CN105223954B - The path point type walking robot and its control method of a kind of recognizable human body - Google Patents
The path point type walking robot and its control method of a kind of recognizable human body Download PDFInfo
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- CN105223954B CN105223954B CN201510659612.6A CN201510659612A CN105223954B CN 105223954 B CN105223954 B CN 105223954B CN 201510659612 A CN201510659612 A CN 201510659612A CN 105223954 B CN105223954 B CN 105223954B
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Abstract
The invention discloses a kind of path point type walking robot of recognizable human body, including revolver motor, right wheel motor, revolver motor is coupled with left pedometer, right wheel motor is coupled with right pedometer, including path point forming step, the system of straight lines walks step, interaction step, front human body is found in time and converts advertisement pushing mode at once, recognizable different crowd simultaneously carries out specific aim advertisement putting, greatly improve advertizing efficiency and validity, feedback of the information is carried out by counting step mode and stronger stability is made it have to motor acceleration and deceleration correction with algorithm and reduces error, it can also be walked without black line auxiliary；Can precisely it be moved by route, hundred meters of biased errors of straight line are less than 5 degree.
Description
Technical field
The present invention relates to the combination of a kind of Electronic Control and driving equipment, is a kind of road of recognizable human body specifically
Footpath point type running gear and its control method, belong to electronic technology field.
Background technology
Artificial intelligence is currently used for many fields to replace artificial productivity.Artificial intelligence product has at present simultaneously
Novelty, it is novel, entertain the characteristics of popular.
It is still a new industry in Chinese robot, robot is increasing to the attraction of people.Domestic big portion
Subsidiary factory business takes to the manufacturing of industrial robot, but service robot is not but a lot, the production of service robot
Product are promoted and still are apparent not enough, and market potential is very huge.
1. the most products in current service robot field are all only to be absorbed in amusement function, exist sense very lowly from
And cause user's request substantially insufficient.They can not really play the attracting advantage of robot and save the advantages of artificial.
Such as the common amusement robot of in the market can only be accomplished in a simple several action meal delivery robots can not real service customer.They
Advanced technology is used but product orientation in current not mature enough field.
2. intelligent advertisement media in the market are most to pinpoint advertisement, can not move, target audience is limited, shape
Formula is also not novel enough, can not be carried out well with audient interactive.And most of fixed point advertisement positions need power supply and spaciousness has
The place of knee wall, part occasion are not suitable for putting.In addition, its portability there's almost no, recycling rate of waterused is low.
3. manual ad（Such as leaflet granting）Need to pay commissions and effect is bad, recruitment is also cumbersome.
4. it is shuffle or played in order that current advertisement machine, which plays advertisement, different customers can not be directed to and push difference extensively
Accuse, advertisement pushing specific aim is not strong.
5. on mobile robot field, body running gear leans on random walking or remote control substantially at present.Self-disciplining compared with
Difference.A small number of drive systems improve mobile accuracy but improve cost with GPS or indoor positioning ancillary technique.Other one
Branch's walking system passes through line walking（Tracking, black line or magnetic lineation）It is mobile, need artificial reforming place to move, trouble is laborious
Environmental suitability is poor.In addition, running gear typically uses two dimension or three-dimensional system of coordinate, it is necessary to which system is real-time on the market at present
Monitoring and the simultaneously a large amount of coordinate datas of calculation process, extremely expend system resource.
The content of the invention
The problem to be solved in the present invention is the deficiency for more than, proposes a kind of path point type running machine of recognizable human body
People and its control method, using the path point type running gear of the recognizable human body of the present invention, cost can be greatly reduced, be not required to
Will be by external equipment, mobile accuracy is high, by with one-dimensional coordinate pattern come
System resource is saved so as to more power saving.
Robot and the good combination of advertisement make artificial intelligence really play its effect.Advertising needs attractive eyeball
Novel manner and advertisement robot can provide such mode.Simultaneously compared to the expensive advertisement temporally charged at present
Position, this advertisement robot come be that businessman saves many expenses in the long term.
This mobile advertising position substantially increases the spread scope and communication effect of advertisement.Form is novel and because itself takes
Band rechargeable battery portability greatly improves.It is also more preferable to the adaptability in place.Unique programming makes robot power consumption simultaneously
Reduce.Built-in one-dimensional coordinate system and auxiliary are to substantially reduce system resource occupancy, save power consumption.
Robot advertisement position equally supports leaflet granting.
With crowd recognition function.Different advertisements can be pushed according to different crowd.
A kind of path point type running gear of recognizable human body is provided, cost is greatly reduced, it is not necessary to by external equipment
And ensure mobile accuracy.
To solve above technical problem, the technical scheme that the present invention takes is as follows：A kind of path point type of recognizable human body
Walking robot, it is characterised in that including revolver motor, right wheel motor, revolver motor is coupled with
Left pedometer, right wheel motor are coupled with right pedometer.
A kind of prioritization scheme, in addition to miniature steering wheel, human bioequivalence sensor and ranging sensing are provided with miniature steering wheel
Device.
Further, the data collected by pedometer module establish unitary coordinate system；
One of left pedometer, right pedometer is specified to carry out data acquisition for main modular；
Another pedometer module is contrasted so as to be corrected to its corresponding motor by gathered data and with main modular；
Routing information is obtained so as to which motor is moved to appointed place by recording data information and by handling.
Further, by the combination of human bioequivalence sensor and distance measuring sensor and steering wheel, rotated and driven by steering wheel
Sensor group rotates upwardly and downwardly；
Since horizontal plane steering wheel drive sensor group be rotated up and timing；
Until detection stops row distance collection of going forward side by side less than human body；
Read rotation time and be multiplied by the height that rotational angular velocity determines people by trigonometric function afterwards；
Advertisement on display then will carry out corresponding age bracket advertisement pushing according to section where height.
Further, including path point forming step.
Further, path point forming step includes：
Step 1, the operating instruction that bluetooth is sent is received；
Step 2, it is steering order or advancement commands to judge operating instruction, no if steering order then enters step 3
Then enter step 4；
Step 3, b=- a is set, and driver motor m1 rotating speeds are 90-b, are turned left：A=- a, turn right:A=a, subsequently into step
Rapid 5；
Step 4, b=a is set, and driver motor m1 rotating speeds are 90-b, subsequently into step 5；
Step 5, electric motor starting, speed, m1 are set:90-b, m2:90-a, a=15, subsequently into step 6；
Step 6, pedometer reads left and right wheels data r1, r2, into step 7 and step 10；
Step 7, r1 is judged whether>R2, it is then to enter step 8, otherwise into step 9；
Step 8, motor M2 speed is：90-a*(r1-r2)/6.5-a；
Step 9, motor M2 speed is：90+a*(r1-r2)/6.5-a；
Step 10, bluetooth port is detected, information is determined whether and receives the instruction different from upper one instruction, be to enter
Enter step 12, otherwise into step 11；
Step 11, continue to run with；
Step 12, r1 readers are read and enter path point storehouse, all pedometers are reset, subsequently into step 13；
Step 13, judge whether bluetooth port has END instruction, if then terminating to run, otherwise return to step 1.
Further, in addition to the system of straight lines walks step.
Further, the system of straight lines is walked step and included：
Step 1, the path data of previous step collection is enabled, subsequently into step 2；
Step 2, whether the detection of distance measuring sensor 2 front has obstacle, if then entering step 3, otherwise into step 4；
Step 3, infrared sensor of the human body detection front whether someone, if yes then enter step 5, otherwise return to step 2；
Step 4, driven turbin generator starts in the same direction, sets speed parameter a=15, and it is 90-a to set m2 rotating speeds, subsequently into step
Rapid 6；
Step 5, into interaction step, it is then back to step 2；
Step 6, it is line style coordinate or rotary-type coordinate to detect path point, if rotary-type coordinate then enters step 7,
Otherwise step 8 is entered；
Step 7, b=- a, driver motor m1 rotating speed are 90-b, are turned left：A=- a, turn right:A=a, subsequently into step 9；
Step 8, b=a, driver motor m1 rotating speed are 90-b, subsequently into step 9；
Step 9, two-wheel pedometer r1, r2 read data, into step 11 and step 10；
Step 10, r1 is judged whether>R2, it is then to enter step 12, otherwise into step 13；
Step 11, judge whether r1 >=path numerical value -1, be then to enter step 14, otherwise into step 15；
Step 12, motor M2 speed is：90-a*(r1-r2)/6.5-a；
Step 13, motor M2 speed is：90+a*(r1-r2)/6.5-a；
Step 14, continue to run with；
Step 15, driving wheel and driven turbin generator are closed, and all pedometers are reset, subsequently into step 16；
Step 16, detect whether next path point is 0, if it is terminate, otherwise return to step 1.
Further, in addition to interaction step.
Further, interaction step includes：
Step 1, probe requests thereby is received, subsequently into step 2；
Step 2, range unit judges whether front has obstacle, no if then reading distance of obstacle m and entering step 3
Then enter step 4；
Step 3, human bioequivalence module detection front whether someone, if then entering step 5, otherwise into step 6；
Step 4, continue to run with；
Step 5, steering wheel angle of operation：Mysero（90+x）；x++；Speed is arranged to maximum, turns to maximum angle, so
Enter step 7 afterwards；
Step 6, m1 main storys m2 is inverted, and rotation time is random, is then back to step 1；
Step 7, human body signal is waited to disappear, subsequently into step 8；
Step 8, detected person's height is calculated：Height h=z*m, z need to be tried to achieve by built-in trigonometric function storehouse, and Z=tanx. is h
=m*tanx, subsequently into step 9；
Step 9, by height output signal to multi-media module play respective advertisement, into step 10 after terminate.
The present invention uses above technical scheme, compared with prior art, have advantages below：
1. by advertisement（LED screen or static advertising）Or display box is combined with mobile robot chassis, can be achieved voluntarily
Move and respective reaction can be carried out according to environmental aspect.
2. carry 12v lithium battery power supplies.One-dimensional coordinate system significantly saves system resource simultaneously, is opened in arduino uno r3
Send out operation on plate and run power saving 5%-10% than ordinary two dimensional coordinate system；
3. being mounted with leaflet casket, leaflet can be conveniently placed；Artificial leaflet granting can be replaced.Save worry laborsaving and avoid perhaps
It is more troublesome.
4. find front human body in time and convert advertisement pushing mode at once, recognizable different crowd and to carry out specific aim wide
Accuse and launch, greatly improve advertizing efficiency and validity；
5. feedback of the information is carried out by counting step mode and motor acceleration and deceleration correction is made it have with algorithm stronger steady
It is qualitative and reduce error, it can also be walked without black line auxiliary；Can precisely it be moved by route, hundred meters of biased errors of straight line are less than
5 degree.
The invention will be further described with reference to the accompanying drawings and examples.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of mobile robot in the embodiment of the present invention；
Accompanying drawing 2 is the left view of accompanying drawing 1；
Accompanying drawing 3 is the flow chart of path point forming step in the embodiment of the present invention；
Accompanying drawing 4 is the flow chart that step is walked by cathetus of embodiment of the present invention system；
Accompanying drawing 5 is the flow chart of interaction step in the embodiment of the present invention；
In figure,
1- human bioequivalence sensors, 2- distance measuring sensors, 3- right wheel motors, 4- revolver motors, 5- leaflet caskets, 6- charging electricity
Pond, 7- controllers, 8- frames, 9- revolvers, 10- right wheels, the left pedometers of 11-, the right pedometers of 12-, the miniature steering wheels of 13-, 14- advertisements
Support frame, 15- multimedia screens.
Embodiment
Embodiment 1, as shown in Figure 1 and Figure 2, the path point type walking robot and its control method of a kind of recognizable human body,
The technical solution adopted in the present invention is：Control core（arduino mega2560）, pedometer module, sensor mutually ties with motor
The running gear of conjunction.The running gear passes through pedometer module（Infrared ray sensor, range sensor can be used, potentiometer is realized）
The data collected establish unitary coordinate system.System has straight trip with turning to 2 kinds of patterns.One is specified during either mode is carried out
Pedometer module is that main modular r1 carries out data acquisition（R1 is installed on motor m1）.Another pedometer module r2（R2 is installed additional
In on motor m2）Contrasted by gathered data and with main modular r1 so as to be corrected to its corresponding motor m2 so as to reach essence
There won't be any problem walk effect.By recording master data information and obtaining routing information by algorithm process
So as to which motor is moved to appointed place.
Algorithm can calculate how controlled motor realizes the positive or reverse route by being formed by path point simultaneously.
In addition, system adds range finder module d1 it is possible to prevente effectively from bumping against with barrier.
On identification crowd and carry out respective advertisement push：Pass through human bioequivalence sensor and distance measuring sensor and steering wheel
Combination, rotated by steering wheel and drive sensor group to rotate upwardly and downwardly.Steering wheel drives sensor group to be rotated up simultaneously since horizontal plane
Start timing.Until detection stops row distance collection of going forward side by side less than human body.Read rotation time and be multiplied by after rotational angular velocity
The height of people is determined by trigonometric function.Advertisement on display then will carry out corresponding age bracket according to section where height
（Or height section）Advertisement pushing.
Turn on the power and connect body bluetooth with mobile phone.Moved, run to specified by mobile phone control control core 7
Clicked on behind place in mobile phone terminal and robot ambulation path is set.Click execution can allow body to carry LED screen 15 after setting route
（Or billboard is placed at 14）Along the touring walking of route.The stream of people can be identified by human bioequivalence sensor 1 in traveling way.Such as
Fruit detects that the stream of people then stops moving and carrying out corresponding actions and speech play.Human bioequivalence sensor 1 can arrange in pairs or groups ranging simultaneously
Sensor 2 identifies Human Height so as to play respective advertisement on multimedia screen 15.In way distance measuring sensor 2 be used for avoidance and
Auxiliary detection human body.
Wherein, path running gear walks contrast regulation to supply the error of direct current generator using program meter（Such as Fig. 3）.It is whole
Coordinate is in units of step number.Step number is divided into linear rows walking and rotation walks.Each type has
It is positive and negative to differentiate direction.（For example 10 steps of turning left are that turn+10 turns right, and are turn-10）Specific step number regulation
Rule is：On the basis of m1 is set, m2 speed will constantly be changed by corresponding pedometer r1, r2 reading on two motors.
M2 speed is：
(during r1=r2 without modification）
90-a*(r1-r2)/6.5-a （r1>r2)
90+a*(r1-r2)/6.5-a (r1<r2)
Wherein 6.5 be error constant.90 be motor brake point（Control method is identical with SPD018 steering wheels）.A is what is set
Velocity amplitude, the bigger global speeds of a of initial setting up are bigger.In speed governing, to avoid the time difference from causing to correct excessively, using if (a
>20||a<13){a=b;Mode make a value stabilizations.
When identifying path point classification, program can carry out different initial settings to produce a desired effect to motor m1m2 simultaneously：
When to use b=- a during angular path point；Driver motor m1 rotating speeds are 90-b；Turn left：a=-a；Turn right: a=a.When to be linear
B=a is used during path point；Driver motor m1 rotating speeds are 90-b.
The forming process of path point is described in Fig. 4.Instruction acquisition pedometer r1 reading is assigned to body by bluetooth
So as to form path.Above-mentioned program meter step contrast regulation is wherein also applied to.
Fig. 5 is interaction portion.Distance measuring sensor 2 reads front obstacle distance and passes through human bioequivalence sensor 1 first
Whether cognitive disorders thing is people.The steering wheel 13 of carry sensors 1,2 operates afterwards.Steering wheel angle of operation：Mysero（90+x）；x+
+；Steering wheel running speed is adjusted to maximum in order to avoid target body is wandered away.（Reaching the maximum elevation time through testting steering wheel only needs 0.46 second）
After human body signal disappears, steering wheel angle value x is read.The Human Height is calculated by h=m*tanx afterwards.Calculate human body
The age of people is calculated after height by height values, height can be less than 159.5 by control core（13 years old Children Normal height）'s
People regards as children and pushes respective advertisement.Remaining height can then push other advertisements.Advertisement pushing probability can be by user voluntarily
Regulation.
Embodiment 2, as shown in Figure 1 and Figure 2, a kind of path point type walking robot of recognizable human body, including frame 8, machine
The bottom of frame 8 is provided with revolver 9, right wheel 10, and revolver 9 is driven by revolver motor 4, revolver motor 4 i.e. motor m2, the coupling of revolver motor 4
Left pedometer 11 is connected to, left pedometer 11 is main modular r1；Right wheel 10 is driven by right wheel motor 3, and right wheel motor 3 is motor
M1, right wheel motor 3 are coupled with right pedometer 12, and right pedometer 12 is pedometer module r2, and the top of frame 8 is provided with leaflet casket 5,
Miniature steering wheel 13 is provided with the front side of frame 8, human bioequivalence sensor 1 and distance measuring sensor 2, machine are provided with miniature steering wheel 13
Rechargeable battery 6 and controller 7 on frame 8, controller 7 are control core, and advertisement support frame 14 and LED are provided with the top of frame 8
Screen 15.
Pass through pedometer module（Infrared ray sensor, range sensor can be used, potentiometer is realized）The data collected are established
Unitary coordinate system.System has straight trip with turning to 2 kinds of patterns.It is main mould that a pedometer module is specified during either mode is carried out
Block r1 carries out data acquisition（R1 is installed on motor m1）.Another pedometer module r2（R2 is installed on motor m2）By adopting
Collection data simultaneously contrast so as to be corrected to its corresponding motor m2 so as to reach precisely walking effect with main modular r1.Pass through note
Record master data information simultaneously obtains routing information so as to which motor is moved to appointed place by algorithm process.
Algorithm can calculate how controlled motor realizes the positive or reverse route by being formed by path point simultaneously.
In addition, system adds range finder module d1 it is possible to prevente effectively from bumping against with barrier.
On identification crowd and carry out respective advertisement push：Pass through human bioequivalence sensor and distance measuring sensor and steering wheel
Combination, rotated by steering wheel and drive sensor group to rotate upwardly and downwardly.Steering wheel drives sensor group to be rotated up simultaneously since horizontal plane
Start timing.Until detection stops row distance collection of going forward side by side less than human body.Read rotation time and be multiplied by after rotational angular velocity
The height of people is determined by trigonometric function.Advertisement on display then will carry out corresponding age bracket according to section where height
（Or height section）Advertisement pushing.
Its control method includes path point forming step, the system of straight lines walks step and interaction step.
As shown in figure 3, path point forming step includes：
Step 1, the operating instruction that bluetooth is sent is received；
Step 2, it is steering order or advancement commands to judge operating instruction, no if steering order then enters step 3
Then enter step 4；
Step 3, b=- a is set, and driver motor m1 rotating speeds are 90-b, are turned left：A=- a, turn right:A=a, subsequently into step
Rapid 5；
Step 4, b=a is set, and driver motor m1 rotating speeds are 90-b, subsequently into step 5；
Different initial settings are carried out to motor m1, m2 simultaneously when identifying path point classification to produce a desired effect：When for
B=- a is used during angular path point；Driver motor m1 rotating speeds are 90-b；Turn left：a=-a；Turn right: a=a.When for linear path
B=a is used during point；Driver motor m1 rotating speeds are 90-b.
B and a is used for determining the numerical value of motor speed, and a is control driven pulley motor speed, and b controls driver motor speed.
Step 5, electric motor starting, speed, m1 are set:90-b, m2:90-a, a=15, subsequently into step 6；
Step 6, pedometer reads left and right wheels data r1, r2, into step 7 and step 10；
Step 7, r1 is judged whether>R2, it is then to enter step 8, otherwise into step 9；
Step 8, motor M2 speed is：90-a*(r1-r2)/6.5-a；
Step 9, motor M2 speed is：90+a*(r1-r2)/6.5-a；Motor m1 speed is set to benchmark, motor m2's
Speed will constantly be changed by corresponding pedometer r1, pedometer r2 readings on two motors：During r1=r2 without modification, 6.5 be error
Constant, 90 be motor brake point（Control method is identical with SPD018 steering wheels）.A is the velocity amplitude set, and a of initial setting up is bigger
Global speed is bigger.In speed governing, to avoid the time difference from causing to correct excessively, using if (a>20||a<13){a=b；Mode
Make a value stabilizations.
Step 10, bluetooth port is detected, information is determined whether and receives the instruction different from upper one instruction（As advanced
It is changed into turning left）, it is then to enter step 12, otherwise into step 11；
Step 11, continue to run with；
Step 12, r1 readers are read and enter path point storehouse, all pedometers are reset, subsequently into step 13；
Step 13, judge whether bluetooth port has END instruction, if then terminating to run, otherwise return to step 1.
Include as shown in figure 4, the system of straight lines walks step：
Step 1, the path data of previous step collection is enabled（Refer to being included in the r1 readings in path point storehouse）, subsequently into step
Rapid 2；
Step 2, whether the detection of distance measuring sensor 2 front has obstacle, if then entering step 3, otherwise into step 4；
Step 3, infrared sensor of the human body detection front whether someone, if yes then enter step 5, otherwise return to step 2；
Step 4, driven turbin generator starts in the same direction, and setting speed parameter a=15, (a is bigger, and bulk velocity is bigger）M2 is set to turn
Speed is 90-a, subsequently into step 6；
Step 5, into interaction step, it is then back to step 2；
Step 6, it is line style coordinate or rotary-type coordinate to detect path point, if rotary-type coordinate then enters step 7,
Otherwise step 8 is entered；
Step 7, b=- a, driver motor m1 rotating speed are 90-b, are turned left：A=- a, turn right:A=a, subsequently into step 9；
Need to explain parameter a, b and the implication of formula；A is r2 speed parameter, and b is r1 speed parameter.
Step 8, b=a, driver motor m1 rotating speed are 90-b, subsequently into step 9；
Step 9, two-wheel pedometer r1, r2 read data, into step 11 and step 10；
Step 10, r1 is judged whether>R2, it is then to enter step 12, otherwise into step 13；
Step 11, judge whether r1 >=path numerical value -1, be then to enter step 14, otherwise into step 15；
Step 12, motor M2 speed is：90-a*(r1-r2)/6.5-a；
Step 13, motor M2 speed is：90+a*(r1-r2)/6.5-a；
Step 14, continue to run with；
Step 15, driving wheel and driven turbin generator are closed, and all pedometers are reset, subsequently into step 16；
Step 16, detect whether next path point is 0, if it is terminate, otherwise return to step 1.
As shown in figure 5, interaction step includes：
Step 1, probe requests thereby is received, subsequently into step 2；
Step 2, range unit judges whether front has obstacle, no if then reading distance of obstacle m and entering step 3
Then enter step 4；
Step 3, human bioequivalence module detection front whether someone, if then entering step 5, otherwise into step 6；
Step 4, continue to run with；
Step 5, steering wheel angle of operation：Mysero（90+x）；x++；Speed is arranged to maximum, turns to maximum angle, so
Enter step 7 afterwards；
Step 6, m1 main storys m2 is inverted, and rotation time is random, is then back to step 1；
Step 7, human body signal is waited to disappear, subsequently into step 8；
Step 8, detected person's height is calculated：Height h=z*m, z need to be tried to achieve by built-in trigonometric function storehouse, and Z=tanx. is h
=m*tanx, subsequently into step 9；
Step 9, by height output signal to multi-media module play respective advertisement, into step 10 after terminate.
One skilled in the art would recognize that above-mentioned embodiment is exemplary, it is in order that ability
Field technique personnel can be better understood from present invention, should not be understood as limiting the scope of the invention, as long as
According to technical solution of the present invention improvements introduced, protection scope of the present invention is each fallen within.
Claims (6)
1. the path point type walking robot of a kind of recognizable human body, it is characterised in that including revolver motor（4）, right wheel motor
（3）, revolver motor（4）It is coupled with left pedometer（11）, right wheel motor（3）It is coupled with right pedometer（12）；
By the combination of human bioequivalence sensor and distance measuring sensor and steering wheel, rotated by steering wheel and drive sensor group to turn up and down
It is dynamic；
Since horizontal plane steering wheel drive sensor group be rotated up and timing；
Until detection stops row distance collection of going forward side by side less than human body；
Read rotation time and be multiplied by the height that rotational angular velocity determines people by trigonometric function afterwards；
Advertisement on display then will carry out corresponding age bracket advertisement pushing according to section where height.
2. the path point type walking robot of a kind of recognizable human body as claimed in claim 1, it is characterised in that also including micro-
Type steering wheel（13）, miniature steering wheel（13）On be provided with human bioequivalence sensor（1）And distance measuring sensor（2）.
3. the path point type walking robot of a kind of recognizable human body as claimed in claim 1, it is characterised in that walked by counting
The data that module collects establish unitary coordinate system；
Specify left pedometer（11）, right pedometer（12）One of them carries out data acquisition for main modular；
Another pedometer module is contrasted so as to be corrected to its corresponding motor by gathered data and with main modular；
Routing information is obtained so as to which motor is moved to appointed place by recording data information and by handling.
A kind of 4. control method of the path point type walking robot of recognizable human body as claimed in claim 1, it is characterised in that
Including path point forming step；
Path point forming step includes：
Step 1, the operating instruction that bluetooth is sent is received；
Step 2, it is steering order or advancement commands to judge operating instruction, if steering order then enters step 3, is otherwise entered
Enter step 4；
Step 3, b=- a is set, and driver motor m1 rotating speeds are 90-b, are turned left：A=- a, turn right:A=a, subsequently into step 5；
Step 4, b=a is set, and driver motor m1 rotating speeds are 90-b, subsequently into step 5；
Step 5, electric motor starting, speed, m1 are set:90-b, m2:90-a, a=15, subsequently into step 6；
Step 6, pedometer reads left and right wheels data r1, r2, into step 7 and step 10；
Step 7, r1 is judged whether>R2, it is then to enter step 8, otherwise into step 9；
Step 8, motor M2 speed is：90-a*(r1-r2)/6.5-a；
Step 9, motor M2 speed is：90+a*(r1-r2)/6.5-a；
Step 10, bluetooth port is detected, information is determined whether and receives the instruction different from upper one instruction, is then to enter step
Rapid 12, otherwise into step 11；
Step 11, continue to run with；
Step 12, r1 readers are read and enter path point storehouse, all pedometers are reset, subsequently into step 13；
Step 13, judge whether bluetooth port has END instruction, if then terminating to run, otherwise return to step 1.
A kind of 5. control method of the path point type walking robot of recognizable human body as claimed in claim 1, it is characterised in that
Also step is walked including the system of straight lines；
The system of straight lines, which walks step, to be included：
Step 1, the path data of previous step collection is enabled, subsequently into step 2；
Step 2, whether the detection of distance measuring sensor 2 front has obstacle, if then entering step 3, otherwise into step 4；
Step 3, infrared sensor of the human body detection front whether someone, if yes then enter step 5, otherwise return to step 2；
Step 4, driven turbin generator starts in the same direction, sets speed parameter a=15, and it is 90-a to set m2 rotating speeds, subsequently into step 6；
Step 5, into interaction step, it is then back to step 2；
Step 6, it is line style coordinate or rotary-type coordinate to detect path point, if rotary-type coordinate then enters step 7, otherwise
Into step 8；
Step 7, b=- a, driver motor m1 rotating speed are 90-b, are turned left：A=- a, turn right:A=a, subsequently into step 9；
Step 8, b=a, driver motor m1 rotating speed are 90-b, subsequently into step 9；
Step 9, two-wheel pedometer r1, r2 read data, into step 11 and step 10；
Step 10, r1 is judged whether>R2, it is then to enter step 12, otherwise into step 13；
Step 11, judge whether r1 >=path numerical value -1, be then to enter step 14, otherwise into step 15；
Step 12, motor M2 speed is：90-a*(r1-r2)/6.5-a；
Step 13, motor M2 speed is：90+a*(r1-r2)/6.5-a；
Step 14, continue to run with；
Step 15, driving wheel and driven turbin generator are closed, and all pedometers are reset, subsequently into step 16；
Step 16, detect whether next path point is 0, if it is terminate, otherwise return to step 1.
A kind of 6. control method of the path point type walking robot of recognizable human body as claimed in claim 1, it is characterised in that
Also include interaction step；
Interaction step includes：
Step 1, probe requests thereby is received, subsequently into step 2；
Step 2, range unit judges whether front has obstacle, if then reading distance of obstacle m and entering step 3, otherwise enters
Enter step 4；
Step 3, human bioequivalence module detection front whether someone, if then entering step 5, otherwise into step 6；
Step 4, continue to run with；
Step 5, steering wheel angle of operation：Mysero（90+x）；x++；Speed is arranged to maximum, turns to maximum angle, Ran Houjin
Enter step 7；
Step 6, m1 main storys m2 is inverted, and rotation time is random, is then back to step 1；
Step 7, human body signal is waited to disappear, subsequently into step 8；
Step 8, detected person's height is calculated：Height h=z*m, z need to be tried to achieve by built-in trigonometric function storehouse, and Z=tanx. is h=m*
Tanx, subsequently into step 9；
Step 9, by height output signal to multi-media module play respective advertisement, into step 10 after terminate.
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