CN104647389B - A kind of robot control system, robot device - Google Patents
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Abstract
The invention discloses a kind of robot control system, robot device, in order to shorten the response time of bus-type robot control system to safety sensor, improve the security of control system.Robot control system comprises: a master controller, and multiple sub-controller, each sub-controller comprises microcontroller, each sub-controller connects some safety sensors, master controller comprises level signal detecting unit, each sub-controller also comprises switch electronic circuit, all switch electronic circuits are connected in series composition on-off circuit, when there being fortuitous event to occur, on-off circuit disconnects, level signal detecting unit can detect the change of a level signal, when detecting that level signal changes, the all actuators of main controller controls quit work, with traditional bus-type dcs, all information is all compared by the mode of transmission, this mode can shorten the response time of bus-type dcs to safety sensor action.
Description
Technical field
The present invention relates to technical field of robot control, particularly relate to a kind of robot control system, robot device.
Background technology
Along with the sustainable growth of China's economy and the progress of science and technology, Robotics obtains and develops rapidly.From general industrial production, as assembling, welding, to special application, as medical treatment, space etc., robot is widely used in the various aspects of modern society.
Current most of robot control system adopts the bus-type distributed frame of one master and multiple slaves, as shown in Figure 1, namely calculating is responsible for by master controller 10, decision-making and motion control, multiple from node 11, i.e. sub-controller, dispersion is installed on robot body, be responsible for the collection of sensor signal and the control of actuator action, master controller 10 and respectively from interconnected with the form of communication bus 12 between node 11, such as communication bus 12 is specially: RS485, RS422, CAN, CC-Link etc., this distributed frame can reduce the kind of control system to master controller 10 input/output interface and the requirement of quantity greatly, the electrical traces of simplified control system also strengthens the extensibility of control system, but, under this form, because sensor 13 is not directly connected with master controller 10, therefore its action will be reduced by the real-time that master controller 10 responds, the degree that real-time reduces is subject to the transfer rate of communication bus 12, transmitted data amount and the impact from many factors such as the operational capabilities of node 11 microcontroller 14.
Application publication number is the Chinese patent of CN102914982A is prior art immediate with the application.
In a robot control system, sensor 13 is generally the safety sensor for safety instruction of such as limit switch or safe light curtain and so on, and they are used to indicate the extreme position of robot motion or the working space for guaranteeing to get involved without operating personnel robot; Once generation action, safety sensor just represents that robot has moved to extreme position or had operating personnel to get involved its working space, now, in order to ensure the safety of operating personnel and the intact of robot device, needing master controller 10 to make response within the time short as far as possible, running as stopped robot immediately.And in traditional bus-type dcs, all information is all transmitted by communication bus 12, therefore, receive from safety sensor generation action to master controller the process of its action message and can inevitably there is certain delay, the slow possibility that can increase casualties or robot device's damage causing master controller to respond therefrom.
In sum, prior art bus-type distributed robot control system is comparatively slow to the response time of safety sensor action, and the security of control system is lower.
Summary of the invention
Embodiments provide a kind of robot control system, robot device, in order to shorten the response time of bus-type robot control system to safety sensor action, improve the security of this control system.
A kind of robot control system that the embodiment of the present invention provides, comprise: master controller, the some sub-controllers be connected by communication bus with described master controller, sub-controller described in each comprise a microcontroller, sub-controller described in each connects some safety sensors, wherein, described master controller comprises a level signal detecting unit, also comprises a switch electronic circuit in sub-controller described in each;
Described switch electronic circuit comprises output, input and gate-controlled switch, and one end of described gate-controlled switch is connected with described input, and the other end is connected with described output, and the 3rd end is controlled end, is connected with described microcontroller;
The input of each switch electronic circuit and the output of adjacent switch electronic circuit are serially connected in an on-off circuit, and one end of described on-off circuit is connected with high level signal source, and the other end is connected with described level signal detecting unit;
The safety detection signal that described microcontroller sends for receiving safety sensor, when receiving described safety detection signal, the gate-controlled switch controlling to be connected with this microcontroller disconnects;
The level signal caused when whether described level signal detecting unit is for detecting and existing and disconnected by described gate-controlled switch changes, and notifies master controller when detecting that level signal changes, and main controller controls robot stops action.
The robot control system provided by the embodiment of the present invention, because the master controller in this control system comprises a level signal detecting unit, also comprises a switch electronic circuit in sub-controller described in each; Switch electronic circuit comprises output, input and gate-controlled switch, and one end of gate-controlled switch is connected with input, and the other end is connected with output, and the 3rd end is connected with microcontroller; The input of each switch electronic circuit and the output of adjacent switch electronic circuit are serially connected in an on-off circuit, and one end of on-off circuit is connected with high level signal source, and the other end is connected with level signal detecting unit; The safety detection signal that microcontroller sends for receiving safety sensor, when receiving described safety detection signal, the gate-controlled switch controlling to be connected with this microcontroller disconnects; The level signal caused when whether level signal detecting unit is for detecting and existing and disconnected by described gate-controlled switch changes, master controller is notified when detecting that level signal changes, main controller controls robot stops action, namely all actuators of main controller controls quit work, and actuator comprises the device such as motor, pneumatic element.Because all switch electronic circuits are connected in series composition on-off circuit in the embodiment of the present invention, when there being fortuitous event to occur, on-off circuit disconnects, level signal detecting unit can detect the change of a level signal, master controller is notified when detecting that level signal changes, main controller controls robot stops action, with traditional bus-type dcs, all information is all compared by the mode of transmission, the embodiment of the present invention can shorten the response time of bus-type dcs to safety sensor action, improve the security of control system.
Preferably, described gate-controlled switch is p type field effect transistor.
Like this, when gate-controlled switch is p type field effect transistor, more simply, conveniently.
Preferably, the grid of described p type field effect transistor is connected with described microcontroller.
Like this, when the grid of p type field effect transistor is as controlled end, when being connected with microcontroller, can the closed and disconnected of better controlling filed effect transistor.
Preferably, described high level signal source is high-level DC voltage source.
Like this, when system worked well, level signal detecting unit can detect a clear and definite high level signal, and when there being fortuitous event to occur, level signal detecting unit can detect a trailing edge signal changed from high to low.
Preferably, described safety sensor is limit switch sensor or safe light curtain sensing.
Like this, safety sensor is limit switch sensor or safe light curtain sensing, can in time, accurately measuring robots equipment whether break down, to ensure the intact of equipment.
Preferably, described master controller comprises the microcontroller that has interrupt pin, and the microcontroller that described level signal detecting unit has interrupt pin by this interrupt pin and this is connected.
Like this, the microcontroller that level signal detecting unit has interrupt pin by this interrupt pin and this is connected, and can improve response speed to greatest extent.
Preferably, the other end of described on-off circuit is connected an earth resistance with between described level signal detecting unit.
Like this, the other end of on-off circuit is connected an earth resistance with between level signal detecting unit, and by the setting of this earth resistance, level signal detecting unit can detect the change of level signal more accurately.
Preferably, described sub-controller has input pin and output pin, and the input of described switch electronic circuit is connected with described input pin, and the output of described switch electronic circuit is connected with described output pin.
Like this, the input of switch electronic circuit is connected with input pin, and the output of switch electronic circuit is connected with output pin, convenient, simple in side circuit design.
The embodiment of the present invention additionally provides a kind of robot device, and described robot device comprises above-mentioned robot control system.
The robot device provided by the embodiment of the present invention, because this robot device comprises above-mentioned robot control system, therefore this robot device can shorten the response time to the action on safety sensor equally, improves the security of robot device.
Accompanying drawing explanation
Fig. 1 is the structural representation of prior art bus-type distributed robot control system;
The structural representation of a kind of robot control system that Fig. 2 provides for the embodiment of the present invention;
The structural representation of the another kind of robot control system that Fig. 3 provides for the embodiment of the present invention.
Detailed description of the invention
Embodiments provide a kind of robot control system, robot device, in order to shorten the response time of bus-type robot control system to safety sensor action, improve the security of this control system.
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, and obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The robot control system that the specific embodiment of the invention provides is introduced in detail below in conjunction with accompanying drawing.
As shown in Figure 2, the specific embodiment of the invention provides a robot control system, comprise: master controller 20, the some sub-controllers 22 be connected by communication bus 21 with master controller 20, each sub-controller 22 comprises a microcontroller 23, each sub-controller 22 connects some sensors 24, wherein, master controller 20 comprises a level signal detecting unit 25, also comprises a switch electronic circuit 26 in each sub-controller 22;
Switch electronic circuit 26 comprises output 261, input 262 and gate-controlled switch 263, and one end of gate-controlled switch 263 is connected with input 262, and the other end is connected with output 261, and the 3rd end is controlled end, is connected with microcontroller 23;
The input 262 of each switch electronic circuit 26 is serially connected in an on-off circuit 27 with the output 261 of adjacent switch electronic circuit 26, and one end A of on-off circuit 27 is connected with high level signal source 28, and other end B is connected with level signal detecting unit 25;
The safety detection signal that microcontroller 23 sends for receiving sensor 24, when receiving safety detection signal, the gate-controlled switch 263 controlling to be connected with this microcontroller 23 disconnects;
The level signal change caused when whether level signal detecting unit 25 is for detecting and existing and disconnected by gate-controlled switch 263, master controller is notified when detecting that level signal changes, main controller controls robot stops action, namely all actuators of main controller controls quit work, and actuator comprises the device such as motor, pneumatic element.
Wherein, sensor 24 is by the input interface in sub-controller 22 and microcontroller 23 transmission of signal in sub-controller 22, because sensor 24 is different from the operating voltage of microcontroller 23, the operating voltage of general sensor 24 is higher, as 24V, the operating voltage of microcontroller 23 is lower, as 3.3V, therefore, also need to access photovoltaic conversion module (not shown) between sensor 24 and microcontroller 23, sensor 24 is same as the prior art by the concrete grammar of the input interface in sub-controller 22 and microcontroller 23 transmission of signal in sub-controller 22, here do not repeat.In addition, the controlled end required voltage of gate-controlled switch is not identical with the operating voltage of microcontroller 23 yet, preferably, also need when actual design to access photovoltaic conversion module (not shown) between the controlled end and microcontroller 23 of gate-controlled switch.
Preferably, as shown in Figure 3, in the specific embodiment of the invention, master controller 20 comprises the microcontroller that has interrupt pin 201, level signal detecting unit 25 is connected with this microcontroller with interrupt pin 201 by this interrupt pin 201, preferably, on-off circuit 27 other end B be connected an earth resistance R between level signal detecting unit 25.Sub-controller 22 has input pin RI and output pin RO, the input 262 of switch electronic circuit 26 is connected with input pin RI, the output 261 of switch electronic circuit 26 is connected with output pin RO, and the input pin RI in each sub-controller 22 and output pin RO in adjacent sub-controller 22 is connected in series.
The process of the robot control system response safety sensor action that the specific embodiment of the invention provides is introduced in detail below in conjunction with accompanying drawing 3.
As shown in Figure 3, when robot control system normally works, for each sub-controller 22, the gate-controlled switch 263 that the microcontroller 23 in this sub-controller 22 controls to be connected with this microcontroller 23 closes, and like this, whole on-off circuit 27 is in conducting state.Because one end A of this on-off circuit 27 is connected with high level signal source 28, preferably, the high level signal source 28 in the specific embodiment of the invention is high-level DC voltage source, usually selects the direct voltage source of 24V.Now, the level signal that the level signal detecting unit 25 in master controller 20 detects is high level signal.
When there being fortuitous event to occur, as: robot motion has arrived extreme position, or have operating personnel to get involved the working space of robot, sensor 24 will send a safety detection signal to the microcontroller 23 in the sub-controller 22 be connected with this sensor 24, sensor 24 in the specific embodiment of the invention is limit switch sensor or safety light curtain sensor, certainly, the specific embodiment of the invention does not limit the kind of sensor 24, as long as the sensor that can be used in safety instruction can.When microcontroller 23 receives safety detection signal, the gate-controlled switch 263 controlling to be connected with this microcontroller 23 disconnects, at this moment, one of them switch electronic circuit 26 in on-off circuit 27 is in off state, because on-off circuit 27 is connected in series by each switch electronic circuit 26, now whole on-off circuit 27 is also in off state, at this moment the earth resistance R that the high level of B point will be connected between B point and level signal detecting unit 25 is pulled to low level, now level signal detecting unit 25 can detect that one by the trailing edge signal of high level to low transition, level signal detecting unit 25 can determine the level signal change that this trailing edge signal detected causes when being and being disconnected by gate-controlled switch 263 by the program preset, master controller 20 is notified when detecting that level signal changes, master controller 20 control stops action, now because robot stopped all actions, therefore the safety of operating personnel and the intact of robot device can be guaranteed.Particularly, the level signal detecting unit 25 of the specific embodiment of the invention is connected with the microcontroller in master controller with interrupt pin by interrupt pin 201, because the operating voltage of microcontroller is lower, level signal detecting unit 25 in the specific embodiment of the invention also has the function of voltage transitions, can be lower level by higher level translation, when level signal detecting unit 25 detects that level signal changes, send a notification signal to the microcontroller with interrupt pin, by the interrupt function of this microcontroller implementation robot control system, namely control stops action.
Then, sub-controller 22 sends fault message by communication bus 21 to master controller 20, master controller 20 carries out analysis judgment specifically which sub-controller 22 concrete failure condition of breaking down and occurring by communication protocol to the fault message received, so that the carrying out of the work such as the decision-making of robot subsequent action and the investigation of fault, wherein, the concrete grammar that master controller 20 carries out analysis judgment by communication protocol to the fault message received is same as the prior art, repeats no more here.
Preferably, the gate-controlled switch in the specific embodiment of the invention is p type field effect transistor, and when gate-controlled switch is connected with microcontroller, the grid of p type field effect transistor is connected with microcontroller.Microcontroller in the specific embodiment of the invention in sub-controller controls the disconnection of the gate-controlled switch be connected with this microcontroller by exporting high level signal, controlled the closed of the gate-controlled switch be connected with this microcontroller by output low level signal.
From the angle improved the response speed of the action on safety sensor in the specific embodiment of the invention, also can safety sensor be connected directly on master controller, but, this mode can take too much master controller peripheral hardware resource, on the other hand, consider the installation site of safety sensor on robot body, also the problem of electrical traces lengthening, path complexity can be brought, and this connected mode can weaken the extensibility of robot control system greatly, be unfavorable for improvement and the maintenance of robot control system.
In sum, the specific embodiment of the invention improves its real-time response performance on the basis retaining bus-type dcs advantage, by arranging a level signal detecting unit in the host controller, one switch electronic circuit is set in each sub-controller, all switch electronic circuits are connected in series composition on-off circuit, when there being fortuitous event to occur, on-off circuit disconnects, level signal detecting unit can detect the change of a level signal, master controller is notified when detecting that level signal changes, main controller controls robot stops action, with traditional bus-type dcs, all information is all compared by the mode of transmission, the specific embodiment of the invention shortens the response time of bus-type dcs to safety sensor action, improve the security of control system.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (9)
1. a robot control system, comprise: master controller, the some sub-controllers be connected by communication bus with described master controller, sub-controller described in each comprise a microcontroller, sub-controller described in each connects some safety sensors, it is characterized in that, described master controller comprises a level signal detecting unit, also comprises a switch electronic circuit in sub-controller described in each;
Described switch electronic circuit comprises output, input and gate-controlled switch, and one end of described gate-controlled switch is connected with described input, and the other end is connected with described output, and the 3rd end is controlled end, is connected with described microcontroller;
The input of each switch electronic circuit and the output of adjacent switch electronic circuit are serially connected in an on-off circuit, and one end of described on-off circuit is connected with high level signal source, and the other end is connected with described level signal detecting unit;
The safety detection signal that described microcontroller sends for receiving safety sensor, when receiving described safety detection signal, the gate-controlled switch controlling to be connected with this microcontroller disconnects;
The level signal caused when whether described level signal detecting unit is for detecting and existing and disconnected by described gate-controlled switch changes, and notifies master controller when detecting that level signal changes, and main controller controls robot stops action.
2. robot control system according to claim 1, is characterized in that, described gate-controlled switch is p type field effect transistor.
3. robot control system according to claim 2, is characterized in that, the grid of described p type field effect transistor is connected with described microcontroller.
4. robot control system according to claim 1, is characterized in that, described high level signal source is high-level DC voltage source.
5. robot control system according to claim 1, is characterized in that, described safety sensor is limit switch sensor or safety light curtain sensor.
6. robot control system according to claim 1, is characterized in that, described master controller comprises the microcontroller that has interrupt pin, and the microcontroller that described level signal detecting unit has interrupt pin by this interrupt pin and this is connected.
7. robot control system according to claim 1, is characterized in that, the other end of described on-off circuit is connected an earth resistance with between described level signal detecting unit.
8. robot control system according to claim 1, it is characterized in that, described sub-controller has input pin and output pin, and the input of described switch electronic circuit is connected with described input pin, and the output of described switch electronic circuit is connected with described output pin.
9. a robot device, is characterized in that, described equipment comprises the robot control system described in the arbitrary claim of claim 1-8.
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106346479B (en) * | 2016-11-16 | 2018-09-18 | 合肥欣奕华智能机器有限公司 | A kind of controller and safety system of robot |
| CN106598004A (en) * | 2016-12-05 | 2017-04-26 | 渤海大学 | Robot control circuit |
| CN108663951B (en) * | 2017-03-28 | 2021-08-27 | 株式会社安川电机 | Actuator control system, robot, and press working device |
| CN107621817A (en) * | 2017-11-10 | 2018-01-23 | 天津子任科技有限公司 | Distributed Control Devices and Systems |
| CN109955239B (en) * | 2017-12-22 | 2021-04-16 | 合肥欣奕华智能机器有限公司 | Distributed control system and robot equipment |
| CN109960183B (en) * | 2017-12-22 | 2020-10-23 | 合肥欣奕华智能机器有限公司 | Distributed control system and robot equipment |
| CN109483547B (en) * | 2018-12-20 | 2021-03-02 | 合肥欣奕华智能机器有限公司 | Robot control system, robot abnormal signal detection method and robot |
| CN110405808A (en) * | 2019-07-27 | 2019-11-05 | 南京市晨枭软件技术有限公司 | A kind of robot instruction's motion control system |
| CN112025704B (en) * | 2020-08-25 | 2021-10-01 | 杭州湖西云百生科技有限公司 | Real-time distributed robot control method and system based on memory type database |
| CN115113579A (en) * | 2022-07-06 | 2022-09-27 | 山东华数智能科技有限公司 | PLC-based synchronous control system and method for multiple robots |
| CN118046377A (en) * | 2022-11-17 | 2024-05-17 | 瑞龙诺赋(上海)医疗科技有限公司 | Safety monitoring system, safety monitoring method and control system of surgical robot |
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Address after: 230013 Southwest District of Hefei City, Anhui Province Patentee after: Hefei xinyihua Intelligent Machine Co.,Ltd. Address before: 230013 Southwest District of Hefei City, Anhui Province Patentee before: HEFEI SINEVA INTELLIGENT MACHINE Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |