-computer interaction interface, and simultaneously sends a limiting action instruction to the embedded domain control module to control the robot to enter a safe posture.
10. The robot based on embedded domain control of claim 1, wherein the sensor comprises a digital quantity sensor and an analog quantity sensor, respectively configuring GPIO and ADC peripherals, and acquiring digital signals and analog signals; The range and the corresponding relation of analog quantity values of the received signals are set in the embedded domain control module, and then the same singlechip pin can be called to read the values of different sensors.

Description

Robot based on embedded domain control Technical Field The invention belongs to the technical field of robots, and relates to a robot based on embedded domain control. Background With the rapid development of the fields of service robots, industrial collaborative robots, family companion robots and the like, the semi-humanoid robots become an important development direction of robot technology because of the humanized motion capability, multi-modal interaction capability and scene adaptability. The core performance of the semi-humanoid robot is completely dependent on an embedded software and hardware system, is a physical basis and a function execution core of the robot, and has the functions of penetrating through the whole processes of power supply, environment perception and instruction execution of the robot to directly determine whether the robot can realize preset functions, operation reliability and practicability. However, the following technical problems to be solved still exist in the embedded software and hardware system of the current semi-humanoid robot: (1) The current embedded type automatic fault diagnosis and fault tolerance mechanism of the robot is not designed, if BUG (such as abnormal motor control instructions) occurs in software, misoperation of the robot can be caused, and personnel or environmental safety is threatened. For a humanoid robot, a motor of the humanoid robot may have faults caused by external environments, for example, when the load is too large, an actuator may be over-heated or even overloaded, and at the moment, the motor does not output moment any more due to the faults, so that the robot action errors may be caused, and the damage is generated. (2) The software and the hardware are relatively independent, the complex system of the robot is processed, lack of hardware and software cooperation. The semi-humanoid robot has the core advantages of humanized action and interaction, and if the system cannot cooperate with software and hardware in the aspects of data processing, energy efficiency management and the like, the performance of the robot can be influenced, and even safety problems can occur. In addition, the humanoid robot system has high degree of freedom, and the number of used motors is large, if the humanoid robot system is started simultaneously, the current generated instantaneously can exceed the bearing range of a motor driving plate, so that the motors are damaged. Disclosure of Invention The invention solves the problem of providing an embedded semi-humanoid robot, which enables the whole robot to normally operate through cooperation of software and hardware and can cope with abnormal conditions. The invention is realized by the following technical scheme: The robot based on the embedded domain control comprises an embedded domain control module, a power supply management module and an executing mechanism, wherein the embedded domain control module, the power supply management module and the executing mechanism are arranged on a robot trunk, and the executing mechanism comprises a joint motor, a sensor, a servo motor and a brake mechanism; the embedded domain control module is internally provided with a task layer-driving layer-hardware layer-mathematical function library four-layer architecture, so that function modularization taking tasks as units is realized; the task layer is a top layer, task files of the functional modules are deployed, and one task file in the task layer contains an implementation logic or control program for an interface provided by a designated task based on a driving layer; The driving layer is a middle layer, packages with program packages for realizing each flow of the task module, and provides a standardized function interface for the task layer or the same layer driving layer according to task logic call; The hardware layer is a bottom layer, and is packaged with an initialization and starting program of the peripheral equipment of the executing mechanism, and a standardized function interface for calling the peripheral equipment is provided for the driving layer or the task layer; The mathematical function library is a support layer, is packaged with mathematical functions required by realizing specific functions in the functional module, and provides standardized function interfaces for the driving layer and the driving layer; When executing the task, the task layer calls a task module function interface of the driving layer and a peripheral function interface of the hardware layer according to task logic, and drives corresponding peripheral in the executing mechanism to execute the task. Furthermore, the embedded domain control module is also provided with a software and hardware cooperative program, peripheral equipment applicable to different hardware is built in a hardware layer, a cooperative control function interface is integrated in a driving layer, and software and hardware cooperative control logic is deploy