| The quadruped bionic robot has become a research hotspot in the field of mobile robots due to its strong terrain adaptability,large load-bearing capacity,and high motion flexibility.Aiming at the problems that the quadruped robot is difficult to operate,the operation volume is complicated and so on,this paper designs the command and control system of the quadruped robot.The command-control system includes the robot's human-computer interaction system and on-board real-time control system.It is the control and management center of the entire robot.The command-control system integrates and optimizes the robot's operating volume,which facilitates the operator to collect on-site information and issue accurate control instructions in a timely manner,making it friendly human-computer interaction.This project takes the SQP-150-EH-P robot of Shandong University Robot Center as the research object,and designs a high-reliability command and control system.(1)Aiming at the problem that the laboratory quadruped robot platform has a large amount of operations and is not easy to control,in order to achieve friendly human-computer interaction,the overall design of the robot's command and control system is designed.Based on the modular analysis,the design of the complex robot operation is designed.The overall architecture of the robot control system is realized,and the robot's data integration and optimization and friendly human-computer interaction are realized.(2)Based on the overall design of the command and control system,an on-board real-time control system with high real-time performance and high reliability is designed,including real-time motion controllers,servo drives,communication systems,and data management systems.First,the NI controller based on the NI Linux Real-Time operating system was used,and the control software of the quadruped robot was designed to realize the real-time and reliable calculation of the motion controller.Second,the modular design,vibration and shock resistance reinforcement and the passive heat dissipation technology of the chassis designed a servo driver to meet the reinforcement requirements,and realized the stable acquisition and control of the leg data of the robot.Third,the robot communication system module including Ethernet,CAN bus and RS485 wireless transparent transmission was designed.Realized multi-channel stable real-time transmission of robot debugging data,sensory data,and control instructions.Finally,in response to the problem that online data storage affects real-time control during debugging,an online real-time data storage and management program and offline data analysis software are designed to achieve Real-time data storage and offline analysis.(3)Based on the overall design framework of the command and control system,the human-computer interaction system of the quadruped robot was designed and implemented.First,based on the double layer structure of processing and measurement,a handheld remote controller terminal with a single joystick and touch screen as the operation input method was designed to achieve a simple and convenient human-computer interaction mode.Second,In order to meet the needs of individual soldiers,an expandable USB handle is designed to achieve remote control of individual soldiers' operations.Again,a system for capturing video from a network camera,transmitting video from a wireless image transmission radio station,and displaying video from a flat panel has been set up.The video of the robot has been designed,the monitoring realizes the remote video monitoring of the robot's perspective.Finally,the application verification of the above results was carried out,and the application experiments showed that the control system completed in the paper had better real-time performance and effectiveness. |
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