CN106020208A - Robot remote control method based on ROS operating system and remote control system thereof - Google Patents
Robot remote control method based on ROS operating system and remote control system thereof Download PDFInfo
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- CN106020208A CN106020208A CN201610599824.4A CN201610599824A CN106020208A CN 106020208 A CN106020208 A CN 106020208A CN 201610599824 A CN201610599824 A CN 201610599824A CN 106020208 A CN106020208 A CN 106020208A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a robot remote control method based on an ROS operating system. The robot remote control method comprises the following steps that step (1) a micro host is internally provided with the ROS operating system and establishes a two-dimensional navigation map by utilizing the ROS operating system; or the two-dimensional navigation map is artificial drawn and the two-dimensional navigation map is stored to a server background; step (2) a voice instruction is inputted by pressing the voice button of a client side and the voice instruction is transmitted to the server, and the server receives the voice instruction and then acquires position information in the voice instruction and generates a plan route and generates sequential operation instructions according to the plan route; step (3) the micro host controls a robot to sequentially perform the instructions according to the sequential operation instructions; and step (4) the instructions required to be performed and the instruction performance results are broadcasted through voice by a voice broadcast device. The voice instruction is inputted by the client side, the plan route is generated and the task of the voice instruction is completed and returning to the initial point is performed, and indoor household electrical appliances can be remotely controlled.
Description
Technical field
The invention belongs to robotics, particularly relate to a kind of robot based on ROS operating system
Long-range control method and tele-control system.
Background technology
Mobile robot is that one can work under complex environment, has self planning, self-organizing, adaptive ability
Robot, there is the advantages such as action is quick, work efficiency height, simple in construction, controllability are strong, safety is good,
The most it is widely used at present.
In mobile robot relation technological researching, airmanship belongs to its core technology, is also to realize intellectuality
Key technology with autonomous.The most common navigation mode have electromagnetic navigation, inertial navigation, vision guided navigation,
Wireless navigation, satellite navigation, sensing data navigation etc..Traditional navigation mode more or less also exists one
A little drawbacks, electromagnetic navigation very flexible, position inaccurate, intelligent the highest and large area magnetic stripe is laid and is safeguarded into
This height.A kind of magnetic navigation routing inspection robot as disclosed in the patent No. 201210083407.6, including: visible ray
Video camera, The Cloud Terrace, infrared thermography, saddle, motor driver, computer, sound collector, exchange
Machine, wireless receiver WCB, sound collector, front collision prevention sensor, front navigation sensor, crawler belt, road
Road video camera, smoke detector, rear collision prevention sensor, environmental detector, rear navigation sensor, terrestrial reference sense
Device, robot is made up of four parts, is magnetic navigation part, crawler travel structure division respectively, controls and gather
Partly, communicating portion be implemented in combination with Automatic Cycle detection, described magnetic navigation part comprise before navigation sensing
Device and rear navigation sensor, navigation sensor is for receiving the magnetic stripe signal of ground robot run trace；Described
Crawler travel structure division, comprise crawler belt, collision prevention sensor, motor driver, landmark sensor, jerk
Switch, wheel；Described communicating portion, comprises switch, wireless receiver, omnidirectional's extended antenna；
Described control and collecting part, comprise a microprocessor and multiple sensor, by connecting servo-driver
Control the movement of car body；Sensor is connected with processor, and processor is connected with wireless bridge, by sensor acquisition
To data after treatment by being wirelessly transmitted to long-range PC, it is achieved far-end is to on-the-spot real-time monitoring.
And inertial navigation motility is good, but positional accuracy is poor, easily produces and accumulate deviation in motor process,
It is suitable for short-distance movement.Traditional vision guided navigation typically uses the mode of multi-vision visual, and positioning precision can reach
To the highest, but the real-time operation amount in motor process is very big, underaction, and by illumination isoperimetric collarette border
Affect bigger；Other navigation modes more or less also exist poor stability, positioning precision is low or lays maintenance
High in cost of production shortcoming.
Along with robot is towards complication, generalization and the development of working environment uncertainization, the multiplexing to code
Property, modularity propose higher requirement.Existing Player, MOOS, CARMEN, YARP,
The operating systems such as Orocos, Microsoft RoboticsStudio cannot meet the demand of actual application.ROS(Robot
Operating System) it is that one is increased income robot operating system, using the teaching of the invention it is possible to provide it is similar to the merit of operating system
Can, provide the transmission of hardware abstraction, bottom layer driving, message for robot application system and assure reason, and some
Auxiliary development instrument, such as, set up, write and run the program that multi-machine communication system is integrated.ROS operates system
The design object of system is contemplated to improve the durability of code, so using a kind of distributed process framework, makes
Calling program has independence and the lower coupling of height.For the advantage of ROS operating system, how to provide one
Planting robot system based on ROS operating system, it is capable of remote speech input instruction, robot root
Arriving at according to the phonetic order path planning of input, complete the corresponding operating of phonetic order, positioning precision is high,
And indoor household electrical appliances can be turned on and off by Remote, it needs to be researched and solved further.
Summary of the invention
The purpose of the present invention is that and overcomes the deficiencies in the prior art, it is provided that a kind of based on ROS operating system
Robot long-distance control method and tele-control system, the present invention by client input phonetic order, machine
Two dimensional navigation map drawn under the effect of ROS operating system by micromainframe in people or artificial two dimension of drawing is led
Boat map, server obtain client input phonetic order in positional information, and with in two dimensional navigation map
Position data carry out mating to generate path planning, according to path planning arrive give directions destination, pass through voice
Broadcast device voice broadcast needs order and the command execution results performed, and task returns initial bit after completing
Putting, have positioning precision high, robot trajectory's movement warp is little, and coordinates omnipotent function of infrared remote control, passes through
Client input control apparatus title, is turned on and off control equipment by robot is infrared, the most distant to realize
Control is turned on and off indoor household electrical appliances.
To achieve these goals, the invention provides a kind of robot remote control based on ROS operating system
Method processed, comprises the steps:
ROS operating system is installed in step (1), micromainframe, utilizes the xtion in ROS operating system
The photographic head data genaration two dimension cloud data collected, and utilize gmapping framework and particle filter algorithm
Carry out local optimum and set up two dimensional navigation map；Or manually draw two dimensional navigation map, and by two dimensional navigation map
Import in the ROS operating system in micromainframe, finally two dimensional navigation map is stored to server background；
Step (2), pin client talk button input phonetic order, and by phonetic order transmission to service
Device, server obtains the positional information in phonetic order after receiving phonetic order, and by positional information and server
Position data in the two dimensional navigation map that backstage stores is mated, and generates planning road after obtaining matching result
Footpath, and according to path planning formation sequence operational order；
The series of operations of generation is instructed and is sent to micromainframe by step (3), server, and micromainframe is according to sequence
Row operational order controls robot and sequentially performs order, to complete the corresponding operating in client phonetic order, complete
In one-tenth phonetic order, after assigned operation, robot returns initial position；
Step (4), the order performed by sound broadcasting device voice broadcast needs and command execution results；
Step (5), infrared detection sensor, speedometer and collision detection sensor testing machine by base
Device people is sequentially performing the barrier encountered in command procedure, and is sent to micro-by microprocessor by detection data
Type main frame, the ROS operating system in micromainframe is according to detection data path planning again, to get around obstacle
Thing.
Further, client logs in control interface, by pressing the directionkeys controlled on interface, asks to send
Asking instruction to server, server sends to micromainframe after receiving instruction and resolving, and micromainframe is according to instruction
Change the direction of travel of robot.
Further, show that the two dimension generated based on ROS operating system is led by the interface energy that controls of client
Boat map, at two dimensional navigation map label path planning, can see institute in two dimensional navigation map of robot simultaneously
The real time position at place.
Further, in step (2), client utilizes University of Science and Technology news to fly SDK to carry out interactive voice, and SDK (will
The phonetic order of client input transmits after changing into text instruction to server, and server obtains in text instruction
Positional information after position data in the two dimensional navigation map that stores with server background mate, obtain
Path planning is generated after joining result, and according to path planning formation sequence operational order.
Further, in step (5), micromainframe reads the height of the infrared detection sensor on base
The low and high level data of level data, speedometer data and collision detection sensor, the data according to reading are passed through
In ROS operating system, cmd_vel issues Twist message, and Twist message includes the desired speed of advancing of robot
Degree and turning velocity, after resolving Twist message by microprocessor, the motor being transferred on base, adjust electricity
The input voltage of machine or frequency, to adjust the rotating speed of driving wheel, to control the speed of travel of robot.
Further, pin the talk button input control apparatus position of client and control the voice of device name
Instruction, and by phonetic order transmission to server, server obtains in phonetic order after receiving phonetic order and controls
Position in the positional information of device location, and the two dimensional navigation map that positional information and server background are stored
Data are mated, and generate path planning, and refer to according to the operation of path planning formation sequence after obtaining matching result
Order；Obtain the infrared transmission rate controlling device name in phonetic order simultaneously；The series of operations that server will generate
Instruction and infrared transmission rate send to micromainframe, and micromainframe controls robot sequentially according to series of operations instruction
Performing the order position with arrival control equipment, after arrival, infrared control device exports infrared transmission rate to open
Or closing control apparatus.
A kind of robot long-distance control method of based on ROS operating system is realized it addition, the invention provides
Tele-control system, including client, server, and be installed in robot micromainframe, photographic head
And sound broadcasting device, the microprocessor also including being installed on robot base, infrared detection sensor, inner
Journey meter and collision detection sensor, described client communicates with described server, and described server is micro-with described
Type main frame communicates, and described micromainframe is connected with described photographic head, sound broadcasting device and microprocessor respectively
Connecing, described microprocessor is connected with described infrared detection sensor, speedometer and collision detection sensor respectively.
Further, described base is also equipped with motor and driving wheel, described microprocessor and described motor phase
Connecting, described motor is connected with described driving wheel.
Further, described micromainframe is connected with described sound broadcasting device by power amplifier.
Further, described robot being also equipped with infrared control device, described micromainframe is infrared with described
Control device to be connected.
Compared with prior art, beneficial effects of the present invention: the present invention inputs phonetic order, machine by client
Micromainframe in device people is drawn two dimensional navigation map under the effect of ROS operating system or manually draws two dimension
Navigation map, server obtain client input phonetic order in positional information, and with two dimensional navigation map
In position data carry out mating to generate path planning, according to path planning arrive give directions destination, pass through language
Sound broadcast device voice broadcast needs order and the command execution results performed, and task returns initial dress after completing
Putting, have positioning precision high, robot trajectory's movement warp is little, it is achieved that remote input phonetic order, machine
People completes corresponding operating according to phonetic order, and intelligence degree is high.Coordinate omnipotent function of infrared remote control simultaneously, logical
Cross client input control apparatus title, be turned on and off control equipment by robot is infrared, to realize remotely
Remote control is turned on and off indoor household electrical appliances.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, in describing below
Accompanying drawing is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creation
Property work on the premise of, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the frame principle of the embodiment of the present invention.
Above-mentioned reference:
1 client, 2 servers, 3 photographic head, 4 micromainframes, 5 sound broadcasting devices, 6 microprocessors,
7 infrared control devices, 8 infrared detection sensors, 9 speedometers, 10 collision detection sensors.
Detailed description of the invention
Below in conjunction with the accompanying drawings invention is further illustrated, but be not limited to the scope of the present invention.
Embodiment
As it is shown in figure 1, a kind of based on ROS operating system the robot of a kind of present invention of present invention offer
Long-range control method, comprises the steps:
In step (1), micromainframe 4, ROS operating system is installed, utilizes the xtion (China in ROS operating system
Large depth camera) the photographic head 3 data genaration two dimension cloud data that collects, and utilize gmapping (navigation
Draw) framework and particle filter algorithm carry out local optimum and set up two dimensional navigation map；Or manually drafting two dimension is led
Boat map, and two dimensional navigation map is imported in the ROS operating system in micromainframe 4, finally by two
Dimension navigation map stores to server 2 backstage；
Step (2), pin client 1 talk button input phonetic order, and by phonetic order transmission to clothes
Business device 2, server 2 receives and obtains the positional information in phonetic order after phonetic order, and by positional information with
Position data in the two dimensional navigation map that server 2 backstage stores is mated, and generates after obtaining matching result
Path planning, and according to path planning formation sequence operational order；
The series of operations of generation is instructed and is sent to micromainframe 4, micromainframe 4 by step (3), server 2
Control robot according to series of operations instruction and sequentially perform order, corresponding with complete in client 1 phonetic order
Operation, completes in phonetic order robot after assigned operation and returns initial position；
Step (4), the order performed by sound broadcasting device 5 voice broadcast needs and command execution results；
Step (5), infrared detection sensor 8, speedometer 9 and collision detection sensor 10 by base
Measuring robots is sequentially performing the barrier encountered in command procedure, and will detection data by microprocessor 6
Be sent to micromainframe 4, the ROS operating system in micromainframe 4 according to detection data path planning again,
To get around barrier.
Client 1 logs in control interface, by pressing the directionkeys controlled on interface, to send request instruction extremely
Server 2, server 2 sends to micromainframe 4 after receiving instruction and resolving, and micromainframe 4 is according to instruction
Change the direction of travel of robot.
The two dimensional navigation map generated based on ROS operating system is shown by the interface energy that controls of client 1,
At two dimensional navigation map label path planning, can see that robot is residing real-time in two dimensional navigation map simultaneously
Position.
In step (2), client 1 utilize University of Science and Technology news fly SDK (Software Development Kit, i.e.
SDK) carry out interactive voice, the phonetic order that client 1 inputs is changed into text by SDK
Transmit after instruction to server 2, server 2 obtain after the positional information in text instruction with server 2 backstage
Position data in the two dimensional navigation map stored is mated, and generates path planning after obtaining matching result, and
According to path planning formation sequence operational order.
In step (5), micromainframe 4 reads the low and high level number of the infrared detection sensor 8 on base
According to, speedometer 9 data and the low and high level data of collision detection sensor 10, the data according to reading are passed through
In ROS operating system, cmd_vel (speed command) issues Twist (rotation) message, and Twist (rotates)
Message includes the desired pace of robot and turning velocity, resolves Twist (rotation) by microprocessor 6
After message, the motor being transferred on base, adjust input voltage or the frequency of motor, to adjust turning of driving wheel
Speed, to control the speed of travel of robot.
Pin the talk button input control apparatus position of client 1 and control the phonetic order of device name, and
Transmitting phonetic order to server 2, server 2 obtains after receiving phonetic order and controls equipment in phonetic order
Positional number in the positional information of position, and the two dimensional navigation map that positional information and server 2 backstage are stored
According to mating, after obtaining matching result, generate path planning, and according to path planning formation sequence operational order；
Obtain the infrared transmission rate controlling device name in phonetic order simultaneously；The series of operations of generation is referred to by server 2
Order and infrared transmission rate send to micromainframe 4, and micromainframe 4 controls robot according to series of operations instruction and presses
Sequence perform order with arrive control equipment position, after arrival infrared control device 7 export infrared transmission rate with
It is turned on and off control equipment.
The present invention inputs phonetic order by client 1, and the micromainframe 4 in robot is in ROS operating system
Effect under draw two dimensional navigation map or artificial draw two dimensional navigation map, server 2 obtains client 1
Positional information in the phonetic order of input, and carry out with the position data in two dimensional navigation map mating to generate
Path planning, arrives according to path planning and gives directions destination, needs to hold by sound broadcasting device 5 voice broadcast
The order of row and command execution results, task returns initial position after completing, has positioning precision high, machine
People's orbiting motion deviation is little, it is achieved that remote input phonetic order, and robot completes to grasp accordingly according to phonetic order
Making, intelligence degree is high.Coordinate omnipotent function of infrared remote control, by client 1 input control apparatus name simultaneously
Claim, be turned on and off control equipment by robot is infrared, be turned on and off indoor household electrical appliances realizing Remote.
It addition, the present invention provide a kind of realize robot long-distance control method of based on ROS operating system
Tele-control system, including client 1, server 2, and be installed in robot micromainframe 4,
Photographic head 3 and sound broadcasting device 5, also include the microprocessor 6 being installed on robot base, infrared inspection
Surveying sensor 8, speedometer 9 and collision detection sensor 10, described client 1 communicates with described server 2
News, described server 2 communicates with described micromainframe 4, described micromainframe 4 respectively with described photographic head
3, sound broadcasting device 5 is connected with microprocessor 6, described microprocessor 6 respectively with described infrared detection
Sensor 8, speedometer 9 are connected with collision detection sensor 10.
Motor and driving wheel, described microprocessor 6 it is also equipped with on the described base of tele-control system of the present invention
Being connected with described motor, described motor is connected with described driving wheel.
The described micromainframe 4 of tele-control system of the present invention is filled with described voice broadcast by power amplifier
Put 5 to be connected.
Infrared control device 7, described miniature master it is also equipped with in the described robot of tele-control system of the present invention
Machine 4 is connected with described infrared control device 7.
It is specifically described by following example:
One, robot is required to take the phonetic order of thing to somewhere: client 1 phonetic entry destination, service
Device 2 obtains the positional information in phonetic order, the two dimensional navigation map planning road generated according to ROS operating system
Footpath formation sequence operational order, sound broadcasting device 5 speech play goes out the finger of " I will go down " simultaneously
Order；Robot according to series of operations instruction arrive at after, sound broadcasting device 5 speech play go out " I want
By thing " instruction, to point out operator to be placed on robot shelf by thing；When operator put east well
Behind west, sound broadcasting device 5 speech play goes out the instruction of " thing of having taken ", and micromainframe 4 receives simultaneously
After the instruction of " thing of having taken " that sound broadcasting device 5 speech play goes out, micromainframe 4 controls robot
Return initial position.
Two, require that robot goes down and be the phonetic order of people: client 1 phonetic entry destination and name,
Server 2 obtains the positional information in phonetic order and name, leads according to the two dimension that ROS operating system generates
Boat map path planning formation sequence operational order, is linguistic context text by name data format conversion simultaneously, machine
After device people arrives at according to series of operations instruction, by linguistic context text by sound broadcasting device 5 speech play
Out, initial position is returned after completing.
Three, the infrared phonetic order being turned on and off indoor household electrical appliances of robot is required: client phonetic entry controls
Device location and control device name, server 2 obtains the positional information controlling device location in phonetic order,
The two dimensional navigation map path planning generated according to ROS operating system formation sequence operational order；Obtain simultaneously
Phonetic order controls the infrared transmission rate of device name；The series of operations generated is instructed and infrared by server 2
Transmission rate sends to micromainframe 4, and micromainframe 4 controls robot according to series of operations instruction and sequentially performs life
Making arriving the position of control equipment, after arrival, infrared control device 7 exports infrared transmission rate to open or to close
Close control equipment, after infrared control device 7 is successfully turned on and off control equipment, result is returned service simultaneously
Device 2, server 2 is according to returning result, to point out client 1 to send next phonetic order.
The sequentially operational order that server 2 is generated by the present invention, and appoints for serial task parallel by abstract for task
Business, simplifies task management flow process, it is achieved high real-time task scheduling system.Task is carried out abstract, simplifies and appoint
Flow process is added in business, and reduction task writes complexity.While ensureing task scheduling efficiency, it is ensured that task is adjusted
The reliability of degree, has taken into full account abnormality processing, it is ensured that the robustness of program.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The industry
Skilled person will appreciate that, the present invention is not restricted to the described embodiments, described in above-described embodiment and description
The principle that the present invention is simply described, the present invention also has respectively without departing from the spirit and scope of the present invention
Planting changes and improvements, these changes and improvements both fall within scope of the claimed invention.Application claims is protected
Scope of protecting is defined by appending claims and equivalent thereof.
Claims (10)
1. a robot long-distance control method based on ROS operating system, it is characterised in that include as follows
Step:
ROS operating system is installed in step (1), micromainframe, utilizes the xtion in ROS operating system
The photographic head data genaration two dimension cloud data collected, and utilize gmapping framework and particle filter algorithm
Carry out local optimum and set up two dimensional navigation map；Or manually draw two dimensional navigation map, and by two dimensional navigation map
Import in the ROS operating system in micromainframe, finally two dimensional navigation map is stored to server background；
Step (2), pin client talk button input phonetic order, and by phonetic order transmission to service
Device, server obtains the positional information in phonetic order after receiving phonetic order, and by positional information and server
Position data in the two dimensional navigation map that backstage stores is mated, and generates planning road after obtaining matching result
Footpath, and according to path planning formation sequence operational order；
The series of operations of generation is instructed and is sent to micromainframe by step (3), server, and micromainframe is according to sequence
Row operational order controls robot and sequentially performs order, to complete the corresponding operating in client phonetic order, complete
In one-tenth phonetic order, after assigned operation, robot returns initial position；
Step (4), the order performed by sound broadcasting device voice broadcast needs and command execution results；
Step (5), infrared detection sensor, speedometer and collision detection sensor testing machine by base
Device people is sequentially performing the barrier encountered in command procedure, and is sent to micro-by microprocessor by detection data
Type main frame, the ROS operating system in micromainframe is according to detection data path planning again, to get around obstacle
Thing.
A kind of robot long-distance control method based on ROS operating system the most according to claim 1,
It is characterized in that, client logs in control interface, by pressing the directionkeys controlled on interface, to send request
Instructing to server, server sends to micromainframe after receiving instruction and resolving, and micromainframe changes according to instruction
Become the direction of travel of robot.
A kind of robot long-distance control method based on ROS operating system the most according to claim 2,
It is characterized in that, show, by the interface energy that controls of client, the two dimensional navigation generated based on ROS operating system
Map, at two dimensional navigation map label path planning, can see that robot is residing in two dimensional navigation map simultaneously
Real time position.
A kind of robot long-distance control method based on ROS operating system the most according to claim 1,
It is characterized in that, in step (2), client utilizes University of Science and Technology news to fly SDK and carry out interactive voice, SDK
Transmitting after the phonetic order that client inputs is changed into text instruction to server, server obtains text instruction
In positional information after with server background store two dimensional navigation map in position data mate, obtain
Path planning is generated after matching result, and according to path planning formation sequence operational order.
A kind of robot long-distance control method based on ROS operating system the most according to claim 1,
It is characterized in that, in step (5), micromainframe reads the height electricity of the infrared detection sensor on base
The low and high level data of flat data, speedometer data and collision detection sensor, the data according to reading are passed through
In ROS operating system, cmd_vel issues Twist message, and Twist message includes the desired speed of advancing of robot
Degree and turning velocity, after resolving Twist message by microprocessor, the motor being transferred on base, adjust electricity
The input voltage of machine or frequency, to adjust the rotating speed of driving wheel, to control the speed of travel of robot.
A kind of robot long-distance control method based on ROS operating system the most according to claim 1,
It is characterized in that, the talk button input control apparatus position pinning client and the voice controlling device name refer to
Order, and by phonetic order transmission to server, server obtains in phonetic order after receiving phonetic order and controls to set
Positional number in the positional information of standby position, and the two dimensional navigation map that positional information and server background are stored
According to mating, after obtaining matching result, generate path planning, and according to path planning formation sequence operational order；
Obtain the infrared transmission rate controlling device name in phonetic order simultaneously；The series of operations instruction that server will generate
Sending to micromainframe with infrared transmission rate, micromainframe controls robot according to series of operations instruction and sequentially performs
Ordering to arrive the position of control equipment, after arrival, infrared control device exports infrared transmission rate to open or to close
Close control equipment.
7. the robot remote using long-range control method described in any one of claim 1～6 controls system
System, it is characterised in that: include client, server, and be installed in robot micromainframe, shooting
Head and sound broadcasting device, the microprocessor also including being installed on robot base, infrared detection sensor,
Speedometer and collision detection sensor, described client communicates with described server, and described server is with described
Micromainframe communicates, described micromainframe respectively with described photographic head, sound broadcasting device and microprocessor phase
Connecting, described microprocessor is connected with described infrared detection sensor, speedometer and collision detection sensor respectively
Connect.
Robot remote control system the most according to claim 7, it is characterised in that on described base
Being also equipped with motor and driving wheel, described microprocessor is connected with described motor, described motor and described driving
Wheel is connected.
Robot remote control system the most according to claim 7, it is characterised in that described miniature master
Machine is connected with described sound broadcasting device by power amplifier.
Robot remote control system the most according to claim 7, it is characterised in that described robot
On be also equipped with infrared control device, described micromainframe is connected with described infrared control device.
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