WO2019006759A1 - Robot controller and robot - Google Patents

Abstract

A robot controller (10) comprises a memory (11), a first interface (12), a field programmable gate array (FPGA) (132), and a processing chip (131). The processing chip (131) and the FPGA (132) are integrated. The processing chip (131) comprises a system operation unit (1311) and a motion control operation unit (1312). The memory (11), the first interface (12) and the FPGA (132) are connected by means of a bus (14). The first interface (12) is used for being connected to a driving mechanism of the robot. A robot control system and a motion control system program are stored in the memory (11). The system operation unit (1311) is used for invoking and executing the robot control system to generate a corresponding control command, and transmitting the control command to the motion control operation unit (1312). The motion control operation unit (1312) is used for invoking and executing the motion control program to generate a corresponding control instruction according to the received control command, and controlling the robot to move according to the control instruction. In this way, the integration and the reliability of the system can be improved, the system complexity can be simplified, and system costs can be reduced. Also disclosed is a robot.

Description

Robot controller and robot

[Technical Field]

The invention relates to the field of robots, and in particular to a robot controller and a robot.

 【Background technique】

With the introduction of the concept of Industry 4.0, the manufacturing development of the major industrial countries in the world has a more consistent development goal, and the manufacturing industry has evolved from the existing people-oriented production mode to the intelligent manufacturing based on smart devices. In this wave of update and upgrade, industrial robots play a major role as intelligent production equipment, and as an indispensable control system in industrial robot systems, it also attracts development opportunities.

At present, the mainstream robot controllers on the market mostly use the separation scheme of the industrial computer and the motion control card or the main control backboard and the motion control card. The hardware part of this scheme is divided into two modules, each module needs a special person. The design and development environment are also different. Therefore, the development of the robot controller is difficult, the development cycle is long, and the complexity is high.

 [Summary of the Invention]

The technical problem to be solved by the present invention is to provide a robot controller and a robot, which can improve system integration, reliability, simplify system complexity, and reduce system cost.

In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a robot controller including: a memory, a first interface, a field programmable gate array FPGA, and a processing chip, and the processing chip is integrated with the FPGA, and the processing The chip comprises a system operation unit and a motion control operation unit, wherein the memory, the first interface and the FPGA are connected by a bus; the first interface is used for connecting with the driving mechanism of the robot; the memory is stored with the robot control system and the motion control program; and the system operation unit is used for the system operation unit; Calling and executing the robot control system to generate a corresponding control command and transmitting the control command to the motion control arithmetic unit; the motion control arithmetic unit is configured to call and execute the motion control program to generate a corresponding control command according to the received control command And transmitting a control command to the driving mechanism of the robot through the first interface to drive the robot to move.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a robot including a robot controller, a robot body and a driving mechanism mounted on the robot body. The robot controller includes a memory, a first interface, and an on-site Programming the gate array FPGA and the processing chip, the processing chip is integrated with the FPGA, the processing chip comprises a system operation unit and a motion control operation unit, the memory, the first interface and the FPGA are connected by a bus; the first interface is used for connecting with the driving mechanism of the robot; A robot control system and a motion control program are stored therein; the system operation unit is configured to call and execute the robot control system to generate a corresponding control command, and transmit the control command to the motion control operation unit; the motion control operation unit is used to call and execute The motion control program generates a corresponding control command according to the received control command, and sends the control command to the driving mechanism of the robot through the first interface to drive the robot to move.

In the above solution, the robot controller comprises a memory, a first interface, a field editable gate array and a processing chip, and the processing chip is integrated with the FPGA, the processing chip comprises a system operation unit and a motion control operation unit, wherein the memory, the first interface and the FPGA pass the bus Connected, the first interface is connected to the driving mechanism of the robot, the memory is stored with a robot control system and a motion control program, and the system operation unit is used to call and execute the robot control system to generate corresponding control commands and transmit the control commands. a motion control arithmetic unit, wherein the motion control arithmetic unit is configured to call and execute the motion control program to generate a corresponding control command according to the received control command, and send the control command to the driving mechanism of the robot through the first interface to drive the robot motion The system achieves high integration and reliability, simplifies system complexity, and reduces system cost.

 [Description of the Drawings]

1 is a schematic structural view of an embodiment of a robot controller according to the present invention;

2 is a schematic structural view of another embodiment of a robot controller according to the present invention;

3 is a schematic structural view of an embodiment of a robot of the present invention;

【Detailed ways】

The invention will now be described in detail in conjunction with the drawings and embodiments.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of an embodiment of a robot controller according to the present invention. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the present embodiment, the robot controller 10 includes a memory 11, a first interface 12, an integrated chip 13, and a bus 14. The memory 11, the first interface 12, and the integrated chip 13 are all connected by a bus 14.

Specifically, the processing chip 131 and the field programmable gate array FPGA (Field Programmable) are integrated on the integrated chip 13. Gate Array) 132. The processing chip 131 includes a system operation unit 1311 and a motion control operation unit 1312.

Specifically, the first interface 12 is further configured to be connected to a driving mechanism of the robot; the memory 11 stores a robot control system and a motion control program; and the system operation unit 1311 is configured to call and execute the robot control system to generate a corresponding control command. And transmitting a control command to the motion control operation unit 1312; the motion control operation unit 1312 is configured to invoke and execute the motion control program to generate a corresponding control instruction according to the received control command, and send the control instruction through the first interface 12 Give the robot's drive mechanism to drive the robot to move.

Among them, FPGA 132 is also used to implement a real-time algorithm through a logic circuit to modify the priority of the motion control arithmetic unit 1312, thereby ensuring real-time behavior of the robot motion control. The system arithmetic unit 1311 and the motion control arithmetic unit 1312 are connected to each other by a bus in the processing chip 131.

The system operation unit 1311 and the motion control operation unit 1312 are both a microprocessor, wherein the system operation unit 1311 can be an ARM processor, and the motion control operation unit 1312 is an ARM processor or a DSP processor.

In addition, the memory 11, the first interface 12, and the integrated chip 13 are integrated on one PCB (Printed Circuit) Board, printed circuit board) board. The integrated chip 13 includes a processing chip 131 and an FPGA 132.

Further, the robot controller in the present embodiment further includes an input device and a display device. Please refer to FIG. 2. FIG. 2 is a schematic structural view of another embodiment of the robot controller of the present invention. The robot controller in FIG. 2 includes a second interface 21, an input device 22, and a display device 23 in addition to the above-described memory 11, first interface 12, integrated chip 13, and bus 14. The input device 22 and the display device 23 are respectively connected to the second interface 21.

The input device 22 is configured to receive a command of the user and transmit the command of the user to the robot control system, so that the robot control system generates a corresponding control command according to the command of the user. The display device 23 is used to display an operation interface of the robot control system.

Alternatively, the input device 22 and the display device 23 may be integrated into the same device. Specifically, the input device 22 and the display device 23 may be a touch screen.

Specifically, the first interface 12 is a field bus interface, and the robot controller and the driving mechanism of the robot are connected by field bus communication.

Specifically, an operating system program is also stored in the memory 11, and the system operation unit 1311 is further configured to execute an operating system program. The operating system is responsible for managing and configuring memory, prioritizing system resource supply and demand, controlling input and output devices, operating the network, and managing file systems.

In addition, the robot controller 10 further includes peripheral circuits matching the memory 11, the first interface 12, and the integrated chip 13, which are not shown.

The robot controller 10 may be composed of a customized main control board. The main control board may use a multi-core X86 platform CPU, or a multi-core ARM platform CPU, and the operating system loaded thereon may be DOS, Windows, Linux, etc. At least one of the systems can also design a human-computer interaction interface according to requirements on the operating system.

In this embodiment, the robot controller includes a memory, a first interface, a field editable gate array, and a processing chip. The processing chip is integrated with the FPGA, and the processing chip includes a system operation unit and a motion control operation unit, wherein the memory, the first interface, and the FPGA Connected by a bus, the first interface is connected to a driving mechanism of the robot, and the memory stores a robot control system and a motion control program. The memory stores a robot control system and a motion control program, and the system operation unit is used to call and execute the robot control. a system to generate a corresponding control command and transmit the control command to the motion control arithmetic unit, the motion control arithmetic unit is configured to call and execute the motion control program to generate a corresponding control command according to the received control command, and pass the control command The first interface is sent to the driving mechanism of the robot to drive the robot movement, which realizes high integration and reliability of the system, simplifies the complexity of the system, and reduces the system cost.

Please refer to FIG. 3. FIG. 3 is a schematic structural diagram of an embodiment of a robot according to the present invention. In the present embodiment, the robot includes a robot controller 31, a robot body 32, and a drive mechanism 321 mounted on the robot body 32. The controller 31 includes a memory 311, a first interface 312, an integrated chip 313 and a bus 314, a second interface 315, an input device 316, and a display device 317. The memory 311, the first interface 312, the integrated chip 313, and the second interface 315 are all connected by a bus 314. Input device 316 and display device 317 are each coupled to a second interface 315.

Specifically, the processing chip 3131 and the field programmable gate array FPGA (Field) are integrated on the integrated chip 313. Programmable Gate Array) 3132. The processing chip 3131 includes a system operation unit 31311 and a motion control operation unit 31312.

Specifically, the driving mechanism 321 of the robot is connected to the first interface 312.

Wherein, the memory 311 stores a robot control system and a motion control program; the system operation unit 31311 is configured to call and execute the robot control system to generate a corresponding control command, and transmit the control command to the motion control operation unit 31312; The control arithmetic unit 31312 is configured to call and execute the motion control program to generate a corresponding control command according to the received control command, and send the control command to the driving mechanism 321 of the robot through the first interface 312 to drive the robot motion.

Among them, FPGA The 3132 is further configured to implement a real-time algorithm through the logic circuit to modify the priority of the motion control arithmetic unit 31312, thereby ensuring real-time behavior of the robot motion control. The system arithmetic unit 31311 and the motion control arithmetic unit 31312 are connected to each other by a bus in the processing chip 3131.

The system operation unit 31311 and the motion control operation unit 31312 are both a microprocessor, wherein the system operation unit 31311 can be an ARM processor, and the motion control operation unit 31312 is an ARM processor or a DSP processor.

In addition, the memory 311, the first interface 312, and the integrated chip 313 are integrated on one PCB (Printed Circuit) Board, printed circuit board) board. The integrated chip 313 includes a processing chip 3131 and an FPGA 3132.

The input device 316 is configured to receive a command of the user and transmit the command of the user to the robot control system, so that the robot control system generates a corresponding control command according to the command of the user. The display device 317 is used to display an operation interface of the robot control system.

Alternatively, the input device 316 and the display device 317 may be integrated into one device. Specifically, the input device 316 and the display device 317 can be a touch screen.

Specifically, the first interface 312 is a field bus interface, and the robot controller is connected to the driving mechanism of the robot through a field bus.

In addition, an operating system program is also stored in the memory 311, and the system operation unit 31311 is further configured to execute an operating system program. The operating system is responsible for managing and configuring memory, prioritizing system resource supply and demand, controlling input and output devices, operating the network, and managing file systems.

In this embodiment, the robot includes a robot controller, a robot body, and a driving mechanism mounted on the robot body, wherein the controller includes a memory, a first interface, a field editable gate array, and a processing chip, and the processing chip is integrated with the FPGA, and the processing The chip comprises a system operation unit and a motion control operation unit, wherein the memory, the first interface and the FPGA are connected by a bus, and the first interface is connected to the driving mechanism of the robot, wherein the memory stores the robot control system and the motion control program, and the memory is stored in the memory. There is a robot control system and a motion control program, and the system operation unit is used to call and execute the robot control system to generate corresponding control commands and transmit the control commands to the motion control arithmetic unit, and the motion control arithmetic unit is used to call and execute the motion control. The program generates a corresponding control instruction according to the received control command, and sends the control instruction to the driving mechanism of the robot through the first interface to drive the robot movement, thereby realizing high integration and reliability of the system, and simplifying The complexity of the system, and reduces the system cost.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (18)

A robot controller, comprising: a memory, a first interface, a field programmable gate array FPGA, and a processing chip, the processing chip being integrated with the FPGA, the processing chip comprising a system operation unit And a motion control arithmetic unit, wherein the memory, the first interface, and the FPGA are connected by a bus; The first interface is used to connect with a driving mechanism of the robot; The memory stores a robot control system and a motion control program; The system operation unit is configured to invoke and execute the robot control system to generate a corresponding control command, and transmit the control command to the motion control operation unit; The motion control operation unit is configured to invoke and execute the motion control program to generate a corresponding control command according to the received control command, and send the control command to the driving mechanism of the robot through the first interface, To drive the robot to move. The robot controller according to claim 1, wherein the FPGA is further configured to implement a real-time algorithm through a logic circuit to modify a priority of the motion control operation unit, thereby ensuring real-time behavior of the robot motion control. . The robot controller according to claim 1, wherein said system operation unit and said motion control arithmetic unit are connected to each other through a bus in said processing chip. The robot controller according to any one of claims 1 to 3, wherein the system operation unit is an ARM processor, and the motion control operation unit is an ARM processor or a DSP processor. The robot controller according to claim 1, wherein the memory, the first interface, the FPGA, and the processing chip are integrated on one PCB. The robot controller according to claim 5, wherein said robot controller further comprises input means connected to said PCB board, said input means for receiving a command of a user and commanding said user The robot control system is transmitted to cause the robot control system to generate a corresponding control command according to the user's command. The robot controller according to any one of claims 5 to 6, wherein the robot further comprises a display device connected to the PCB board, the display device for displaying an operation interface of the robot control system . The robot controller according to claim 1, wherein the first interface is a field bus interface, and the robot controller is communicably connected to a drive mechanism of the robot via a field bus. The robot controller according to claim 1, wherein an operating system program is further stored in the memory, and the system operation unit is further configured to execute the operating system program. A robot, comprising: a robot controller, a robot body, and a driving mechanism mounted on the robot body, the robot controller including a memory, a first interface, a field programmable gate array FPGA, and a processing a chip, the processing chip is integrated with the FPGA, the processing chip includes a system operation unit and a motion control operation unit, and the memory, the first interface, and the FPGA are connected by a bus; The first interface is used to connect with a driving mechanism of the robot; The memory stores a robot control system and a motion control program; The system operation unit is configured to invoke and execute the robot control system to generate a corresponding control command, and transmit the control command to the motion control operation unit; The motion control operation unit is configured to invoke and execute the motion control program to generate a corresponding control command according to the received control command, and send the control command to the driving mechanism of the robot through the first interface, To drive the robot to move. The robot according to claim 10, wherein the FPGA is further configured to implement a real-time algorithm through a logic circuit to modify a priority of the motion control arithmetic unit, thereby ensuring real-time behavior of the robot motion control. The robot according to claim 10, wherein said system arithmetic unit and said motion control arithmetic unit are connected to each other by a bus within said processing chip. The robot controller according to any one of claims 10 to 12, wherein the system operation unit is an ARM processor, and the motion control operation unit is an ARM processor or a DSP processor. The robot according to claim 10, wherein said memory, said first interface, said FPGA, and said processing chip are integrated on a PCB. The robot according to claim 14, wherein said robot controller further comprises input means connected to said PCB board, said input means for receiving a command of a user and transmitting said command of said user The robot controls the system such that the robot control system generates a corresponding control command based on the user's command. The robot according to any one of claims 14 to 15, characterized in that the robot further comprises a display device connected to the PCB board, the display device for displaying an operation interface of the robot control system. The robot of claim 10, wherein the first interface is a fieldbus interface, and the robot controller is communicably coupled to the drive mechanism of the robot via a fieldbus. The robot according to claim 10, wherein an operating system program is further stored in the memory, and the system operation unit is further configured to execute the operating system program.