CN102073284B - Dual-computer redundant embedded control system suitable for nuclear industrial robot - Google Patents
Dual-computer redundant embedded control system suitable for nuclear industrial robot Download PDFInfo
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- CN102073284B CN102073284B CN201010598280A CN201010598280A CN102073284B CN 102073284 B CN102073284 B CN 102073284B CN 201010598280 A CN201010598280 A CN 201010598280A CN 201010598280 A CN201010598280 A CN 201010598280A CN 102073284 B CN102073284 B CN 102073284B
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Abstract
The invention discloses a dual-computer redundant embedded control system suitable for a nuclear industrial robot. The dual-computer redundant control system comprises a host computer (100) taking a personal computer 104 (PC) as a main controller, and a backup computer (200) taking ARM9E as a controller, wherein the host computer (100) and the backup computer (200) are arranged on the nuclear industrial robot, and in electric signal connection with a robot drive control module (400) through a 485 bus; and instruction information is transmitted between the nuclear industrial robot and an upper computer (300) through an optical fiber. A state detection command is set for each module in the dual-computer redundant control system, and state information is continuously sent to the upper computer in the program operation process, so that the operating state of each module can be determined through different state information returned by the modules, and the position of a fault can be accurately determined once the fault occurs; the position of the fault can be more accurately located, so a more preferable method can be provided for making a decision about the robot with the fault; meanwhile, important reference information is provided for the return overhaul of the robot, so that the same fault is prevented in the future.
Description
Technical field
The present invention relates to the control system of launching of a kind of nuclear industry robot, more particularly say, be meant a kind of have the dual-computer redundancy embedded control system, be used to launch control nuclear industry ROBOT CONTROL system.
Background technology
China's nuclear industry is the strategic industry of country, because nuclear radiation and radiomaterial that nuclear industry relates to have very big danger, is again a very special industry therefore.A large amount of action needs in China's nuclear industry and the nuclear incident emergency processing carry out quantitative measurment and definite pollution source scope to the radiation scene, even need directly to contact operation with the nuclear radiating matter.Nuclear facilities pollutes the scene, and often radiation field is stronger; Protection effect after conventional safeguard procedures are difficult to carry out or implement is extremely limited; Personnel be difficult near; Work of treatment causes very big difficulty with radioactive contamination to give the investigation in-site measurement, presses for to adopt mobile-robot system to carry the alternative staff of relative assembly closely to accomplish relevant radiation detection and operation at radiation place, with safeguard work personnel's health and safety.
In this case, to the characteristics of nuclear industry, develop special-purpose nuclear radiation detection and emergency processing robot utility system and just seem particularly necessary and urgent.Because the singularity in nuclear industry place is also had higher requirement for the reliability and stability of nuclear industry robot.Because related nuclear radiation and the radiomaterial in nuclear industry field has very big danger, and in a single day robot breaks down, the staff is difficult to fetch robot on the one hand; On the other hand, the nuclear industry robot works under nuclear radiation environment, belongs to harsh industrial environment, and nuclear radiation has very strong interference and destructiveness to robot control system and institute's band navigation sensing device, is easy to occur the accident that is difficult to expect.
Summary of the invention
Because nuclear radiation and radiomaterial that nuclear industry relates to have very big danger, the nuclear industry robot can substitute the staff and closely accomplish relevant detection and operation at radiation place.In order to guarantee nuclear industry robot higher reliability and stability, the present invention designs and a kind ofly is master controller and is the dual-computer redundancy embedded control system that is applicable to the nuclear industry robot (following abbreviation dual-computer redundancy control system) of backup controller with ARM9E with PC 104.The transfer of the control when this dual-computer redundancy control system not only can break down to main frame and backup machine, and can also detect the position of breaking down, guaranteed the operate as normal of nuclear industry robot, improved the reliability and stability of nuclear industry robot.
A kind of dual-computer redundancy embedded control system that is applicable to the nuclear industry robot of the present invention; This dual-computer redundancy control system includes with PC 104 and is the main frame (100) of master controller and is the backup machine (200) of controller with ARM9E; Main frame (100) and backup machine (200) are installed in the nuclear industry robot, and realize that through 485 buses and robot drive control module (400) electric signal connects; The nuclear industry robot realizes the command information transmission through optical fiber and host computer (300); Backup machine (200) is at main frame (100) when breaking down, and just starts to get into duty;
Main frame (100) is according to the function that realizes or to be divided into mixed-media network modules mixed-media (11), image transmission module (12), navigation module (13), action driver module (14) and to survey sensing module (15);
Backup machine (200) is according to the function that realizes or to be divided into mixed-media network modules mixed-media (21), image transmission module (22), navigation module (23), action driver module (24) and to survey sensing module (25).
The advantage of the dual-computer redundancy control system of the present invention's design is:
One, design in the past all is to survey through System self-test to judge the CPU state.In case CPU breaks down, self-check system also possibly lose efficacy, and oneself state output is inaccurate, leads to errors and fails to report.During dual-computer redundancy control system operate as normal of the present invention; Main frame 100 (is master controller with PC104) obtains the control of external host computer 300; After accomplishing corresponding control task; And it is, whether normal with the duty of judging main frame 100 with backup machine 200 (is controller with ARM9E) and host computer 300 timing exchange messages.
Two, design in the past can only be judged whether operate as normal of CPU, can't judge concrete location of fault.Dual-computer redundancy control system of the present invention is subdivided into disparate modules by function; Each module all is provided with the state-detection order; In system's operational process constantly to host computer 300 send state information; The different state information that can return through each module is like this judged each module running status, in case break down then accurate failure judgement position.
Three, dual-computer redundancy Control System Design of the present invention a kind of thought of modular combination accomplish fault handling; Control task is accomplished in effective combination through disparate modules between PC104 master controller and the ARM9E backup controller, to realize better resources allocation and higher reliability.
Four, in a single day design detects cpu fault in the past, then abandons all functions of modules and the permanent failure of this controller, causes the wasting of resources.Dual-computer redundancy control system of the present invention for the design of Controller of fault the function of self-recovery, and when returning to form, also possessed the ability of self-teaching, memory abort situation last time makes a same mistake when avoiding controller to recover again.Make whole dual-computer redundancy control system improve more with comprehensively, effective guarantee system reliability and security.
Description of drawings
Fig. 1 is the structured flowchart of robot control system of the present invention.
Fig. 2 is the structured flowchart of dual-computer redundancy control system internal module of the present invention.
Fig. 3 is the structured flowchart of host module combined treatment fault of the present invention.
Fig. 4 is the structured flowchart of backup machine modular combination handling failure of the present invention.
Embodiment
To combine accompanying drawing that the present invention is done further detailed description below.
Referring to shown in Figure 1; A kind of dual-computer redundancy embedded control system (following abbreviation dual-computer redundancy control system) that is applicable to the control of nuclear industry robot of the present invention; This dual-computer redundancy control system includes with PC 104 and is the main frame 100 of master controller and is the backup machine 200 of controller with ARM9E; Main frame 100 is installed in the nuclear industry robot with backup machine 200, and connects with robot drive control module 400 realization electric signal through 485 buses; The nuclear industry robot realizes the command information transmission through optical fiber and host computer 300.
Referring to shown in Figure 2, main frame 100 is according to the function that realizes or to be divided into mixed-media network modules mixed-media 11, image transmission module 12, navigation module 13, action driver module 14 and to survey sensing module 15.
In the present invention, in order to guarantee the reliability and stability of dual system (main frame 100 and backup machine 200), go up design identical functions module at different main control chip (PC 104 controllers, ARM9E controller).
Referring to shown in Figure 3, the mixed-media network modules mixed-media 11 in the main frame 100 can send mixed-media network modules mixed-media answer instruction DA in proper working order from remote terminal (part in the nuclear industry robot) to host computer 300 when receiving the Management Information Base data at every turn
Main frame, abbreviate network as and normally instruct DA
Main frame
When receiving one-frame video data at every turn, the image transmission module 12 in the main frame 100 can send image transmission module answer instruction DB in proper working order to host computer 300
Main frame, abbreviate image as and normally instruct DB
Main frame
When receiving one group of navigational state data at every turn, the navigation module 13 in the main frame 100 can send navigation module answer instruction DC in proper working order to host computer 300
Main frame, abbreviate the normal instruction of navigation DC as
Main frame
In the present invention, main frame-data message MD of uploading to host computer 300 of main frame 100
100-300Adopting the set formal representation is MD
100-300={ DA
Main frame, DB
Main frame, DC
Main frame, DD
Main frame, DE
Main frame.When in time of reception T (generally be made as 1 second, 5 seconds or 10 seconds etc. and upload a secondary data), if host computer 300 is not received main frame-data message MD
100-300In any one or more the time, then issue corresponding startup backup machine 200 instruction FF
Backup machine={ FDA
Main frame, FDB
Main frame, FDC
Main frame, FDD
Main frame, FDE
Main frameTo backup machine 200.Because the functional module structure of setting is identical in main frame 100 and the backup machine 200, so can normally instruct DA like network according to what host computer 300 failed in setting-up time T, to receive
Main frame, image normally instructs DB
Main frame, the normal instruction of navigation DC
Main frame, drive normal instruction DD
Main frameAnd/or sensing is normally instructed DE
Main frameStart each module in the backup machine 200 accordingly.
Referring to shown in Figure 4, the mixed-media network modules mixed-media 21 in the backup machine 200 can send backup-mixed-media network modules mixed-media answer instruction DA in proper working order from remote terminal (part in the nuclear industry robot) to host computer 300 when receiving the Management Information Base data at every turn
Standby host, abbreviate backup-network as and normally instruct DA
Standby host
When receiving one-frame video data at every turn, the image transmission module 22 in the backup machine 200 can send backup-image transmission module answer instruction DB in proper working order to host computer 300
Standby host, abbreviate backup-image as and normally instruct DB
Standby host
When receiving one group of navigational state data at every turn, the navigation module 23 in the backup machine 200 can send backup-navigation module answer instruction DC in proper working order to host computer 300
Standby host, abbreviate the normal instruction of backup-navigation DC as
Standby host
The working method of the dual-computer redundancy control system of the present invention's design is: during operate as normal, main frame 100 (is master controller with PC104) obtains the control to nuclear industry robot peripheral hardware, and backup machine 200 (is controller with ARM9E) is ready.This moment, main frame 100 all moved from trace routine with backup machine 200.When main frame 100 broke down, host computer 300 was abandoned the control of 100 pairs of nuclear industry robots of main frame peripheral hardware, transfers control to backup machine 200 simultaneously, thereby guaranteed under the situation that unit lost efficacy, and can not cause that the nuclear industry robot system lost efficacy.
In the present invention, host computer 300 is industrial computers, and this industrial computer is selected for use and ground the PCM-9380 industrial computer that magnificent company produces.
In the present invention, mixed-media network modules mixed-media 11 and mixed-media network modules mixed-media 21 all are to be used to realize that the data message to the nuclear industry robot collects uploads, and the issuing of instruction.Mixed-media network modules mixed-media 21 is any one in main frame 100 (image transmission module 12, navigation module 13, action driver module 14 and sensor assemblies 15) when module breaks down, and issues backup machine network startup instruction FDA through host computer 300
Main frameIn time, just carry out.
In the present invention, image transmission module 12 and image transmission module 22 all are to be used to realize that the scenery to nuclear industry robot place environment gathers in real time, and the image information of obtaining is uploaded to host computer 300.Image transmission module 22 is when image transmission module 12 breaks down, and issues backup machine image enabled instruction FDB through host computer 300
Main frameIn time, just carry out.
In the present invention, the location that navigation module 13 and navigation module 23 are used to realize self-position, and give host computer 300 with the self-position information uploading.Navigation module 23 is when navigation module 13 breaks down, the backup machine navigation starting instruction FDC that issues through host computer 300
Main frameIn time, just carry out.Navigation module 13 can be selected GPS, gyroscope etc. for use with navigation module 23.
In the present invention, action driver module 14 and action driver module 24 are used to realize that the action to the nuclear industry robot controls.Action driver module 24 is when driver module 14 breaks down in action, the backup machine action enabled instruction FDD that issues through host computer 300
Main frameIn time, just carry out.
In the present invention, sensor assembly 15 and sensor assembly 25 are used for realizing that the relevant information to the place environment nuclear leakage of nuclear industry robot gathers, and give host computer 300 with the information uploading of gathering.Sensor assembly 25 is in image transmission module 12, navigation module 13, action driver module 14, the sensor assembly 15 in main frame 100 any one when breaking down, the backup machine sensing enabled instruction FDE that issues through host computer 300
Main frameIn time, just carry out.
In the present invention, time of reception T can be decided to be 1 second, 5 seconds or 10 seconds etc.
In the present invention, master controller adopts PC104 standard industry computing machine.
In the present invention, backup controller employing ARM9E is the embedded controller of kernel.
In the present invention, the robot drive control module through the RS485 bus respectively with master controller and backup controller communication, be used to realize the behavior of nuclear industry robot is controlled.
Each module all is provided with the state-detection order in the dual-computer redundancy control system of the present invention's design; In program operation process constantly to the host computer send state information; The different state information that can return through each module is like this judged each module running status, in case break down then accurate failure judgement position.Because the accurate localization abort situation can provide more excellent method for robot decision-making after the fault more, for the maintenance of returning after the robot important references information is provided simultaneously, so that same fault to take place after avoiding.
Dual-computer redundancy fault detect in the past can only be simple judge whether CPU in proper working order, the particular location of failure judgement not.Though some functional module breaks down but does not influence CPU work in the reality, therefore occurs two kinds of problems easily: status information show CPU in proper working order and in fact some functional module lost efficacy, cause fault to be failed to report; Certain functional module breaks down but does not influence operate as normal, but because this functional module fault, status information reporting CPU mistake to such an extent as to abandon other all functions module of entire controller, causes the wasting of resources.
Based on above consideration the present invention design the entire controller function is divided into the difference in functionality module, includes a plurality of modules as shown in Figure 2, according to the different disposal route of importance employing of functional module.
1. key modules is the network communication module.The network communication module is the tie that connects host computer and robot, in case network breaks off, host computer can't send a command to robot, and entire machine people is with out of hand.
Disposal route: in PC104 host computer control software, PC104 whenever receives the Management Information Base data, and one side with the reporting ent connection status, is also sent network connection state information to the ARM backup machine to the host computer send state information on the other hand.In case the ARM backup controller inquires PC104 master controller network communication functional module and breaks down, then the ARM controller directly switches to main frame, connects host computer, and takes over control.PC 104 then gets into the self-recovery state, and switches to slave and await orders.
2. non-key module is control bottom layer driving module, image transmission module, navigation module, acquisition sensor module.Though also can influence the robot operate as normal when losing efficacy, and can not cause robot thoroughly out of control with upper module.
Disposal route: when certain non-key module broke down in the PC104 main frame, host computer received the fault status information of this module, and makes a strategic decision: on the one hand, send the interruption executive condition to PC104, malfunctioning module is quit work.Cause whole C PU collapse to avoid malfunctioning module continue to carry out to cause internal memory conflict, deadlock, program fleet.On the other hand, send to start executive condition,, this function is switched among the ARM carry out, information such as the data that host computer is accepted to be correlated with from the ARM controller, image to start the PC104 module identical functions module in ARM that breaks down to ARM.
In case PC104 and ARM two equal modules all lost efficacy, and showed on this function module design to have problems, and then returned maintenance.
Advantage: robot generation failure probability is reduced greatly.
Proof: the probability of malfunction of supposing network communication module, control bottom module, image transmission module, navigation module, these five modules of acquisition sensor module is 20%, and the operate as normal probability is 80%.
Double-machine redundancy system in the past: if only judge whether malfunction of CPU merely, CPU non-fault during the equal operate as normal of five modules, a CPU operate as normal probability is P
1=(0.8)
5=0.32768, then the robot failure probability is that two equal probabilities of malfunction of CPU are P=(1-P
1)
2=0.45201
The double-machine redundancy system of the present invention's design: if adopt the modular combination method; The probability of malfunction of supposing network communication module, control bottom module, image transmission module, navigation module, these five modules of acquisition sensor module is 20%, and certain module failure probability is the equal failure probability P of PC104 and this module of ARM
1=(0.2)
2=0.04, robot operate as normal probability is five equal operate as normal probability P of module
2=(1-P
1)
5=0.81537, the failure probability P=1-P of robot
1=0.18463.
The present invention design is divided into functional module fault and cpu fault with robot fault, and functional module fault handling method preamble is by the agency of, and in a single day CPU breaks down and belong to gross mistake, and the design of self-recovery and self-teaching function mainly is to be directed against cpu fault.The present invention designs the definition robot and lost efficacy and returned maintenance condition: PC104 and ARM two equal modules and lost efficacy all perhaps that cpu fault respectively took place one time for PC104 and ARM.
When cpu fault takes place in PC104, on the one hand control is switched to the ARM controller, PC104 re-powers then, recovers the network communication functional module, keeps and the host computer connected state, and switches to slave, is ready.The location causes the functional module of cpu fault on the other hand, the storing memory abort situation, and this fault functional module will be forced permanent failure when PC104 recovers once more, no longer launch.
Three kinds of situation are arranged when ARM breaks down again: cpu fault appears in situation one, ARM, switches to the PC104 control, and satisfies failure condition 2, and the report host computer returns maintenance; Situation two, ARM controller occur and PC104 identical functions module failure, because this module of PC104 has been forced permanent failure, satisfy failure condition 1, and the report host computer returns maintenance; Situation three, ARM controller occur and PC104 different functional fault, and said by preamble modular combination method, PC 104 will take over this functions of modules, and robot is normally operation still.
The advantage of method for designing is like this: method for designing was in case the equal fault of two CPU in the past, and robot then thoroughly lost efficacy.And adopt self-recovery and self-teaching thought, the storing memory abort situation, and when PC104 recovers once more, force this fault functional module permanent failure; The method of no longer launching, in case reach the robot failure condition, like preceding text situation one and two; Though the robot module lost efficacy; But robot C PU still can run well, and is unlikely to thoroughly out of control, and host computer can control robot return maintenance.
The network communication module: because network communication is the tie that connects host computer and robot, in case network breaks off, host computer can't send a command to robot, and entire machine people will be thoroughly out of hand, so this function is most important.Based on above consideration in robot design except adopting optical-fibre communications, also backed up the wireless network communication module in addition, in case optical-fibre communications was lost efficacy, the wireless network communication module will be taken over the task of connecting host computer and robot, the safety of guarantee robot.
Control bottom module: when robot satisfied failure condition, host computer returned control robot to maintenance.The bottom layer driving module is the module of motions such as control robot is advanced, turning, is the basic assurance that robot returns maintenance, therefore also belongs to crucial part.On each joint motor of robot, scrambler is housed based on above consideration; Scrambler will feed back the state of each actuating motor to controller, turn back to host computer again, in case control bottom layer driving module breaks down; Host computer is failure judgement reason and position better, thus the optimizing decision of making.
Claims (4)
1. dual-computer redundancy embedded control system that is applicable to the nuclear industry robot; It is characterized in that: this dual-computer redundancy embedded control system includes with PC104 to be the main frame (100) of master controller and to be the backup machine (200) of controller with ARM9E; Main frame (100) and backup machine (200) are installed in the nuclear industry robot, and realize that through 485 buses and robot drive control module (400) electric signal connects; The nuclear industry robot realizes the command information transmission through optical fiber and host computer (300); Backup machine (200) is at main frame (100) when breaking down, and just starts to get into duty.
2. a kind of dual-computer redundancy embedded control system that is applicable to the nuclear industry robot according to claim 1 is characterized in that: main frame (100) is divided into mixed-media network modules mixed-media (11), image transmission module (12), navigation module (13), action driver module (14) and surveys sensing module (15) according to the function that realizes;
Can send network to host computer (300) when the each remote terminal from the nuclear industry robot of mixed-media network modules mixed-media (11) receives the Management Information Base data and normally instruct DA
Main frame
Image transmission module (12) can to host computer (300) be sent image when receiving one-frame video data at every turn and normally instructed DB
Main frame
When receiving one group of navigational state data at every turn, navigation module (13) can send the normal instruction of navigation DC to host computer (300)
Main frame
Action driver module (14) can send to host computer (300) when robot drive control module (400) sends the Management Information Base audio data at every turn and drive normal instruction DD
Main frame
Surveying sensing module (15) receives one group at every turn and can send sensing to host computer (300) during from data that end of probe transmits and normally instruct DE
Main frame
3. a kind of dual-computer redundancy embedded control system that is applicable to the nuclear industry robot according to claim 1 is characterized in that: backup machine (200) is divided into mixed-media network modules mixed-media (21), image transmission module (22), navigation module (23), action driver module (24) and surveys sensing module (25) according to the function that realizes;
Can send backup-network to host computer (300) when the each remote terminal from the nuclear industry robot of mixed-media network modules mixed-media (21) receives the Management Information Base data and normally instruct DA
Standby host
Image transmission module (22) can to host computer (300) be sent backup-image when receiving one-frame video data at every turn and normally instructed DB
Standby host
When receiving one group of navigational state data at every turn, navigation module (23) can send the normal instruction of backup-navigation DC to host computer (300)
Standby host
Action driver module (24) can send the normal instruction of backup-driving DD to host computer (300) at every turn when robot drive control module (400) sends the Management Information Base audio data
Standby host
Surveying sensing module (25) receives one group at every turn and can send backup-sensing to host computer (300) during from data that end of probe transmits and normally instruct DE
Standby host
4. according to claim 1 or 2 or 3 described a kind of dual-computer redundancy embedded control systems that are applicable to the nuclear industry robot, it is characterized in that: in time of reception T, if host computer (300) is not received main frame-data message MD that main frame (100) is uploaded
100-300={ DA
Main frame, DB
Main frame, DC
Main frame, DD
Main frame, DE
Main frameIn any one or more the time, then issue corresponding startup backup machine instruction FF
Backup machine={ FDA
Main frame, FDB
Main frame, FDC
Main frame, FDD
Main frame, FDE
Main frameTo backup machine (200).
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| CN102681548B (en) * | 2012-05-16 | 2014-09-10 | 东南大学 | Movement control way for wheeled robot for seeking nuclear radiation source |
| CN103199972B (en) * | 2013-03-25 | 2016-04-20 | 成都瑞科电气有限公司 | The two-node cluster hot backup changing method realized based on SOA, RS485 bus and hot backup system |
| CN105610625A (en) * | 2016-01-04 | 2016-05-25 | 杭州亚美利嘉科技有限公司 | Robot terminal network abnormity self-recovery method and device |
| CN106027281B (en) * | 2016-04-26 | 2018-11-30 | 北京光年无限科技有限公司 | Network detecting method and system towards intelligent robot operating system |
| CN106272554B (en) * | 2016-08-31 | 2018-08-07 | 北京术锐技术有限公司 | A kind of operating robot operating status fault detection method |
| KR102263570B1 (en) * | 2016-08-31 | 2021-06-14 | 베이징 서제리 테크놀로지 씨오., 엘티디. | How to detect malfunction of surgical robot operation status |
| CN106950992A (en) * | 2017-04-27 | 2017-07-14 | 广东容祺智能科技有限公司 | A kind of unmanned plane flies control redundant system and its method |
| CN107901036A (en) * | 2017-10-25 | 2018-04-13 | 深圳市朗驰欣创科技股份有限公司 | A kind of redundancy control system and control method for robot |
| CN108908402B (en) * | 2018-07-06 | 2023-03-21 | 浙江国自机器人技术股份有限公司 | Robot hardware detection method and system |
| CN110208675A (en) * | 2019-05-15 | 2019-09-06 | 杭州电子科技大学 | A kind of circuit board detection method based on dual systems |
| CN110193831A (en) * | 2019-05-27 | 2019-09-03 | 深圳市杰思谷科技有限公司 | A kind of control ensuring equipment and control method servicing humanoid robot |
| CN116728421B (en) * | 2023-08-14 | 2023-10-27 | 深圳市倍联德实业有限公司 | Remote control method, system, terminal and storage medium for manipulator |
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