CN106426195A - Control device and method for humanoid robot - Google Patents
Control device and method for humanoid robot Download PDFInfo
- Publication number
- CN106426195A CN106426195A CN201610789481.8A CN201610789481A CN106426195A CN 106426195 A CN106426195 A CN 106426195A CN 201610789481 A CN201610789481 A CN 201610789481A CN 106426195 A CN106426195 A CN 106426195A
- Authority
- CN
- China
- Prior art keywords
- robot
- host computer
- audio
- driver
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control device and method for a humanoid robot. The control device comprises a robot controller arranged in the robot. The robot controller comprises an upper computer and a lower computer in communication connection with the upper computer. The lower computer is connected with all movement parts of the robot. The control device is further provided with a signal collector which is in communication connection with the upper computer. The upper computer sends signals to the lower computer according to information collected by the signal collector so as to achieve movement control over all the movement parts of the robot. Due to the arrangement of the upper computer, the signal collector and the lower computer, the upper computer conducts comprehensive analysis according to position, audio and image information collected by the signal collector and sends control signals to the lower computer, and the lower computer then sends the movement control signals to all the movement parts of the robot to achieve the expected movement of all the movement parts of the robot. The control device and method for the humanoid robot are simple in line and low in cost, and the control device and method are used for the field of humanoid robots.
Description
Technical field
The present invention relates to bio-robot field, more particularly to a kind of anthropomorphic robot control device and its controlling party
Method.
Background technology
With the continuous improvement of people's level of education, fewer and feweri people is ready to be engaged in low technical, low value-added service trade,
As work such as welcome, consulting, reception；Meanwhile, increasingly mature with Robotics, transport especially in anthropomorphic robot field
The development and application of the dynamic technology such as control, voice semantics recognition, image recognition, gradually highlight the future that apery services humanoid robot
Development prospect, because of the aggravation of population in the world aging, services the extensive market of humanoid robot, and anthropomorphic robot also progressively becomes and grinds
Study carefully a focus of application.The movement control technology of robot is one of core technology of robot development, but current machine
Device people's control circuit is complicated, with high costs.
Content of the invention
For solving the above problems, the present invention provide a kind of circuit anthropomorphic robot control device simple, with low cost and
Its control method.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of anthropomorphic robot control device, including the robot controller being arranged at robot interior, robot controller bag
Include host computer and the slave computer with host computer communication connection, slave computer is connected with each moving component of robot, is additionally provided with
Signal picker, signal picker is communicated to connect with host computer, and host computer is believed according to the delivering that signal picker collects
Number to slave computer and then realize motion control to each moving component of robot.
As the improvement further of technique scheme, signal picker includes station acquisition device, audio collection device and figure
As collector, station acquisition device, audio collection device and image acquisition device are all communicated to connect with host computer.
As the improvement further of technique scheme, host computer also communication link is connected to audio frequency isolator, audio frequency isolator
Also communication link is connected to audio-frequency amplifier, and audio-frequency amplifier is connected with the loudspeaker carrying out voice output.
As the improvement further of technique scheme, be additionally provided with all with the head control panel of slave computer communication connection,
Arm control panel, waist driver and driving eyelid realize the eyelid driver of nictation action.
As the improvement further of technique scheme, host computer is host computer speech chip, and station acquisition device is position
Sensor, audio collection device be microphone, image acquisition device be camera, slave computer be STM32 control panel, head control panel and
Arm control panel is servos control plate, and waist driver is M542 driver, and eyelid driver is high level relay, audio frequency
Isolator is audio frequency isolation module, and audio-frequency amplifier is audio frequency power amplifier plate.
As the improvement further of technique scheme, a kind of anthropomorphic robot control method, comprise the following steps：
1）, gathered by signal picker robot periphery positional information, audio-frequency information and image information and by positional information,
Audio-frequency information and image information are aggregated into host computer；
2）, host computer makes according to the positional information collecting, audio-frequency information and image information and analyzes and be signaled to slave computer；
3）, the signal that sent according to host computer of slave computer sends control information and drives to head control panel, arm control panel, waist
Device and eyelid driver；
4）, each moving component of robot based on the head control panel receiving, arm control panel, waist driver and eyelid drive
The control signal of device realizes the predetermined motion of each moving component of robot.
As the improvement further of technique scheme, each moving component of robot is additionally provided with exercise data acquisition
Device, each motion data collection element is all communicated to connect with host computer.
Beneficial effects of the present invention：This anthropomorphic robot control device and its control method pass through host computer, signals collecting
Device and the setting of slave computer, position, audio frequency and image information comprehensive analysis that host computer is collected based on signal picker are concurrent
Go out control signal to slave computer, it is each to realize robot that motion control signal is sent to each moving component of robot by slave computer again
The desired movement of moving component, this anthropomorphic robot control device and its control method circuit are simple, with low cost.
Brief description
The invention will be further described below in conjunction with the accompanying drawings：
Tu1Shi robot control framework figure；
Tu2Shi robot overall structure figure.
Specific embodiment
With reference to Fig. 1～Fig. 2, the present invention is a kind of anthropomorphic robot control device, including the machine being arranged at robot interior
Device people's controller 4, robot controller 4 includes host computer 41 and the slave computer 42 with host computer 41 communication connection, slave computer 42
It is connected with each moving component of robot, is additionally provided with signal picker, signal picker is communicated to connect with host computer 41, on
Position machine 41 to slave computer 42 and then realizes to robot each moving component according to the delivering signal that signal picker collects
Motion control.
A kind of anthropomorphic robot control method, comprises the following steps：
1）, gathered by signal picker robot periphery positional information, audio-frequency information and image information and by positional information,
Audio-frequency information and image information are aggregated into host computer 41；
2）, host computer 41 makes according to the positional information collecting, audio-frequency information and image information and analyzes and be signaled to bottom
Machine 42；
3）, the signal that sent according to host computer 41 of slave computer 42 send control information to head control panel 421, arm control panel
422nd, waist driver 423 and eyelid driver 424；
4）, each moving component of robot is based on the head control panel 421 receiving, arm control panel 422, waist driver 423
Realize the predetermined motion of each moving component of robot with the control signal of eyelid driver 424.
By the setting of host computer 41, signal picker and slave computer 42, host computer 41 is collected based on signal picker
Position, audio frequency and image information comprehensive analysis send control signal to slave computer 42, motion control is believed by slave computer 42 again
Number it is sent to each moving component of robot to realize the desired movement of each moving component of robot, this anthropomorphic robot control device
And its control method circuit is simple, with low cost.
As preferred embodiment, signal picker includes station acquisition device 401, audio collection device 402 and image and adopts
Storage 403, station acquisition device 401, audio collection device 402 and image acquisition device 403 are all communicated to connect with host computer 41.
As preferred embodiment, host computer 41 also communication link is connected to audio frequency isolator 43, and audio frequency isolator 43 is also logical
Letter is connected with audio-frequency amplifier 431, and audio-frequency amplifier 431 is connected with the loudspeaker carrying out voice output.
As preferred embodiment, it is additionally provided with head control panel 421, the arm control all with slave computer 42 communication connection
Making sheet 422, waist driver 423 and driving eyelid realize the eyelid driver 424 of nictation action.
As preferred embodiment, host computer 41 is host computer speech chip, and station acquisition device 401 is position sensing
Device, audio collection device 402 is microphone, and image acquisition device 403 is camera, and slave computer 42 is STM32 control panel, and head controls
Plate 421 and arm control panel 422 are servos control plate, and waist driver 423 is M542 driver, and eyelid driver 424 is
High level relay, audio frequency isolator 43 is audio frequency isolation module, and audio-frequency amplifier 431 is audio frequency power amplifier plate.
As preferred embodiment, each moving component of robot is additionally provided with motion data collection element, each motion
Data acquisition unit is all communicated to connect with host computer 41.
As preferred embodiment, anthropomorphic robot includes robot head 1, robot arm 2 and robot waist
3, robot controller 4 is arranged on the waist mechanism of robot, robot controller 4 include host computer 41 and with host computer 41
The slave computer 42 of communication connection.Robot head is provided with the image acquisition device 403 of collection external image data；Robot head
1st, robot arm 2, be provided with station acquisition device 401 on robot waist 3, it mainly gathers this anthropomorphic robot self-position
With the information such as the position relationship of communication object, with contacting further between realization and communication object；The hand of robot arm 3 simultaneously
Some touch sensors are additionally provided with finger, by these sensors, positional information and attitude information etc. are passed to host computer
41；It is provided with audio collection device 402, it mainly gathers outside on robot head 1, robot arm 2, robot waist 3
Phonetic entry or the voice messaging of surrounding enviroment.Host computer 41 is believed based on these image informations receiving, positional information and voice
Breath sends control signal, and sends control signals to slave computer 42, and is sent simultaneously to audio frequency isolator 43.Slave computer 42 is received
Make a response to after the signal of host computer 41, and by control signal be sent respectively to head control panel 421, arm control panel 422,
Waist driver 423 and eyelid driver 424.Head control panel 421 will control each steering wheel of head after receiving control signal
Carry out Rotation of eyeball, mouth opening and closing, nod and the action such as rotary head；Arm control panel 422 will control a left side after receiving control signal
Each steering wheel on right two arms carries out shoulder swing, the inside and outside swing of upper arm, upper arm rotates, front arm swing and palm are transported
Dynamic；Waist driver 423 will control the stepper motor driving waist movement to carry out bending over action after receiving control signal, eyelid
Driver 424 make after receiving control signal driving eyelid rotate with realize the copper coil of nictation action carry out break-make electrically operated with
Carry out nictation action.In addition, being additionally provided with motion data collection element on each moving component of robot, these exercise data acquisitions
Device is communicated to connect with host computer 41, and the real time data in motion process is sent to host computer 41 to carry out the motion of next step.
Certainly, the invention is not limited in above-mentioned embodiment, those of ordinary skill in the art are without prejudice to the present invention
Equivalent variations or replacement also can be made, these equivalent deformation or replacement are all contained in the application claim on the premise of spirit
In limited range.
Claims (7)
1. a kind of anthropomorphic robot control device it is characterised in that：Including the robot controller being arranged at robot interior
（4）, described robot controller（4）Including host computer（41）And with host computer（41）The slave computer of communication connection（42）, described
Slave computer（42）Be connected with each moving component of robot, be additionally provided with signal picker, described signal picker with upper
Machine（41）Communication connection, described host computer（41）The delivering signal being collected according to signal picker is to slave computer（42）Enter
And realize the motion control to each moving component of robot.
2. anthropomorphic robot control device according to claim 1 it is characterised in that：Described signal picker includes position
Collector（401）, audio collection device（402）And image acquisition device（403）, described station acquisition device（401）, audio collection device
（402）And image acquisition device（403）All and host computer（41）Communication connection.
3. anthropomorphic robot control device according to claim 2 it is characterised in that：Described host computer（41）Also communication link
It is connected to audio frequency isolator（43）, described audio frequency isolator（43）Also communication link is connected to audio-frequency amplifier（431）, described audio frequency amplification
Device（431）It is connected with the loudspeaker carrying out voice output.
4. anthropomorphic robot control device according to claim 3 it is characterised in that：Be additionally provided with all with described slave computer
（42）The head control panel of communication connection（421）, arm control panel（422）, waist driver（423）Realize blinking with driving eyelid
The eyelid driver of eye action（424）.
5. anthropomorphic robot control device according to claim 4 it is characterised in that：Described host computer（41）For host computer
Speech chip, described station acquisition device（401）For position sensor, described audio collection device（402）For microphone, described image
Collector（403）For camera, described slave computer（42）For STM32 control panel, described head control panel（421）With arm control
Plate（422）It is servos control plate, described waist driver（423）For M542 driver, described eyelid driver（424）For height
Level relay, described audio frequency isolator（43）For audio frequency isolation module, described audio-frequency amplifier（431）For audio frequency power amplifier plate.
6. a kind of anthropomorphic robot control method is it is characterised in that comprise the following steps：
1）, gather positional information, audio-frequency information and the image information of robot periphery by signal picker and by described position
Information, audio-frequency information and image information are aggregated into host computer（41）；
2）, described host computer（41）Made according to the positional information collecting, audio-frequency information and image information and analyze and send signal
To slave computer（42）；
3）, described slave computer（42）According to host computer（41）The signal sending sends control information to head control panel（421）, hand
Arm control panel（422）, waist driver（423）With eyelid driver（424）；
4）, each moving component of robot is based on the described head control panel receiving（421）, arm control panel（422）, waist drive
Dynamic device（423）With eyelid driver（424）Control signal realize the predetermined motion of each moving component of robot.
7. anthropomorphic robot control method according to claim 6 it is characterised in that：Each moving component of described robot
On be additionally provided with motion data collection element, each described motion data collection element is all and host computer（41）Communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610789481.8A CN106426195A (en) | 2016-08-31 | 2016-08-31 | Control device and method for humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610789481.8A CN106426195A (en) | 2016-08-31 | 2016-08-31 | Control device and method for humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106426195A true CN106426195A (en) | 2017-02-22 |
Family
ID=58164139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610789481.8A Pending CN106426195A (en) | 2016-08-31 | 2016-08-31 | Control device and method for humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426195A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414871A (en) * | 2017-08-18 | 2017-12-01 | 佛山市高研信息技术有限公司 | A kind of robot control method |
| CN108814714A (en) * | 2018-04-17 | 2018-11-16 | 成都博恩思医学机器人有限公司 | A kind of more mechanical arm motion control methods of laparoscopic surgery robot |
| WO2023029386A1 (en) * | 2021-09-02 | 2023-03-09 | 上海商汤智能科技有限公司 | Communication method and apparatus, electronic device, storage medium and computer program |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060058920A1 (en) * | 2004-09-10 | 2006-03-16 | Honda Motor Co., Ltd. | Control apparatus for movable robot |
| CN102298375A (en) * | 2011-07-05 | 2011-12-28 | 浙江大学 | Real-time humanoid robot control system and method |
| CN102566474A (en) * | 2012-03-12 | 2012-07-11 | 上海大学 | Interaction system and method for robot with humanoid facial expressions, and face detection and tracking method |
| CN204706208U (en) * | 2015-06-30 | 2015-10-14 | 广州绿松生物科技有限公司 | Intelligence children education robot |
| CN105397814A (en) * | 2014-08-28 | 2016-03-16 | 田荣侠 | Humanoid robot movement control system based on controller area network (CAN) bus |
| CN205139614U (en) * | 2015-09-22 | 2016-04-06 | 长春工业大学 | Imitative motion control of people robot ware based on it is embedded |
| CN206066468U (en) * | 2016-08-31 | 2017-04-05 | 广东富利盛仿生机器人股份有限公司 | A kind of anthropomorphic robot control device |
-
2016
- 2016-08-31 CN CN201610789481.8A patent/CN106426195A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060058920A1 (en) * | 2004-09-10 | 2006-03-16 | Honda Motor Co., Ltd. | Control apparatus for movable robot |
| CN102298375A (en) * | 2011-07-05 | 2011-12-28 | 浙江大学 | Real-time humanoid robot control system and method |
| CN102566474A (en) * | 2012-03-12 | 2012-07-11 | 上海大学 | Interaction system and method for robot with humanoid facial expressions, and face detection and tracking method |
| CN105397814A (en) * | 2014-08-28 | 2016-03-16 | 田荣侠 | Humanoid robot movement control system based on controller area network (CAN) bus |
| CN204706208U (en) * | 2015-06-30 | 2015-10-14 | 广州绿松生物科技有限公司 | Intelligence children education robot |
| CN205139614U (en) * | 2015-09-22 | 2016-04-06 | 长春工业大学 | Imitative motion control of people robot ware based on it is embedded |
| CN206066468U (en) * | 2016-08-31 | 2017-04-05 | 广东富利盛仿生机器人股份有限公司 | A kind of anthropomorphic robot control device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414871A (en) * | 2017-08-18 | 2017-12-01 | 佛山市高研信息技术有限公司 | A kind of robot control method |
| CN108814714A (en) * | 2018-04-17 | 2018-11-16 | 成都博恩思医学机器人有限公司 | A kind of more mechanical arm motion control methods of laparoscopic surgery robot |
| WO2023029386A1 (en) * | 2021-09-02 | 2023-03-09 | 上海商汤智能科技有限公司 | Communication method and apparatus, electronic device, storage medium and computer program |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206066468U (en) | A kind of anthropomorphic robot control device | |
| CN104842362B (en) | A kind of method of robot crawl material bag and robotic gripping device | |
| CN106426195A (en) | Control device and method for humanoid robot | |
| CN201242685Y (en) | Guidance robot | |
| CN202622810U (en) | Head and neck design of intelligent robot | |
| CN205516491U (en) | Mutual children's toys of intelligence | |
| CN106737760A (en) | A kind of human-like intelligent robot and man-machine communication's system | |
| CN106200988A (en) | A kind of wearable hand language recognition device and sign language interpretation method | |
| CN107820003A (en) | A kind of electronic equipment and control method | |
| CN106157971A (en) | Intelligence control system | |
| CN207206431U (en) | A kind of Movement Controller of Mobile Robot | |
| CN207087877U (en) | A kind of programmable education robot system | |
| CN106920552A (en) | Intelligent robot with high in clouds interactive function | |
| CN206152348U (en) | Intelligent toys control system based on gesture detects | |
| CN101973034A (en) | Robot controlled circuit | |
| CN106239511A (en) | A kind of robot based on head movement moves control mode | |
| CN201903787U (en) | Mobile robot based on wireless network for communication | |
| CN209240038U (en) | A kind of Intelligent teaching robot | |
| CN209132994U (en) | A kind of novel intelligent educational robot | |
| CN107174828A (en) | A kind of intelligent-induction toy for children robot based on ARM | |
| CN206672636U (en) | Intelligent robot with high in clouds interactive function | |
| CN201881380U (en) | Robot control circuit | |
| WO2018157355A1 (en) | Humanoid intelligent robot and human-machine communication system | |
| CN113319869B (en) | Welcome robot system with emotion interaction function | |
| CN105751225A (en) | Intelligent safety protection and explosive handling robot on basis of internet of things |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |
|
| RJ01 | Rejection of invention patent application after publication |