CN205721358U - Robot and control system thereof - Google Patents
Robot and control system thereof Download PDFInfo
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- CN205721358U CN205721358U CN201620345599.7U CN201620345599U CN205721358U CN 205721358 U CN205721358 U CN 205721358U CN 201620345599 U CN201620345599 U CN 201620345599U CN 205721358 U CN205721358 U CN 205721358U
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Abstract
The utility model discloses a kind of robot and control system thereof.Wherein, this robot control system includes: includes robot and controls terminal, and wherein: robot is provided with information collecting device, information collecting device is for gathering geography information and the command information of robot place environment；Control terminal to be connected with robot communication, control terminal for generating control command and to robot transmitting control commands according to geography information and command information.This utility model solves in correlation technique when robot is in the environment that comparison is noisy, and robot cannot process numerous and diverse voice signal and sensor signal causes the technical problem that reduces robot serviceability.
Description
Technical field
This utility model relates to robot field, in particular to a kind of robot and control system thereof.
Background technology
At present, the application of robotics is more and more extensive, and robot is in relatively easy fields such as family, restaurant, factories
Use technology in scape is the most ripe.But, due to existing robot mostly by speech recognition or sensor
Receive control command, and respond action according to the control command received.When robot is in the ring that comparison is noisy
Border, in the scenes such as scene of fire, crowded market, underground mining, the result of robot voice identification is not
Predictable, and the signal that sensor detects is likely to make a fault, it will cause the control decision of robot
System cannot process numerous and diverse voice signal and sensor signal so that robot cannot make correct response action,
Have a strong impact on the serviceability of robot.
For in correlation technique when robot is in the environment that comparison is noisy, robot cannot process numerous and diverse voice
Signal and sensor signal cause the problem reducing robot serviceability, the most not yet propose effective solution.
Utility model content
This utility model embodiment provides a kind of robot and control system thereof, at least to solve to work as in correlation technique machine
When device people is in the environment that comparison is noisy, robot cannot process numerous and diverse voice signal and sensor signal causes fall
The technical problem of low robot serviceability.
An aspect according to this utility model embodiment, it is provided that a kind of robot control system, including robot and
Controlling terminal, wherein: robot is provided with information collecting device, information collecting device is used for gathering robot place ring
The geography information in border and command information；Control terminal to be connected with robot communication, control terminal for according to geography information
Control command is generated and to robot transmitting control commands with command information.
Further, control terminal and include: first communication device, for setting up communication connection with robot；And hold
Luggage is put, and is connected with first communication device, for receiving geography information and command information by communication connection and sentencing
Surely receive following at least one time generate control command: multiple geography information, multiple command information and geography information
Combination with command information.
Further, perform device include following any one: microprocessor, programmable processor and controller.
Further, first communication device at least include following any one: bluetooth module, WI FI module, Ziggbee
Module.
Further, robot also includes: master control borad, is connected with information collecting device, for according to controlling terminal
Robot is controlled by the control command sent.
Further, robot also includes: keyset, is connected with master control borad, for expanding the interface of master control borad,
Wherein, master control borad is connected with external device (ED) by interface, and wherein, external device (ED) includes information collecting device.
Further, robot also includes: secondary communication device, is connected with master control borad or keyset, wherein, the
Wired or wireless communication is carried out between two communicators and first communication device.
Further, secondary communication device at least include following any one: bluetooth module, WIFI module, Ziggbee
Module.
Further, robot also includes: steering wheel, is connected with master control borad or keyset, for connecing according to master control borad
The control command driven machine people motion received.
Further, robot also includes: audio and video display device, is connected with master control borad or keyset, is used for pressing
The control command driven machine people received according to master control borad plays audio frequency and/or video.
Further, information collecting device at least include following any one: voice acquisition device, image collecting device,
Infrared distance measurement device, power quick detection device.
Further, robot at least include following any one: biped walking robot, wheel type mobile formula machine
People.
According to another aspect of this utility model embodiment, additionally provide a kind of robot, including robot body with
And the information collecting device being arranged on robot body, information collecting device is for gathering the ground of robot place environment
Reason information and command information, and geography information and command information are sent to controlling terminal, wherein, control terminal and machine
Device people communicates to connect, for generating control command and to robot transmitting control commands according to geography information and command information.
In this utility model embodiment, robot control system includes robot and controls terminal, wherein, robot
Being provided with information collecting device, information collecting device is for gathering geography information and the command information of robot place environment；
Control terminal to be connected with robot communication, control terminal for generating control command also according to geography information and command information
To robot transmitting control commands, reach to utilize when robot is in the noisy environment of comparison to control terminal machine
Device people makes the purpose of correct response action, it is achieved thereby that improve the technique effect of robot serviceability, and then
Solving in correlation technique when robot is in the environment that comparison is noisy, robot cannot process numerous and diverse voice letter
Number and sensor signal cause the technical problem that reduces robot serviceability.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by of the present utility model, constitutes the part of the application,
Schematic description and description of the present utility model is used for explaining this utility model, is not intended that of the present utility model
Improper restriction.In the accompanying drawings:
Fig. 1 is the schematic diagram of a kind of optional robot control system according to this utility model embodiment；
Fig. 2 is the application schematic diagram of a kind of optional robot control system according to this utility model embodiment；
Fig. 3 is the schematic diagram of the another kind of optional robot control system according to this utility model embodiment；And
Fig. 4 is the structural representation of a kind of optional robot according to embodiments of the present invention.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that this utility model scheme, real below in conjunction with this utility model
Execute the accompanying drawing in example, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that institute
The embodiment described is only the embodiment of this utility model part rather than whole embodiments.Based on this practicality
Embodiment in novel, those of ordinary skill in the art obtained under not making creative work premise all its
His embodiment, all should belong to the scope of this utility model protection.
It should be noted that term " first " in specification and claims of the present utility model and above-mentioned accompanying drawing,
" second " etc. are for distinguishing similar object, without being used for describing specific order or precedence.Should manage
Solve the data so used can exchange in the appropriate case, in order to embodiment of the present utility model described herein can
Implement with the order in addition to those here illustrating or describing.Additionally, term " includes " and " having " with
And their any deformation, it is intended that cover non-exclusive comprising, such as, contain a series of unit process,
System, product or equipment are not necessarily limited to those unit clearly listed, but can include the most clearly listing or
For other unit that these processes, product or equipment are intrinsic.
According to this utility model embodiment, it is provided that the embodiment of a kind of robot control system, it should be noted that
The robot control system of this utility model embodiment robot be applicable to the environment noisy to being in comparison is controlled
The scene of system, the information that robot collects in more noisy environment is more numerous and diverse, the decision-making control of robot self
System processed cannot make correct response according to the numerous and diverse information collected, and now, utilizes this utility model embodiment
Robot is controlled by the control terminal in robot control system according to the numerous and diverse information collected, it is possible to solve phase
In the technology of pass when robot is in the environment that comparison is noisy, robot cannot process numerous and diverse voice signal and sensing
Device signal causes the technical problem reducing robot serviceability, and then realizes improving robot serviceability, improves and uses
The family effect to the experience of robot.
Fig. 1 is the schematic diagram of a kind of optional robot control system according to this utility model embodiment, such as Fig. 1 institute
Showing, this robot control system may include that robot 10 and controls terminal 20, and wherein, robot 10 includes machine
Device human body, robot body is provided with information collecting device 101, and information collecting device 101 is used for gathering machine
The geography information of people 10 place environment and command information；Control terminal 20 to communicate to connect with robot 10, control terminal
20 for generating control command and to robot 10 transmitting control commands according to geography information and command information.
It should be noted that the kind of robot 10 is not specifically limited by this utility model embodiment, alternatively,
Robot 10 can at least include following any one: biped walking robot, wheel type mobile formula robot, military
Robot, Medical Robot etc., robot 10 can also include other types, illustrate the most one by one.This
Robot 10 in utility model embodiment is internal can be provided with information collecting device 101, this information collecting device 101
It is mainly used in gathering geography information and the command information of robot 10 place environment, wherein, robot 10 place environment
Geography information can include, but are not limited to landform, barrier, wall etc..The instruction letter of robot 10 place environment
Breath can include, but are not limited to the phonetic order of user, touch instruction, telecommand etc..It should be noted that this
When robot 10 in utility model embodiment is in comparison noisy environment, information collecting device 101 is utilized to collect
Information can be following any one: multiple geography information, multiple command information and one or more geographical letter
Breath and the combination of one or more command information.Such as information collecting device 101 collects multiple phonetic order, point
Wei " not turn round to the left ", " the most directly walking ", " lifting arm ".Also, it should be noted information collecting device 101
Can be arranged on the optional position of robot 10, it is not specifically limited by this utility model, and such as, information gathering fills
Put 101 dead aheads that can be arranged on robot, in order to robot 10 gather its geography information in the environment.
Alternatively, the internal information collecting device 101 arranged of robot 10 can at least include following any one: language
Sound harvester, image collecting device, infrared distance measurement device, power quick detection device and other sensors etc., wherein,
Voice acquisition device can be mike, image collecting device can be photographic head, infrared distance measurement device can be infrared
Sensor.It should be noted that the information collecting device 101 in this utility model embodiment can also include other classes
The sensor of type, such as Temperature Humidity Sensor, heat sensitive sensor etc., illustrate the most one by one.This practicality is new
Type embodiment is by being internally provided with above-mentioned information collecting device 101 in robot 10 so that robot 10 can obtain
Get self all information in the environment, include, but are not limited to geography information and command information, in order to this reality
Robot 10 can be controlled according to above-mentioned information by the control terminal 20 in new embodiment and make correct response action,
And then improve the serviceability of robot and use safety.
It should be noted that this utility model embodiment is not specifically limited controlling terminal 20, alternatively, control
Terminal 20 can at least include following any one: smart mobile phone, panel computer etc..Controlling terminal 20 can be with machine
Device people 10 communicates to connect, it should be noted that the communication connection controlled between terminal 20 and robot 10 can be to have
Line connects, it is also possible to for wireless connections, this is not specifically limited by this utility model in real time.Control shown in Fig. 1 is eventually
Rat tail between end 20 and robot 10 connection between non-limiting control terminal 20 and robot 10 are for having
Line connects, and this rat tail simply one connects schematic relationships, and it can represent wired connection, it is also possible to represents wireless
Connect.To specifically introduce the communication connection controlled between terminal 20 and robot 10 and how control terminal 20 below
This communication connection is utilized robot to be controlled, specifically:
As it is shown in figure 1, robot 10 is in addition to including information collecting device 101, it is also possible to including: master control borad
102 and secondary communication device 103, information collecting device 101 and secondary communication device 103 respectively with master control borad 102
It is connected.Control terminal 20 to include first communication device 201 and perform device 202, first communication device 201
Respectively with secondary communication device 103 and perform device 202 and be connected, wherein, secondary communication device 201 can be with the
Wired or wireless communication is carried out, so that controlling terminal 20 and robot 10 communication link between one communicator 103
Connect.Specifically:
It should be noted that the robot control system of this utility model embodiment can utilize first communication device 201
With secondary communication device 103 can realize controlling the communication connection between terminal 20 and robot 10, including wired company
Connect and wireless connections.When the communication connection controlled between terminal 20 and robot 10 is wired connection, the first communication
Device 201 and secondary communication device 103 can be router；When the communication controlled between terminal 20 and robot 10
When being connected as wireless connections, first communication device 201 can at least include following any one: bluetooth module, WI FI
Module, Ziggbee module, correspondingly, secondary communication device 103 can also at least include following any one: blue
Tooth module, WI FI module, Ziggbee module.It should be noted that no matter when controlling terminal 20 and robot 10
Between communication connection be wired connection or wireless connections, first communication device 201 and secondary communication device 103 are also
It is not limited only to the above-mentioned communicator enumerated, first communication device 201 and secondary communication device 103 and can also is that other
The communicator of type, illustrates the most one by one.
When robot 10 is in the environment that comparison is noisy, controlling terminal 20 can be by utilizing first communication device
Communication connection between 103 and control terminal 20 and the robot 10 of secondary communication device 201 foundation sends control and refers to
Order, makes correct response action controlling robot 10, specifically can be described as:
Information collecting device 101 within robot 10 gathers geography information and the instruction letter of robot 10 place environment
Breath, it should be noted that the geography information of the robot 10 place environment of information collecting device 101 collection and instruction letter
Breath can be multiple geography information, multiple command information and one or more geography information and one or more instruction letter
The combination of breath, and above-mentioned any one collected is sent to the internal master control borad 102 arranged of robot 10, wherein,
Master control borad 102 receive multiple geography information, multiple command information or one or more geography information and one or
During the combination of multiple command informations, it is impossible to make correct decisions to control robot 10 and make correct response action, because of
This master control borad 102 can be by the information that receives by the communication between first communication device 103 and secondary communication device 201
Connect and send to the execution device 202 controlling terminal.Perform device 202 and receive the information that robot 10 sends
After, the information received can be resolved, it is judged that whether the information received includes following at least one: multiple
Geography information, multiple command information or one or more geography information and the combination of one or more command information, when holding
Luggage puts the information that 202 judgements receive when including above-mentioned any one or more, and performing device 202 can be according to connecing
The information received generates control command, and this control command is the order for controlling robot 10.Perform device 202
The control command generated can be passed through the communication link sending and receiving between first communication device 103 and secondary communication device 201
Delivering in the master control borad 102 of robot 10, the control terminal 20 that master control borad 102 may be used for according to receiving sends
Control command robot 10 is controlled.
For the control flow of the above-mentioned control terminal 20 robot 10 to being in noisy environment, it should be noted that
Control the execution device 202 in terminal 20 can include following any one: microprocessor, programmable processor and control
Device processed, such as single-chip microcomputer, FPGA, dsp chip etc..This utility model embodiment is not done specifically performing device 202
Limiting, it can also is that other executors or controls device, illustrates the most one by one.Master in robot 10
Control plate 102 can also include following any one: microprocessor, programmable processor and controller, such as single-chip microcomputer,
FPGA, dsp chip etc., it is also not specifically limited by this utility model embodiment.Also, it should be noted this reality
By new embodiment, the content performing the control instruction that device 202 generates according to the information received is not specifically limited,
Such as control instruction can be to control robot 10 to perform the finger of certain action (walk the most forward, lift arm etc.)
Order, it is also possible to be the instruction controlling the concrete structure function within robot 10, such as controls information collecting device 101
Stopping collection information, control instruction can also include other guide, illustrate the most one by one.
Fig. 2 is the application schematic diagram of a kind of optional robot control system according to this utility model embodiment, such as figure
Shown in 2, controlling terminal 20 can be smart mobile phone, and smart mobile phone possesses radio communication device, such as bluetooth, WIFI
Module, Ziggbee module, robot interior is also equipped with radio communication device, such as bluetooth, WIFI module, Ziggbee
Module, can be wireless between smart mobile phone and robot 10, to realize controlling between terminal 20 and robot 10
Carry out radio communication.Be provided with information collecting device 101 in robot 10, for gather robot in the environment
Geography information and command information, wherein, multiple geography information that information collecting device 101 collects, multiple instruction letter
Breath and one or more geography information and the combination of one or more command information.In actual application scenarios, machine
The information that information collecting device 101 can be collected by people is sent to controlling in terminal 20 by wireless connections, controls eventually
End 20 information to receiving are analyzed, when judges the information that receives as following any one time generation control instruction:
Multiple geography information, multiple command information or one or more geography information and the combination of one or more command information,
And the control instruction generated is sent to robot 10 by wireless connections, to realize being controlled making to robot 10
Robot 10 makes correct response action.It should be noted that the application scenarios shown in Fig. 2 is this utility model
A kind of optional application scenarios of embodiment, the robot control system of this utility model embodiment can be applicable to it
The application scenarios that he deforms or substitutes, the most no longer illustrates.
As a kind of optional embodiment, Fig. 3 is the another kind of optional robot control according to this utility model embodiment
The schematic diagram of system processed, as it is shown on figure 3, this robot control system may include that robot 10 and controls terminal
20, wherein, robot 10 is except including information collecting device 101 in this utility model above-described embodiment, master control borad
102, outside secondary communication device 103, it is also possible to include keyset 104, steering wheel 105 and audio and video display device
106.Control terminal 20 to include first communication device 201 and perform device 202.At this it should be noted that
Robot 10 in this alternative embodiment and the internal information collecting device 101 that arranges thereof, master control borad 102, second lead to
T unit 103, controls terminal 20 and the internal first communication device 201 arranged thereof and performs device 202 at this
Elaborating in utility model above-described embodiment, here is omitted.In detail following structure will be carried out in detail below
Describe in detail bright:
Keyset 104 can be connected with master control borad 102, is mainly used in expanding the interface of master control borad 102, to increase
The quantity of the interface of master control borad 102 so that master control borad 102 can utilize keyset 104 and more external device (ED) phase
Connect.It should be noted that make it be connected with master control borad 102 by keyset 104 will be arranged inside robot 10
Connect so that the external device (ED) being connected by interface with master control borad 102 can be directly connected with keyset 104, enters
And be connected with master control borad 102, so can greatly alleviate the interface burden of master control borad 102.It should be noted that
External device (ED) can be connected with the interface of keyset 104, it is also possible to is connected with the interface of master control borad 102, this reality
With novel, it is not specifically limited.The external device (ED) being connected with master control borad 102 or keyset 104 can be one
Individual, it is also possible to be multiple, and multiple external device (ED) can part be connected with the interface of master control borad 102, part with turn
The interface of fishplate bar 104 connects, and the annexation between external device (ED) and master control borad 102 and keyset 104 can foundation
Actual demand is adjusted, and it is not specifically limited by this utility model embodiment.Alternatively, with master control borad 102 or
The external device (ED) that keyset 104 connects can include, but are not limited to the information collecting device in this utility model embodiment
101, secondary communication device 103, steering wheel 105 and audio and video display device 106, external device (ED) can also include it
His device, this utility model illustrates the most one by one herein.
Wherein, robot 10 can include steering wheel 105, and steering wheel 105 can be with master control borad 102 or keyset 104 phase
Connecting, steering wheel 105 shown in Fig. 3 is connected with keyset 104.Steering wheel 105 may be used for receiving according to master control borad 102
To control command driven machine people 10 move.It should be noted that in this utility model embodiment steering wheel 105 according to
Master control borad 102 receives control command driven machine people 10 motion and can include, but are not limited to driven machine people 10 and move
Move or stop, such as straight forward, turning round to the left, original place wait etc.；Driven machine people 10 performs a certain required movement,
Such as lift arm, bending knee etc.；Driven machine people 10 internal structure performs certain function, such as activation bit and adopts
Acquisition means 101 starts or suspends collection information etc..Steering wheel 105 simply this practicality in this utility model embodiment is new
A kind of preferred embodiment in humanoid robot control system, being used for according to master control borad 102 in robot control system
The control command driven machine people 10 received runs and can also utilize other motion control device, and the most no longer one at one stroke
Example explanation.Also, it should be noted steering wheel 105 can be connected with other the powered structure within robot 10
Connect, Fig. 3 does not shows that.
Robot 10 can also include: audio and video display device 106, and audio and video display device 106 can be with master control borad
102 or keyset 104 be connected, audio and video display device 106 shown in Fig. 3 is connected with keyset 104.Sound regards
Frequently playing device 106 may be used for according to the control command driven machine people 10 that master control borad 102 receives play audio frequency and
/ or video.It should be noted that audio and video display device 106 can be to include audio playing apparatus (such as sound equipment)
With video play device (such as display), the control command that audio playing apparatus can receive according to master control borad 102
Driven machine people 10 plays audio frequency, such as plays music or voice etc.；Video play device can be according to master control borad
The control command driven machine people 10 that 102 receive plays video, such as video cartoon etc..
It should be noted that the master control borad 102 within robot 10 is according to controlling the control command pair that terminal 20 sends
Robot 10 is controlled including, but are not limited to above content, and the internal structure that robot 10 includes is the most not
Being only limitted to said apparatus, robot 10 can make according to actual application scenarios and being set or adjusted accordingly, and this practicality is new
It is not specifically limited by type embodiment.
Also, it should be noted the above-mentioned external device (ED) enumerated include information collecting device 101, secondary communication device 103,
Steering wheel 105, audio and video display device 106 all can be connected with master control borad 102 or keyset 104 by interface,
Specifically: audio and video display device 106, information collecting device 101 include power quick detection device, infrared distance measurement device
Communication is connected with master control borad 102 Deng all uart interface can be passed through；Audio and video display device 106 can pass through audio
Interface is connected communication with master control borad 102；Image collecting device can be connected communication by usb interface with master control borad 102.
The data that master control borad 102 can be gathered by uart and usb interface various kinds of sensors, then process, decision-making,
Export corresponding action and sound.When the information arrived by voice and collected by camera is more mixed and more disorderly, can be by controlling
The terminal 20 Artificial Control that carries out to robot 10, controls terminal 20 by checking the robot that robot 10 sends
The collection in worksite information of 10, makes robot 10 complete such as by bluetooth transmitting control commands and keeps away Zhang, a state in the Zhou Dywnasty walking, gather
Customizing messages, the function such as voice call.
The robot control system of this utility model embodiment can be implemented in and utilizes Bluetooth control robot under noisy environment,
Make robot in the excessive interference information received or cannot can make correct action during decision-making.This utility model is real
Execute the robot in example and can include, but are not limited to two leg walking robot, it is also possible to include other platforms various such as:
The robot of wheel type mobile (comprehensive, differential mobile platform) formula.The operating platform of robot body can also include
But not only limitation has above-described several functional module.Action control model in this utility model embodiment also may be used
It is applied to the application of other field robot, such as mechanical arm etc., wherein, the communication with extraneous smart machine and control
System is also extended to other the executor with communication module or performs device.
According to this utility model embodiment, additionally provide the embodiment of a kind of robot, it should be noted that this enforcement
The robot of example may be used in the robot control system of the above embodiment of the present invention.
Fig. 4 is the structural representation of a kind of optional robot according to embodiments of the present invention, and as shown in Figure 4, this is real
The robot 10 executing example includes robot body, and robot body is provided with information collecting device, is used for gathering machine
The geography information of people place environment and command information, and geography information and command information are sent to controlling terminal, wherein,
Control terminal to be connected with robot communication, for generating control command and to robot according to geography information and command information
Transmitting control commands.
It should be noted that the kind of robot 10 is not specifically limited by this utility model embodiment, alternatively,
Robot 10 can at least include following any one: biped walking robot, wheel type mobile formula robot, military
Robot, Medical Robot etc., robot 10 can also include other types, illustrate the most one by one.This
Robot 10 in utility model embodiment is internal can be provided with information collecting device 101, this information collecting device 101
It is mainly used in gathering geography information and the command information of robot 10 place environment, wherein, robot 10 place environment
Geography information can include, but are not limited to landform, barrier, wall etc..The instruction letter of robot 10 place environment
Breath can include, but are not limited to the phonetic order of user, touch instruction, telecommand etc..It should be noted that this
When robot 10 in utility model embodiment is in comparison noisy environment, information collecting device 101 is utilized to collect
Information can be following any one: multiple geography information, multiple command information and one or more geographical letter
Breath and the combination of one or more command information.Such as information collecting device 101 collects multiple phonetic order, point
Wei " not turn round to the left ", " the most directly walking ", " lifting arm ".Also, it should be noted information collecting device 101
Can be arranged on the optional position of robot 10, it is not specifically limited by this utility model, and such as, information gathering fills
Put 101 dead aheads that can be arranged on robot, in order to robot 10 gather its geography information in the environment.
Alternatively, the internal information collecting device 101 arranged of robot 10 can at least include following any one: language
Sound harvester, image collecting device, infrared distance measurement device, power quick detection device and other sensors etc., wherein,
Voice acquisition device can be mike, image collecting device can be photographic head, infrared distance measurement device can be infrared
Sensor.It should be noted that the information collecting device 101 in this utility model embodiment can also include other classes
The sensor of type, such as Temperature Humidity Sensor, heat sensitive sensor etc., illustrate the most one by one.This practicality is new
Type embodiment is by being internally provided with above-mentioned information collecting device 101 in robot 10 so that robot 10 can obtain
Get self all information in the environment, include, but are not limited to geography information and command information, in order to this reality
Robot 10 can be controlled according to above-mentioned information by the control terminal 20 in new embodiment and make correct response action,
And then improve the serviceability of robot and use safety.
It should be noted that control terminal involved herein is not specifically limited by this utility model embodiment,
Alternatively, control terminal can at least include following any one: smart mobile phone, panel computer etc..Control terminal 20
Can communicate to connect with robot 10, it should be noted that the communication connection controlled between terminal and robot 10 can
Think wired connection, it is also possible to for wireless connections, this is not specifically limited by this utility model in real time.
As shown in Figure 4, robot 10 is in addition to including information collecting device 101, it is also possible to including: master control borad
102 with communicator 103 (identical with secondary communication device 103 involved in this utility model above-described embodiment),
Information collecting device 101 is connected with master control borad 102 respectively with communicator 103.Communicator 103 can be with control
Communicator in terminal processed carries out wired or wireless communication connection, so that controlling terminal and robot 10 communication link
Connect.When the communication connection controlled between terminal and robot 10 is wired connection, controls the communicator of terminal and lead to
T unit 103 can be router；When the communication connection controlled between terminal and robot 10 is wireless connections, control
The communicator of terminal processed and communicator 103 can at least include following any one: bluetooth module, WI FI module,
Ziggbee module.It should be noted that no matter working as the communication connection controlled between terminal and robot 10 is wired company
Connecing or wireless connections, communicator 103 is not limited in the above-mentioned communicator enumerated, and communicator 103 also may be used
To be other kinds of communicator, illustrate the most one by one.
When robot 10 is in the environment that comparison is noisy, controlling terminal can be by controlling terminal and robot 10
Between communication connection send control instruction, make correct response action controlling robot 10, specifically can describe
For:
Information collecting device 101 within robot 10 gathers geography information and the instruction letter of robot 10 place environment
Breath, it should be noted that the geography information of the robot 10 place environment of information collecting device 101 collection and instruction letter
Breath can be multiple geography information, multiple command information and one or more geography information and one or more instruction letter
The combination of breath, and above-mentioned any one collected is sent to the internal master control borad 102 arranged of robot 10, wherein,
Master control borad 102 receive multiple geography information, multiple command information or one or more geography information and one or
During the combination of multiple command informations, it is impossible to make correct decisions to control robot 10 and make correct response action, because of
This master control borad 102 can be by the information that receives by the communication link between communicator and the communicator 103 of control terminal
Sending and receiving are delivered in the execution device of control terminal.Execution device, after receiving the information that robot 10 sends, can dock
The information received resolves, it is judged that whether the information received includes following at least one: multiple geography information,
Multiple command informations or one or more geography information and the combination of one or more command information, judge when performing device
When the information received includes above-mentioned any one or more, perform device and can generate control according to the information received
Order, this control command is the order for controlling robot 10.Perform device can the control command of generation be passed through
Control the communication connection between terminal and robot 10 to send to the master control borad 102 of robot 10, master control borad 102
May be used for the control command according to the control terminal received sends robot 10 is controlled.It should be noted that
Control the execution device in terminal can include following any one: microprocessor, programmable processor and controller,
Such as single-chip microcomputer, FPGA, dsp chip etc..This utility model embodiment is not specifically limited performing device, and it is also
Can be other executors or control device, illustrate the most one by one.Master control borad 102 in robot 10
Can also include following any one: microprocessor, programmable processor and controller, such as single-chip microcomputer, FPGA,
Dsp chips etc., it is also not specifically limited by this utility model embodiment.Also, it should be noted this utility model
The content performing the control instruction that device generates according to the information received is not specifically limited by embodiment, such as controls
Instruction can be to control robot 10 to perform the instruction of certain action (walk the most forward, lift arm etc.), it is possible to
To be the instruction controlling the concrete structure function within robot 10, such as control information collecting device 101 and stop gathering
Information, control instruction can also include other guide, illustrate the most one by one.
Alternatively, as shown in Figure 4, this robot 10 is except including the information gathering in this utility model above-described embodiment
Outside device 101, master control borad 102, communicator 103, it is also possible to include keyset 104, steering wheel 105 and sound
Video play device 106.Specifically:
Keyset 104 can be connected with master control borad 102, is mainly used in expanding the interface of master control borad 102, to increase
The quantity of the interface of master control borad 102 so that master control borad 102 can utilize keyset 104 and more external device (ED) phase
Connect.It should be noted that make it be connected with master control borad 102 by keyset 104 will be arranged inside robot 10
Connect so that the external device (ED) being connected by interface with master control borad 102 can be directly connected with keyset 104, enters
And be connected with master control borad 102, so can greatly alleviate the interface burden of master control borad 102.It should be noted that
External device (ED) can be connected with the interface of keyset 104, it is also possible to is connected with the interface of master control borad 102, this reality
With novel, it is not specifically limited.The external device (ED) being connected with master control borad 102 or keyset 104 can be one
Individual, it is also possible to be multiple, and multiple external device (ED) can part be connected with the interface of master control borad 102, part with turn
The interface of fishplate bar 104 connects, and the annexation between external device (ED) and master control borad 102 and keyset 104 can foundation
Actual demand is adjusted, and it is not specifically limited by this utility model embodiment.Alternatively, with master control borad 102 or
The external device (ED) that keyset 104 connects can include, but are not limited to the information collecting device in this utility model embodiment
101, communicator 103, steering wheel 105 and audio and video display device 106, external device (ED) can also include that other fill
Putting, this utility model illustrates the most one by one herein.
Wherein, robot 10 can include steering wheel 105, and steering wheel 105 can be with master control borad 102 or keyset 104 phase
Connecting, steering wheel 105 shown in Fig. 4 is connected with keyset 104.Steering wheel 105 may be used for receiving according to master control borad 102
To control command driven machine people 10 move.It should be noted that in this utility model embodiment steering wheel 105 according to
Master control borad 102 receives control command driven machine people 10 motion and can include, but are not limited to driven machine people 10 and move
Move or stop, such as straight forward, turning round to the left, original place wait etc.；Driven machine people 10 performs a certain required movement,
Such as lift arm, bending knee etc.；Driven machine people 10 internal structure performs certain function, such as activation bit and adopts
Acquisition means 101 starts or suspends collection information etc..Steering wheel 105 simply this practicality in this utility model embodiment is new
A kind of preferred embodiment in humanoid robot control system, being used for according to master control borad 102 in robot control system
The control command driven machine people 10 received runs and can also utilize other motion control device, and the most no longer one at one stroke
Example explanation.Also, it should be noted steering wheel 105 can be connected with other the powered structure within robot 10
Connect, Fig. 4 does not shows that.
Robot 10 can also include: audio and video display device 106, and audio and video display device 106 can be with master control borad
102 or keyset 104 be connected, audio and video display device 106 shown in Fig. 4 is connected with keyset 104.Sound regards
Frequently playing device 106 may be used for according to the control command driven machine people 10 that master control borad 102 receives play audio frequency and
/ or video.It should be noted that audio and video display device 106 can be to include audio playing apparatus (such as sound equipment)
With video play device (such as display), the control command that audio playing apparatus can receive according to master control borad 102
Driven machine people 10 plays audio frequency, such as plays music or voice etc.；Video play device can be according to master control borad
The control command driven machine people 10 that 102 receive plays video, such as video cartoon etc..
It should be noted that the master control borad 102 within robot 10 is according to controlling the control command of terminal transmission to machine
People 10 is controlled including, but are not limited to above content, and the internal structure that robot 10 includes also and not only limits
In said apparatus, robot 10 can make according to actual application scenarios and being set or adjusted accordingly, and this utility model is real
Execute example it is not specifically limited.
Also, it should be noted the above-mentioned external device (ED) enumerated includes information collecting device 101, communicator 103, rudder
Machine 105, audio and video display device 106 all can be connected with master control borad 102 or keyset 104 by interface, tool
Body ground: audio and video display device 106, information collecting device 101 include power quick detection device, infrared distance measurement device etc.
All can be connected communication by uart interface with master control borad 102；Audio and video display device 106 can pass through aud io
Interface is connected communication with master control borad 102；Image collecting device can be connected communication by usb interface with master control borad 102.
The data that master control borad 102 can be gathered by uart and usb interface various kinds of sensors, then process, decision-making,
Export corresponding action and sound.When the information arrived by voice and collected by camera is more mixed and more disorderly, can be by controlling
The terminal Artificial Control that carries out to robot 10, the robot 10 that control terminal sends by checking robot 10 shows
Field gathers information, by bluetooth transmitting control commands, robot 10 is completed such as and keeps away Zhang, a state in the Zhou Dywnasty walking, gathers customizing messages,
The functions such as voice call.
Above-mentioned this utility model embodiment sequence number, just to describing, does not represent the quality of embodiment.
In above-described embodiment of the present utility model, the description to each embodiment all emphasizes particularly on different fields, in certain embodiment
There is no the part described in detail, may refer to the associated description of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents, can be passed through other
Mode realize.Wherein, device embodiment described above is only schematically, the division of the most described unit,
Can be that a kind of logic function divides, actual can have other dividing mode, the most multiple unit or assembly when realizing
Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, institute
The coupling each other shown or discuss or direct-coupling or communication connection can be by some interfaces, unit or mould
The INDIRECT COUPLING of block or communication connection, can be being electrical or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to
On multiple unit.Some or all of unit therein can be selected according to the actual needs to realize the present embodiment scheme
Purpose.
The above is only preferred implementation of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvements and modifications, these
Improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (13)
1. a robot control system, it is characterised in that include robot and control terminal, wherein:
Described robot is provided with information collecting device, and described information collecting device is used for gathering institute of described robot
Geography information and command information at environment；
Described control terminal is connected with described robot communication, and described control terminal is for according to described geography information
Generate control command with described command information and send described control command to described robot.
Robot control system the most according to claim 1, it is characterised in that described control terminal includes:
First communication device, for setting up described communication connection with described robot；And
Perform device, be connected with described first communication device, be used for by described communication connection reception describedly
Reason information and described command information and judge to receive following at least one time generate described control command: multiple
Geography information, multiple command information and described geography information and the combination of described command information.
Robot control system the most according to claim 2, it is characterised in that described execution device includes following
Anticipate one: microprocessor, programmable processor and controller.
Robot control system the most according to claim 2, it is characterised in that described first communication device at least wraps
Include following any one: bluetooth module, WIFI module, Ziggbee module.
Robot control system the most according to claim 2, it is characterised in that described robot also includes:
Master control borad, is connected with described information collecting device, for the described control sent according to described control terminal
Described robot is controlled by system order.
Robot control system the most according to claim 5, it is characterised in that described robot also includes:
Keyset, is connected with described master control borad, for expanding the interface of described master control borad, wherein, described master
Control plate is connected with external device (ED) by interface, and wherein, described external device (ED) includes described information collecting device.
Robot control system the most according to claim 6, it is characterised in that described robot also includes:
Secondary communication device, is connected with described master control borad or described keyset, wherein, and described second communication dress
Put and carry out wired or wireless communication between described first communication device.
Robot control system the most according to claim 7, it is characterised in that described secondary communication device at least wraps
Include following any one: bluetooth module, WIFI module, Ziggbee module.
Robot control system the most according to claim 6, it is characterised in that described robot also includes:
Steering wheel, is connected with described master control borad or described keyset, for the institute received according to described master control borad
State control command and drive described robot motion.
Robot control system the most according to claim 6, it is characterised in that described robot also includes:
Audio and video display device, is connected with described master control borad or described keyset, for according to described master control borad
The described control command received drives described robot to play audio frequency and/or video.
11. robot control systems according to any one of claim 1 to 10, it is characterised in that described information is adopted
Acquisition means at least include following any one: voice acquisition device, image collecting device, infrared distance measurement device,
Power quick detection device.
12. robot control systems according to any one of claim 1 to 10, it is characterised in that described robot
At least include following any one: biped walking robot, wheel type mobile formula robot.
13. 1 kinds of robots, including robot body, it is characterised in that also include:
The information collecting device being arranged on robot body, for gathering the geography information of robot place environment
And command information, and described geography information and described command information are sent to controlling terminal, wherein, described control
Terminal processed is connected with described robot communication, controls for generating according to described geography information and described command information
Order also sends described control command to described robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620345599.7U CN205721358U (en) | 2016-04-21 | 2016-04-21 | Robot and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620345599.7U CN205721358U (en) | 2016-04-21 | 2016-04-21 | Robot and control system thereof |
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| CN205721358U true CN205721358U (en) | 2016-11-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186718A (en) * | 2017-06-06 | 2017-09-22 | 河池学院 | A kind of household robot control system and its control method |
| CN107309880A (en) * | 2017-07-06 | 2017-11-03 | 优必选教育（深圳）有限公司 | A kind of anthropomorphic robot device, control system and its control method |
-
2016
- 2016-04-21 CN CN201620345599.7U patent/CN205721358U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186718A (en) * | 2017-06-06 | 2017-09-22 | 河池学院 | A kind of household robot control system and its control method |
| CN107309880A (en) * | 2017-07-06 | 2017-11-03 | 优必选教育（深圳）有限公司 | A kind of anthropomorphic robot device, control system and its control method |
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