CN101108480A - Robot and ambulation control method of the same - Google Patents
Robot and ambulation control method of the same Download PDFInfo
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- CN101108480A CN101108480A CNA2006100617399A CN200610061739A CN101108480A CN 101108480 A CN101108480 A CN 101108480A CN A2006100617399 A CNA2006100617399 A CN A2006100617399A CN 200610061739 A CN200610061739 A CN 200610061739A CN 101108480 A CN101108480 A CN 101108480A
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Abstract
The invention discloses a robot, which comprises a power supply and a centre control module. The robot also comprises a running gear, a run judging mechanism and a run control mechanism, wherein, the running gear, the run judging mechanism and the run control mechanism are controlled by the centre control module respectively. The run judging mechanism comprises an infrared detecting module for measuring distances; the run control mechanism comprises a voice recognition module. Through the running gear, the run judging mechanism and the run control mechanism, the robot can automatically avoid any hindrance, turn, and prevent falling off, thereby the performance of the robot is improved. The invention also provides a run control method for the robot.
Description
Technical field
The present invention relates to a kind of robot and ambulation control method thereof, relate in particular to a kind of distance type robot and ambulation control method thereof.
Background technology
Along with the develop rapidly of science and technology, the function of robot is becoming better and approaching perfection day by day, and Robotics has been widely used in the human society life field.Robot also can be applicable to the various aspects of industry, medical treatment and nursing and community service as except the toy of FYA, can finish human more inaccessiable exceedingly difficult movements in fact, or under the specific environment mankind the work that can not finish.Therefore, all there be close getting in touch in robot with the mankind's life and production.
A kind of distance type robot is arranged at present, and it may cross infra-red remote control and controlled, makes actions such as walking, when running into barrier, needs operator's remote control and changes direction of travel, and in addition, its speed of travel also needs all be controlled by operation.This robot needs the operator to control fully, so, under walking mode, may fall, can not avoiding obstacles etc. situation, thereby influence the performance of its performance.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of robot and ambulation control method thereof, and it can be dodged and turn automatically, and can be dropproof.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of robot is provided, comprise power supply and Central Control Module, described robot also comprises walking mechanism, walking decision mechanism and walking controlling organization, wherein, described Central Control Module is controlled described walking mechanism, walking decision mechanism and walking controlling organization respectively, and described walking decision mechanism comprises the infrared detection module that is used to find range, and described walking controlling organization comprises sound identification module.
Described walking controlling organization also comprises the infrared remote controller receiver module, is used for the receiving infrared-ray control signal.
Described walking mechanism is a stepper motor.
Described robot also comprises charging circuit, and described charging circuit is connected with described power supply.
Described walking controlling organization also comprises microphone, and described microphone is connected with described sound identification module.
Further improvement in the technical proposal is: described infrared detection module can also be measured the speed of travel of this robot.
A kind of robot ambulation control method is provided, and it comprises the steps:
Step 1: judged whether the signal input within a certain period of time, then started its walking mechanism if having, otherwise make robot be in the power saving holding state;
Step 2: judged whether infrared remote control signal input, then controlled robot and move if having, otherwise execution in step 3;
Step 3: judged whether the voice control signal, then controlled robot and move if having, otherwise execution in step 4;
Step 4: whether judge distance measuring signal less than certain value, if then judge and rotate, otherwise execution in step 5;
Step 5: judged whether background return, if then brake immediately.
The further improvement of robot ambulation control method of the present invention is: also comprise step 6: judge whether the speed of a motor vehicle is normal, if the undesired adjustment speed of a motor vehicle, otherwise return step 1.
In the above-mentioned steps 2 of robot ambulation control method of the present invention robot move comprise the rotation or seesaw.
In the above-mentioned steps 3 of robot ambulation control method of the present invention robot move comprise the rotation or seesaw.
Compared to prior art, the invention has the beneficial effects as follows: by described walking mechanism, walking decision mechanism and walking controlling organization, can reach the function that robot dodges automatically and turns, robot oneself can judge that its speed of travel is whether normal and can adjust its speed of travel, be unlikely to excessive velocities and fall, and can be dropproof, the while sound identification module can receive extraneous voice signal and reach the acoustic control function, thereby has improved the performance of robot.
Description of drawings
Fig. 1 is the external structure schematic diagram of robot of the present invention.
Fig. 2 is the hardware module structural representation of the robot of Fig. 1.
Fig. 3 is the electrical block diagram of Fig. 2.
Fig. 4 is the particular circuit configurations schematic diagram of the Motolora single chip control module circuit 11 among Fig. 3.
Fig. 5 is the particular circuit configurations schematic diagram of the microphone sound identification module treatment circuit 14 among Fig. 3.
Fig. 6 is the power circuit among Fig. 3 and the particular circuit configurations schematic diagram of charging circuit 12.
Fig. 7 is the particular circuit configurations schematic diagram of the infrared detection resume module circuit 15 among Fig. 3.
Fig. 8 is the particular circuit configurations schematic diagram of the stepper motor driver module circuit 17 among Fig. 3.
Fig. 9 is the internal control process schematic diagram of robot 100 walkings of Fig. 1.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, further specify the present invention.
Please refer to Fig. 1, is the external structure schematic diagram of robot of the present invention.This robot 100 comprises battery supply (figure do not show) and charging circuit (figure does not show), drives the first walking controlling organization 4 that the second walking decision mechanism 3, microphone and the sound identification module of the walking mechanism 1 of wheel walking, the first walking decision mechanism 2 that cooperates the infrared rays survey wheel speed of travel of walking mechanism 1, infrared distance measuring constitute, the second walking controlling organization 5 and the Central Control Module (scheming not show) that the infrared remote controller receiver module constitutes by stepper motor.This Central Control Module is controlled this walking mechanism 1, the first walking decision mechanism 2, the second walking decision mechanism 3, the first walking controlling organization 4 and the second walking controlling organization 5 respectively makes this robot 100 carry out action.Can charged autonomous walking thereby these robot 100 inside have power supply, can control its speed of travel by this first walking decision mechanism 2, realize positioning function thereby can find range according to the second walking decision mechanism 3.Can control walking mechanism 1 snub and prevent that it from falling according to the first walking decision mechanism 2 and the second walking decision mechanism 3, when running into barrier simultaneously, can get around barrier and work on.When receiving external sound signal, this robot 100 makes corresponding action, motions such as for example advancing, retreat, turn left, turn right, stop by the first walking controlling organization 4.When receiving the signal that infra-red remote control sends, this second walking controlling organization 5 is differentiated infrared control signals and is also made corresponding action.The actual size that designs this robot as required can be: 0.34 meter (wide) * 0.95 meter (height), weight is: 2.5 kilograms.
Please also refer to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and shown in Figure 8, Fig. 2 is the hardware module structural representation of the robot 100 of Fig. 1.Fig. 3 is the electrical block diagram of Fig. 2.Fig. 4 is the particular circuit configurations schematic diagram of the Motolora single chip control module circuit 11 among Fig. 3.Fig. 5 is the particular circuit configurations schematic diagram of the microphone sound identification module treatment circuit 14 among Fig. 3.Fig. 6 is the power circuit among Fig. 3 and the particular circuit configurations schematic diagram of charging circuit 12.Fig. 7 is the particular circuit configurations schematic diagram of the infrared detection resume module circuit 15 among Fig. 3.Fig. 8 is the particular circuit configurations schematic diagram of the stepper motor driver module circuit 17 among Fig. 3.The hardware circuit of this robot comprises Motolora single chip control module circuit 11, power circuit and charging circuit 12, infrared remote controller receiver module treatment circuit 13, microphone sound identification module treatment circuit 14, infrared detection resume module circuit 15, other detection module circuit 16 and stepper motor driver module circuit 17.The infrared remote controller that Motolora single chip control module circuit 11 receives as Central Control Module control infrared remote controller receiver module treatment circuit 13, the microphone voice signal that microphone sound identification module treatment circuit 14 receives, other detection signals that infrared distance measuring that infrared detection resume module circuit 15 receives or infrared rays survey speed of travel signal and other detection module circuit 16 receive, Motolora single chip control module circuit 11 offers stepper motor driver module circuit 17 after treatment with the unlike signal that receives then, walks by this stepper motor driver module circuit 17 driven machine people.
Please refer to shown in Figure 9ly, is the robot 100 ambulation control method schematic diagrames of Fig. 1.The control method of robot ambulation comprises the steps: step S1: judged whether the input of infrared signal or voice signal within a certain period of time, if then execution in step S2 is arranged, otherwise execution in step S3.Step S2: start stepper motor.Step S3: make robot be in the power saving holding state.Step S4: judged whether the remote controller signal input, if then execution in step S5 is arranged, otherwise execution in step S6.Step S5: the control robot moves, and for example controls robot rotation or seesaws.Step S6: judged whether the voice control signal, if then execution in step S7 is arranged, otherwise execution in step S8.Step S7: the control robot moves, for example rotation or all around motion.Step S8: whether judge distance measuring signal less than certain value, if execution in step S9 then, otherwise execution in step S10.Step S9: judge and rotation.Step S10: judged whether background return, if execution in step S11 then, otherwise execution in step S12.Step S11: brake immediately.Step S12: judge whether the speed of a motor vehicle is normal, if execution in step S13 then, otherwise return step S1.Step S13: adjust the speed of a motor vehicle.
Compared to prior art, robot 100 of the present invention can realize voice sound control system, and it moves, its advantage that moves or move voluntarily of infra-red remote control, and when running into barrier, thereby do not need operator's control and adopt its inner control module can change direction of travel and avoid falling situation, in addition, its speed of travel also can have by himself control.
More than robot provided by the present invention and ambulation control method thereof are described in detail, used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. robot, comprise power supply and Central Control Module, it is characterized in that: described robot also comprises walking mechanism, walking decision mechanism and walking controlling organization, wherein, described Central Control Module is controlled described walking mechanism, walking decision mechanism and walking controlling organization respectively, described walking decision mechanism comprises the infrared detection module that is used to find range, and described walking controlling organization comprises sound identification module.
2. robot as claimed in claim 1 is characterized in that: described walking controlling organization also comprises the infrared remote controller receiver module, is used for the receiving infrared-ray control signal.
3. robot as claimed in claim 1 is characterized in that: described walking mechanism is a stepper motor.
4. robot as claimed in claim 1 is characterized in that: described robot also comprises charging circuit, and described charging circuit is connected with described power supply.
5. robot as claimed in claim 1 is characterized in that: described walking controlling organization also comprises microphone, and described microphone is connected with described sound identification module.
6. robot as claimed in claim 1 is characterized in that: described infrared detection module can also be measured the speed of travel of this robot.
7. a robot ambulation control method is characterized in that comprising the steps:
Step 1: judged whether the signal input within a certain period of time, then started its walking mechanism if having, otherwise make robot be in the power saving holding state;
Step 2: judged whether infrared remote control signal input, then controlled robot and move if having, otherwise execution in step 3;
Step 3: judged whether the voice control signal, then controlled robot and move if having, otherwise execution in step 4;
Step 4: whether judge distance measuring signal less than certain value, if then judge and rotate, otherwise execution in step 5;
Step 5: judged whether background return, if then brake immediately.
8. robot ambulation control method as claimed in claim 7 is characterized in that: also comprise step 6: judge whether the speed of a motor vehicle is normal, if the undesired adjustment speed of a motor vehicle, otherwise return step 1.
9. robot ambulation control method as claimed in claim 7 is characterized in that: in the step 2 robot move comprise the rotation or seesaw.
10. robot ambulation control method as claimed in claim 7 is characterized in that: in the step 3 robot move comprise the rotation or seesaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100617399A CN101108480A (en) | 2006-07-18 | 2006-07-18 | Robot and ambulation control method of the same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100617399A CN101108480A (en) | 2006-07-18 | 2006-07-18 | Robot and ambulation control method of the same |
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| CN101108480A true CN101108480A (en) | 2008-01-23 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102045017A (en) * | 2010-09-15 | 2011-05-04 | 苏州凌创电子系统有限公司 | Stepping motor controller |
| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN104216404A (en) * | 2013-05-31 | 2014-12-17 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and control method thereof |
| CN105796289A (en) * | 2016-06-03 | 2016-07-27 | 京东方科技集团股份有限公司 | Blind guide robot |
| CN106313055A (en) * | 2016-10-31 | 2017-01-11 | 河池学院 | Control method of robot |
-
2006
- 2006-07-18 CN CNA2006100617399A patent/CN101108480A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102045017A (en) * | 2010-09-15 | 2011-05-04 | 苏州凌创电子系统有限公司 | Stepping motor controller |
| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN104216404A (en) * | 2013-05-31 | 2014-12-17 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and control method thereof |
| CN104216404B (en) * | 2013-05-31 | 2017-02-15 | 科沃斯机器人股份有限公司 | Self-moving device and control method thereof |
| CN105796289A (en) * | 2016-06-03 | 2016-07-27 | 京东方科技集团股份有限公司 | Blind guide robot |
| US10532003B2 (en) | 2016-06-03 | 2020-01-14 | Boe Technology Co., Ltd. | Guide robot and method and system for operating the same |
| CN106313055A (en) * | 2016-10-31 | 2017-01-11 | 河池学院 | Control method of robot |
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