CN102778848A - Remote control robot self-driving sampling system and sampling method thereof - Google Patents

Abstract

The invention relates to a self-driven sampling system for a remote operation robot, the system is composed of a remote operation robot, a sensing mechanism, a data buffer, a data processing module, a signal generator, a clock module, a central processing unit module, an executive mechanism, and an information display Module and communication module, the sensing mechanism and the actuator are installed on the remote operation robot, the data buffer, data processing module, signal generator, and clock module are connected in sequence and then connected with the sensing mechanism, the sensing mechanism includes sensors and cameras , the data sampled by the sensor mechanism is transmitted to the central processor module through the communication network, and the control commands of the central processor module are transmitted to the execution mechanism through the communication network. The actuator is a zero-order retainer. At the same time, the invention discloses a sampling method of the system. The invention realizes the self-driven sampling of the remote operation robot by setting a data buffer, a data processing module, a signal generator, a clock module, a central processing unit module, etc., and connecting various physical devices reasonably. The hardware connection relationship is simple, and the self-driven sampling method is simple and easy to implement, which can reduce the network load and improve the operation performance of the teleoperation robot, and has practical application and promotion value.

Description

Self-driven sampling system and sampling method of a teleoperated robot

technical field

The invention relates to a remote operation robot self-driven sampling system and method. The invention belongs to the technical field of remote operation robot networked control and sampling.

Background technique

A teleoperated robot refers to a remote operating system that can be applied to environments inaccessible to humans, such as atomic energy technology, space technology, and deep-sea operations, to complete complex fine operations under the control of humans. In the teleoperation robot system, the sensing mechanism samples the state of the teleoperation robot, and transmits the corresponding information to the central processing module through the communication network, and the control signal of the central processing module is also transmitted to the remote operation robot through the communication network. executive body. A teleoperated robot usually sends and receives data via a public network. If the sampling period of the sensor mechanism is constant, the sensor mechanism sends repeated or approximately repeated signals when the state of the robot does not change or the state changes little. It reduces the waste of the channel and increases the network load; and when the state of the robot changes frequently, the data sent by the sensing mechanism may be far from meeting the needs, which will have a negative impact on the control performance of the teleoperated robot. Therefore, how to realize the self-driven sampling of the teleoperation robot, reduce the network load and the possibility of network congestion, and improve the performance of the teleoperation robot is a very valuable problem.

The patent application number is 201010225437.7, and the invention name is "a remote control device for a nuclear reconnaissance remote operation robot", which "remotely controls the robot to conduct nuclear reconnaissance through a wireless communication network, including a central processing unit module, a power supply module, and a command input module, radio communication module and information display module". The patent application number is 200910145179.9, and the invention patent titled "Packet Loss Compensation System and Its Implementation Method for Teleoperation Robot", which "by making full use of idle network channels, greatly reduces the negative impact of network delay and data packet loss and Improving the anti-jamming performance of the teleoperated robot system". The above two inventions do not consider the sampling problem in the control process of the teleoperated robot. The patent application number is 201110024869.6, and the patent name of the invention is "a sensor device that can change the sampling frequency and its control method". It "automatically adjusts the acquisition frequency of the signal acquisition device and performs information processing". The basis for changing the sampling frequency in this invention is whether the information sensed by the sensing device is normal or not. The invention patent with the patent application number 201110226878.3 "discloses a method and device for realizing Bluetooth stereo sound supporting multiple sampling rates". All the above patents do not fundamentally solve the problem.

Contents of the invention

Purpose of the invention: The purpose of the present invention is to construct a self-driven sampling system so as to reduce the network load and the possibility of network congestion, and improve the operational performance of the teleoperated robot. At the same time, the present invention provides a sampling method for the system.

Technical solution: the present invention adopts the following technical solution in order to achieve the above object:

A remote operation robot self-driven sampling system, the system consists of a remote operation robot, a sensing mechanism, a data buffer, a data processing module, a signal generator, a clock module, a central processing unit module, an executive mechanism, an information display module and a communication It consists of modules, the sensing mechanism and the actuator are installed on the remote operation robot, the data buffer, the data processing module, the signal generator, and the clock module are connected in sequence and then connected with the sensing mechanism. The sensing mechanism includes a sensor and a camera. The data sampled by the mechanism is transmitted to the central processor module through the communication network, and the control commands of the central processor module are transmitted to the executing agency through the communication network.

The actuator is a zero order keeper.

The communication module includes not only a signal transceiver such as a switch, but also a communication network. The information display module is connected with the central processing unit module, and its function is to display information such as the current speed, direction, joint angle of the manipulator, and peripheral video images of the teleoperation robot.

A sampling method for a self-driven sampling system of a teleoperated robot, comprising the following steps

1) The sensing mechanism samples data and counts it;

2) The sensing mechanism sends data and counts;

3) The clock module adjusts the sampling period according to the count of sampled data and the count of sent data.

The counting of sampling data and sending data by the sensing mechanism is realized by the counters n and i set in the clock module. When the sensing mechanism samples data once, n is assigned the value of n+1; if the sensing mechanism only samples but does not send data, i The assignment value is 0; when the sensing mechanism sends data once, n is assigned a value of 0, and i is assigned a value of i+1.

The data buffer is used to store the data recently sent by the sensing mechanism; the data processing module calculates the difference between the newly sampled data and the data stored in the data buffer, when the 2 norm of the difference exceeds a (0<a<0.5 ), the sensing mechanism sends data.

The steps for the clock module to adjust the sampling period in step 3 are as follows:

1) After each sensing mechanism sends or samples data, the clock module reads n and i values;

2) The clock module compares the values of n and i with the built-in m (0<m<5) value. When n=m+1, the clock module assigns the sampling period h as h+Δ(0<Δ<0.5h ), and assign n as 0; when i=m, the clock module assigns the sampling period h as h-Δ, and assigns i as 0.

Beneficial effects: on the basis of the self-driven sampling system and method of a teleoperated robot, the present invention sets a data buffer, a data processing module, a signal generator, a clock module, a central processing unit module, etc., and through reasonable Connect various physical devices to realize self-driven sampling of teleoperated robots. In the present invention, the hardware connection relationship for self-driven sampling is simple, and the method for realizing self-driven sampling is simple and easy, which can reduce the network load and improve the operation performance of the remote operation robot, and has practical application and popularization value.

Description of drawings

Fig. 1 is a hardware connection diagram of the teleoperated robot self-driven sampling system of the present invention.

Fig. 2 is a flow chart of the self-driven sampling work of the present invention.

Detailed ways

Below in conjunction with accompanying drawing, the present invention is further described in detail:

A remote operation robot self-driven sampling system according to the present invention consists of a remote operation robot, a sensing mechanism, a data buffer, a data processing module, a signal generator, a clock module, a central processing unit module, an executive mechanism, an information display module and Communication module and so on. At the same time, the invention discloses a self-driven sampling method of a teleoperated robot to adjust the sampling period to realize optimal utilization of channels.

The present invention carries out hardware connection to each device in the self-driven sampling system of the teleoperated robot according to the connection mode in Fig. 1 . In order to facilitate the sampling of data such as the speed, direction, and angle of the manipulator joints of the teleoperation robot and the video images around the robot, devices such as sensors and cameras are installed on the teleoperation robot; at the same time, in order to obtain more comprehensive data on the angle of the manipulator joints and video images , multiple sensors and cameras can be installed. The actuator is a zero-order keeper, and its function is to apply the most recently received control signal to the teleoperated robot until a new control input is received.

The sensing mechanism, data buffer, data processing module, signal generator and clock module are connected in the manner shown in Figure 1, and the clock module will feed back signals to the sensing mechanism. The data buffer is used to store the latest data sent by the sensing mechanism; it is assumed that the threshold of the 2-norm of the difference between the two sampling data is a (0<a<0.5). The function of the data processing module is to determine whether the sampled data needs to be sent to the central processing module, and whenever the sensing mechanism samples new data, the data processing module calculates the difference between the newly sampled data and the data stored in the data buffer, When the 2-norm of the difference exceeds a, it means that the state of the teleoperated robot has changed greatly during the sampling period, and the sampling data needs to be sent to the central processing unit module, at which point the signal generator sends a signal to the sensor In order to send the latest sampled data to the CPU module, at the same time, the sensing mechanism adjusts the sampling period or keeps the sampling period unchanged according to the instructions of the clock module; if the 2-norm of the difference does not exceed a, the sensing The mechanism does not send the latest sampled data, and adjusts the sampling period according to the instructions of the clock module or keeps the sampling period unchanged.

The clock module is connected with the sensing mechanism, and the signal transmission direction between them is bidirectional. The clock module has timing, memory and comparison functions, and the purpose of introducing the clock module is to determine the size of the sampling period of the sensing mechanism. Assume that the current sampling period length is h, and the initial values assigned to counters n and i are zero. Each time the sensor mechanism samples data, n is assigned a value of n+1; each time the sensor mechanism sends data, n is assigned a value of 0, and i is assigned a value of i+1; if a certain sampling of the sensor mechanism is not sent, i is assigned a value of 0 . Every time the sensing mechanism samples and sends data, the clock module will calculate the values of the counters n and i according to the above criteria and compare the magnitude relationship between n and m+1, and the magnitude relationship between i and m. When n=m+1, it means that the most recent m sampling data of the sensing mechanism have not been sent, and at the same time, it means that the state of the teleoperated robot has changed little in the recent period, then the clock module sends a driving signal to the sensing mechanism, and the The length of the sampling period is changed to h+Δ, in order to reduce the network load and the possibility of network congestion while increasing the length of the sampling period, and at the same time, the counter n is assigned a value of zero; when i=m, it means that the sensing mechanism has recently The data of the sub-sampling is sent, and at the same time, it indicates that the state of the teleoperated robot has changed greatly in the recent period, then the clock module sends a driving signal to the sensing mechanism, and changes the length of the sampling period to h-Δ, in order to send more samples While improving the operation performance of the teleoperation robot, the counter i is assigned a value of 0. The self-driven sampling work flow chart of the present invention is shown in FIG. 2 .

The two ends of the central processing unit module are respectively connected with the sensing mechanism and the executing mechanism, and the connection medium is a wired or wireless communication network. The central processing unit module can not only send control signals to the teleoperation robot in real time according to user instructions, but also automatically generate control input according to a pre-designed program when receiving sensor data, so as to control the speed, direction, and manipulator of the teleoperation robot. Joint angle, orientation, etc. The information display module includes an information receiving device and a display. This module is connected to the central processing unit module. Its function is to display information such as the current speed, direction, manipulator joint angle, and orientation of the teleoperated robot.

A self-driven sampling system and method for a teleoperated robot in the present invention is characterized in that the sampling period can be automatically adjusted according to the state change of the teleoperated robot, so as to reduce the network load and the possibility of network congestion, and at the same time improve the performance of the teleoperated robot. operational performance. The invention is fast and effective, has low hardware cost and simple connection relationship, is convenient for realizing self-driven sampling of a remote operation robot, and has practical application and popularization value.

Claims (6)

1. A self-driven sampling system for a teleoperated robot, characterized in that: the system consists of a teleoperated robot, a sensing mechanism, a data buffer, a data processing module, a signal generator, a clock module, a central processing unit module, and an executing mechanism , an information display module and a communication module. The sensing mechanism and the actuator are installed on the teleoperation robot. The data buffer, data processing module, signal generator, and clock module are connected in sequence and then connected to the sensing mechanism. The sensing mechanism includes The data sampled by the sensor and the camera are transmitted to the central processor module through the communication network, and the control commands of the central processor module are transmitted to the executive mechanism through the communication network. 2. A teleoperated robot self-driven sampling system according to claim 1, characterized in that: the actuator is a zero-order holder. 3. A teleoperated robot self-driven sampling system according to claim 1, characterized in that: the communication module includes not only a signal transceiver such as a switch, but also a communication network. The information display module is connected with the central processing unit module, and its function is to display information such as the current speed, direction, joint angle of the manipulator, and peripheral video images of the teleoperation robot. 4. A sampling method based on the self-driven sampling system of a teleoperated robot according to claim 1, characterized in that: comprising the following steps 1) The sensing mechanism samples data and counts it; 2) The sensing mechanism sends data and counts; 3) The clock module adjusts the sampling period according to the count of sampled data and the count of sent data. The counting of sampling data and sending data by the sensing mechanism is realized by the counters n and i set in the clock module. When the sensing mechanism samples data once, n is assigned the value of n+1; if the sensing mechanism only samples but does not send data, i The assignment value is 0; when the sensing mechanism sends data once, n is assigned a value of 0, and i is assigned a value of i+1. 5. The sampling method of a self-driven sampling system of a teleoperated robot according to claim 4, characterized in that: the data buffer is used to store the data sent by the sensing mechanism recently; the data processing module calculates the newly sampled data and data The difference value of the data stored in the buffer, when the 2-norm of the difference exceeds a given threshold a (0<a<0.5), the sensing mechanism sends data. 6. the sampling method of a kind of teleoperated robot self-driven sampling system according to claim 4, it is characterized in that: in step 3, the step of clock module adjusting sampling period is as follows: 1) After each sensing mechanism sends or samples data, the clock module reads n and i values; 2) The clock module compares the values of n and i with the built-in m (0<m<5) value. When n=m+1, the clock module assigns the sampling period h as h+Δ(0<Δ<0.5h ), while assigning n as 0; when i=m, the clock module assigns the sampling period h as h-Δ, and assigns i as 0.

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