Control system for remote-controlled robot

Abstract

The invention discloses a control system for a remote-controlled robot. The system comprises a master control unit, a plurality of motor controllers and a plurality of sensor modules, wherein the plurality of motor controllers are networked to form a motion control network, and the plurality of sensor modules are networked to form a sensor network; and the master control unit is connected with the motion control network and the sensor network respectively through a first bus and a second bus. By adopting a high-speed bus and two medium-low speed bus structures to connect with each functional module respectively, the complete expansibility of the system is ensured; medium-low speed bus communication adopts an open CANopen (controller area network open)communication protocol, the openness of the control system is ensured; the master control unit operates a dual-core operation system which has a real-time inner core as well as a non real-time inner core of a universal operation system, so that real-time tasks and non real-time tasks can be operated on the same hardware platform, wherein the non real-time tasks are operated in the inner core of the universal operation system, and can use existing software and hardware drive resources under the universal operation system.

Description

technical field [0001] The invention relates to a robot control system, in particular to a remote control robot control system. Background technique [0002] Remote control robots are mainly used in post-disaster rescue, detonation, toxic and radioactive material search and other occasions. Its main purpose is to replace humans to go deep into dangerous environments or environments that humans cannot reach. However, through wireless communication technology, the operator can remotely control the robot in a non-working environment to realize various functions. [0003] Due to the complex operating environment of remote-controlled robots, the requirements for the maneuverability and perception capabilities of robots used in such occasions are relatively high. Usually, robots that can meet the requirements of such applications have the following characteristics: [0004] The robot has multiple joints: In order to complete the movement and obstacle surmounting under complex and...

AI Technical Summary

Problems solved by technology

[0012] Purpose of the invention: In order to overcome the problem of low scalability of the existing control system for the application of remote-controlled robots, the purpose of the present invention is to provide a remote-controlled robot control system with strong openness

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