CN109693243A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN109693243A CN109693243A CN201811480237.9A CN201811480237A CN109693243A CN 109693243 A CN109693243 A CN 109693243A CN 201811480237 A CN201811480237 A CN 201811480237A CN 109693243 A CN109693243 A CN 109693243A
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- Prior art keywords
- steering engine
- controller
- control
- robot
- controlling terminal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The invention discloses a kind of robots, it includes the head of body and installation physically, it is mounted on the eye steering engine that head is sequentially connected as two display screens and display screen of robot eyes and is used to that display screen to be driven to act, with controlling terminal, loudspeaker module and the controller for being mounted on body；The display screen, eye steering engine, controlling terminal, loudspeaker module are electrically connected with the controller；The controlling terminal and the controller communicate to connect；The controller is used to receive the speech text information of controlling terminal, handles and the speech text information to the loudspeaker module is forwarded to be broadcasted；The controller is also used to the display screen according to preset scheme control and switches the image of its display and the angle of adjustment eye steering engine rotation, is rotated and is shaken with simulation eye.Robot of the invention can complete the chat feature with people, moreover it is possible to the movement that the eyes and human eye of the display simulation mankind shake, so that the degree that personalizes of robot is higher.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robots.
Background technique
Currently, the research of chat robots is mostly based on speech recognition, the dialogue of machine and people, but robot are realized
Other responses not other than sound, or only simple light is responded, the degree that personalizes is lower, can not lift people
The interest exchanged with robot.
Summary of the invention
The purpose of the present invention is to provide a kind of robot, the robot can complete the chat feature with people, moreover it is possible to
The movement that the eyes and human eye of the display simulation mankind shake, so that the degree that personalizes of robot is higher.
The present invention is achieved by the following technical solutions:
A kind of robot, the head including body and installation physically, is mounted on two of head as robot eyes
The eye steering engine that a display screen and display screen are sequentially connected and are used to that display screen to be driven to act, with the control end for being mounted on body
End, loudspeaker module and controller；The display screen, eye steering engine, controlling terminal, loudspeaker module and the controller are electrically connected
It connects；The controlling terminal and the controller communicate to connect；The controller is used to receive the speech text information of controlling terminal,
It handles and the speech text information to the loudspeaker module is forwarded to be broadcasted；The controller is also used to according to preset
Display screen described in scheme control switches the image of its display and the angle of adjustment eye steering engine rotation, is rotated and is shaken with simulation eye
It is dynamic.
Compared to the prior art, phase is simulated by being provided as two display screens of robot eyes by robot of the invention
It like the eyes of people, is shaken by the eyes of eye servo driving display screen action simulation people, people is realized by voice-enabled chat module
It more personalizes, mentions so that the robot is realizing except the chat interactive function with people with the voice-enabled chat of robot
The high interpersonal interactivity of machine, brings better user experience to people.
Further, the body include body, thigh support frame, small leg support, sole bracket, for connecting trunk and big
The thigh steering engine of leg support, for connecting the shank steering engine of thigh support frame and small leg support and for connecting small leg support and sole
The ankle-joint steering engine of bracket；The thigh steering engine, shank steering engine and ankle-joint steering engine include steering engine connector, are arranged at it
Internal motor and control circuit, and the steering wheel with motor output shaft rotation connection；The steering engine connector and steering wheel
Pass through screw connection；The steering engine connector is fixed with the trunk, thigh support frame and small leg support respectively；The action control
Circuit is connect with the controller；The controller is used to receive the action command of controlling terminal, handles action command and drives
The control circuit controls the thigh steering engine, shank steering engine and ankle-joint steering engine and rotates corresponding angle.
It can be obtained by above-mentioned technical proposal, thigh steering engine, shank steering engine and ankle-joint steering engine are controlled by control circuit
Rotation realize the walking motion and the functions such as dancing of robot.
Further, the controlling terminal is a mobile terminal or the end PC, for sending information to the controller；
The controlling terminal provides direction ball control, is used for the Xiang Suoshu controller when the direction ball control is dragged
Sending action instruction；
Multiple movement controls are provided, the movement control include attention, advance, retreating, forward somersault in the air, backward somersault and control of dancing
Part；
Microphone control is provided, for obtaining user speech, identification user speech is converted into speech text information, and to described
Controller sends speech text information.
Further, including bluetooth module, the bluetooth module are electrically connected with the controller；The controller passes through institute
It states bluetooth module and the controlling terminal communicates to connect.
Further, the controller is also used to when receiving the information of the controlling terminal, first judges that the information is
Action command or speech text information.
Further, when the information is action command information, the controller is used for the value of calculating action instruction simultaneously
Corresponding control signal is sent to control circuit according to the value of action command；
The control circuit extracts thigh steering engine described in control signal, small for receiving the control signal
The angle information and duration of leg steering engine and ankle-joint steering engine drive the thigh steering engine, shank steering engine and ankle-joint
Steering engine is run according to the angle information and duration.
Further, when the information is speech text information, the controller speech text information for identification
It whether include keyword corresponding with action command；
If so, the controller is used to calculate the value of action command corresponding with keyword and the value according to the action command
Control the movement of joint steering engine.
If it is not, the controller is used to be sent out the received pronunciation frame according to speech text information architecture received pronunciation frame
It send to loudspeaker and is broadcasted.
Further, the control circuit includes action control chip and storage chip, the storage circuit and institute
State the connection of action control chip；The action control chip and the controller serial communication；The storage chip is for storing
Control the action command of the thigh steering engine, shank steering engine and ankle-joint steering engine.
Further, the controller includes timer；
The controller is used to control aobvious from mode, one preset Timer Threshold section of every arrival is increased according to timer
Display screen switches image and adjustment eye steering engine angle；
The controller is used to that timer to be reset and be controlled when the value of timer reaches preset timer maximum
Timer restarts to increase certainly.
Further, the controller is STM32F103C8T6.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot of the invention；
Fig. 2 is the control chip and its minimum system circuit diagram of robot of the invention；
Fig. 3 is robot eyes and eye helm control circuit figure of the invention；
Fig. 4 is the circuit diagram of robot motion control slave computer of the invention；
Fig. 5 is the circuit diagram of bluetooth module and loudspeaker module of the invention；
Fig. 6 is power circuit diagram of the invention；
Fig. 7 is cell phone application surface chart of the invention；
Fig. 8 is serial ports interruption subroutine figure of the invention；
Fig. 9 is speech text information casting MCU subprogram figure of the invention；
Figure 10 is processing action command of the invention and sends control instruction to the MCU subprogram figure of action control chip；
Figure 11 is the MCU subprogram figure of robot motion control of the invention；
Figure 12 is eye motion and eye steering engine MCU subprogram figure of the invention.
Specific embodiment
Can chat at present with people has been a kind of very universal function of robot field, and the machine other than chat
The feedback that people can give people is extremely limited, and more in the prior art is the size for using light or sound, the height of intonation
People are given preferably to chat impression, nonetheless, robot humanoid degree or not high enough, interactivity between people compared with
Difference.Based on this, the present invention proposes a kind of robot, on the one hand passes through controlling terminal, loudspeaker module realization people and robot
Voice-enabled chat, two display screens for being on the other hand provided as robot eyes excessively simulate the eyes of similar people, and pass through eye
The eyes of servo driving display screen action simulation people shake so that the robot realize with the chat interactive function of people it
Outside, it more personalizes, improves the interpersonal interactivity of machine, bring better user experience to people.
Referring to Fig. 1, it is the structural schematic diagram of robot of the invention, robot of the present invention is divided into head A
The eye rudder for including display screen 1 with body B, the head A and being sequentially connected with display screen 1 and being used to that display screen 1 to be driven to act
Machine 2, the body B of the robot include body 3, thigh support frame 4, small leg support 5, sole bracket 6, for connecting 3 and of trunk
The thigh steering engine 7 of thigh support frame 4, for connecting the shank steering engine 8 of thigh support frame 4 and small leg support 5 and for connecting shank branch
The ankle-joint steering engine 9 of frame 5 and sole bracket 6.Wherein, the body 3 can be two pieces of plates, and metal material or plastics can be used
Material, can be fixed by the display screen 1 on head, eye steering engine 2 by screw, and further, 3 both ends of body also
Fixed loudspeaker module 10 and bluetooth module 11.
Please refer to Fig. 2~6, it illustrates a kind of circuit implementation of the invention is realized by SCM system.
The controller can use STM32F103C8T6 model, and Fig. 2 shows the minimum system circuits of control chip.
The display screen 1 can be OLED display screen, and the image of display includes image of the eyes in different location, such as eye
Eyeball image placed in the middle, eyes image to the left, eyes image to the right.
The eye steering engine 2 is similar to the thigh steering engine 7, shank steering engine 8 and ankle-joint steering engine 9 comprising with display screen 1
The steering engine mounting portion being fixed, the motor and control circuit being provided at its inner portion, and the rudder with motor rotation connection
Disk is controlled by the controller.The eye steering engine 2 is sequentially connected with display screen 1, for controlling the upper and lower of entire display screen 1
It moves left and right, so that robot seems more flexible, interesting, the degree that personalizes is higher.
Specifically, the eye steering engine 2 and display screen 1 are used cooperatively in pairs point or so, and the display screen 1 can be with
PB12, PB13, PB14, PB15 output pin of STM32F103C8T6 connects.The eye steering engine 2 can be by main control chip
PB4, PB5 pin of STM32F103C8T6 controls.
The thigh support frame 4, small leg support 5 and sole bracket 6 can use sheet metal component or plastic products, the thigh
Bracket 4 and small leg support 5 are strip, and the sole bracket 6 is inverted T-shaped.
Please continue to refer to Fig. 1, the thigh steering engine 7, shank steering engine 8 and ankle-joint steering engine 9 include steering engine connector 71,
81,91, the motor and control circuit being provided at its inner portion, and the steering wheel 72,82 with motor output shaft rotation connection,
92；The steering engine connector 71,81,91 passes through screw connection with steering wheel 72,82,92；The steering engine connector respectively with it is described
Trunk 3, thigh support frame 4 and small leg support 5 are fixed, can adopt and be screwed.And the thigh steering engine 7, shank steering engine 8
It can be carried out advance or retreat the rotation of one degree of freedom, the ankle-joint steering engine 9 is able to carry out left and right and former and later two freedom
The rotation of degree.The control circuit is connect with the controller.The control circuit includes action control chip
STC15W4K16S4 and storage chip.The control circuit STC15W4K16S4 passes through serial port level conversion core piece CH340G
Serial communication is carried out with the end STM32F103C8T6, PC as host computer.The storage chip is W25Q64, for saving control
Make the action group instruction of the thigh steering engine 7, shank steering engine 8 and ankle-joint steering engine 9.The thigh steering engine 7,8 and of shank steering engine
In pairs, quantity is 6 to ankle-joint steering engine 9 or so, predominantly cooperation robot motion control circuit, completes robot ambulation, curved
Waist, the various movements such as turn a somersault.The rotation of the thigh steering engine 7, shank steering engine 8 and ankle-joint steering engine 9 is by STC15W4K16S4
P1.7, P5.4, P5.5, P3.2, P3.5, P3.6 mouth of single-chip microcontroller carry out drive control.
Referring to Fig. 6,2 control circuit of above controller and its minimum system, display screen 1 and eye steering engine, machine
The operation of human action control circuit needs the power supply of stable different voltages, thus power circuit of the invention mainly by
AMS1117-3.3, AMS1117-5.3 voltage stabilizing chip and diode, capacitor etc. are constituted, to provide the supply voltage of 3.3v and 5v.
Wherein, C1 and C2, C5 and C6 are commutation capacitor, and effect is that voltage inversion occur after preventing power-off；C3 and C4, C7 and C8 are filter
Wave capacitor, effect are to inhibit self-oscillation.The lithium battery voltage of robot power supply be 9V, so need voltage stabilizing chip circuit into
Row voltage is converted to meet the work requirements of different chips.
In order to realize the control to robot various pieces, robot further includes a controlling terminal, which can
Think mobile terminal or the end PC, when controlling terminal is mobile terminal, can be the smart machines such as mobile phone, IPAD.It please refers to
Fig. 7 provides a dedicated APP when controlling terminal selects mobile terminal, passes through the bluetooth module realization of mobile terminal and machine
Bluetooth module 11 on people is attached, by carrying out issuing and speech text information for action command on cell phone application interface
Exchange, realize the chat and dancing function of robot.The bluetooth module 11 is electrically connected with the controller, with control chip
The serial ports 1 of STM32F103C8T6 is communicated；The controller passes through the bluetooth module 11 and the controlling terminal communication link
It connects.Include ball control in direction on the cell phone application interface, the direction dragged according to direction ball for controlling robot forward, to
Afterwards, it acts to the left, to the right；Further include movement control, the movement control including attention, advance, retreating, forward somersault in the air, backward somersault
With dancing control；It further include microphone control, for obtaining user speech, identification user speech is converted into speech text information, and
Speech text information is sent to the controller.
The loudspeaker module 11 is connect with the output pin of the control chip, with control chip STM32F103C8T6
Serial ports 3 carry out signal interaction.
The control logic of controller and control circuit described further below:
Firstly, terminal control unit of the controlling terminal as control robot, for sending information to the controller,
The mode of control includes following 3 kinds:
The controlling terminal provides direction ball control, is used for the Xiang Suoshu controller when the direction ball control is dragged
Sending action instruction；
Multiple movement controls are provided, the movement control include attention, advance, retreating, forward somersault in the air, backward somersault and control of dancing
Part；
Microphone control is provided, for obtaining user speech, identification user speech is converted into speech text information, and to described
Controller sends speech text information.
The controller establishes communication link as the device interacted with controlling terminal, by bluetooth module 11 and controlling terminal
It connects.
The controller be used for when receiving the information of the controlling terminal, first judge the information be action command or
Speech text information.In an optional embodiment, since in the present invention, controller uses single-chip microcontroller, and uses
The mode of serial communication, above-mentioned " controller is used for when receiving the information of the controlling terminal, first judges the information
It is action command or speech text information " it is exactly to be realized by calling serial ports Interrupt Subroutine.Referring to Fig. 8,
When controller STM32F103C8T6 serial ports receives the first character section for the information that the controlling terminal is sent, according to control
The preset communication protocol of device processed, judges whether the byte is the start frame of agreement, such as presets the starting that 0X5A is action command
Frame, 0XFE are the start frame of speech text information.When the byte is 0X5A, then 8 byte datas are received, and are stored in action command
Among array res []；The meaning that the action command caches each element of array res [] can be with is defined as:
{0x5A,0x5A,0X02,0x01,0X00,0x00,0x96,0x96}；
Corresponding to frame head, frame head, action group serial number, number of run, left eye parameter, right eye parameter, 1 parameter of left eye steering engine,
2 parameter of right eye steering engine.
When the byte is 0XFE, connection receives data until receiving end frame 0XFD, and the data received are stored in
Hanzi [] array simultaneously obtains cumulative data length deposit cnt.
The controller is used to receive the speech text information of controlling terminal, handles and forwards the speech text information extremely
The loudspeaker module is broadcasted.Specifically, when the information is speech text information, the controller is described for identification
Whether speech text information includes keyword corresponding with action command；If so, the controller is for calculating and keyword pair
The value for the action command answered and the movement that joint steering engine is controlled according to the value of the action command.If it is not, the controller is used for root
According to speech text information architecture received pronunciation frame, the received pronunciation frame is sent to loudspeaker and is broadcasted.
In an optional embodiment, referring to Fig. 9, processing speech text information includes identifying key therein
Word, it is such as " advance " " retrogressing ", related with action command, it is converted into corresponding action command, control robot refers to according to movement
The processing mode of order is handled.For the speech text information for chat, then Iflytek language note is called in mobile terminal
Program identifies that the speech text information after returning to identification, the present invention is to the speech text after identification to the voice of user
Information is sent to Turing machine device people's server by cell phone network and obtains response message, then response message is passed through bluetooth module 11
The controller of robot is issued, the controller converts received pronunciation frame for response message again, finally by loudspeaker module
10 are broadcasted.
The controller is also used to receive the action command of controlling terminal, handles action command and drives the action control
Thigh steering engine, shank steering engine described in circuit control and ankle-joint steering engine rotate corresponding angle.Specifically, when the information is
When making command information, the controller is used to the value of calculating action instruction and sends corresponding control according to the value of action command believe
Number to control circuit；The control circuit extracts big described in control signal for receiving the control signal
The angle information and duration of leg steering engine, shank steering engine and ankle-joint steering engine drive the thigh steering engine, shank steering engine
It is run with ankle-joint steering engine according to the angle information and duration.
In an optional embodiment, 10 are please referred to, is passed through at calling using above controller STM32F103C8T6
Reason action command and transmission control instruction realize above controller logic to the MCU subprogram of action control chip.It calculates dynamic
Make the value of element res [2] in the value instructed i.e. calculating action instruction array, such as when value is 0, sends the control of reset instruction string
System instructs to robot motion and controls chip, such as when value is 1, sends the control signal of advance and the step number strings of commands to machine
The setting of human action control chip ... value and control instruction can be set according to user.
It is related to the control circuit and the thigh steering engine 7, shank steering engine 8, ankle-joint rudder is controlled according to control instruction
The operation of machine 9 or eye steering engine 2, specifically, being asked when action control chip STC15W4K16S4 through the invention is realized
Refering to fig. 11, action control chip STC15W4K16S4 interrupt the reception for carrying out control instruction by serial communication, according to default
Communications protocol receive and differentiate, such as be determined as control action instruction, then extract the angle of 6 joint steering engines in control instruction
Data control 6 joint steering engines by data and rotate corresponding angle；For another example action group instruction has been deposited for operation, extracted in information
Serial number and number, the action group data are read in the EEPROM of corresponding address into phase storage chip W25Q64 according to serial number,
And by the operation of data control robot, number is that the communications protocol can also be according to user's need for the action group time that reruns ...
Sets itself is wanted, not as limitation of the present invention.
The controller switches the image and adjustment eye of its display for the display screen according to preset scheme control
The angle of steering engine rotation, is rotated and is shaken with simulation eye.Specifically, the controller includes timer；The controller is used
In increasing mode certainly according to timer, one preset Timer Threshold section of every arrival controls display screen switching image and adjusts eye
Portion's steering engine angle；The controller is used to reset timer simultaneously when the value of timer reaches preset timer maximum
Control timer restarts to increase certainly.
In an optional embodiment, Figure 12 is please referred to, device is timed using the timer 2 of control chip interior
It interrupts, 0.4s triggering is primary, and variable times value of every triggering adds 1 using times value as Timer Threshold, controls display screen
When image switches, it is chosen as when times is less than or equal to 8, eyes picture does not switch；When 9≤times >=12, times have from increasing
1, switch one group of image (left side), completes eyes left side rotational action；When 13≤times >=20, picture does not switch；When 21≤
Times >=24, times have from increasing 1, switch one group of image (right side), complete eyes left side rotational action；When times >=25,
Times value resets circulation and restarts.The control model of eye steering engine is similar, please refers to Figure 12, and details are not described herein again.
Compared to the prior art, robot of the invention pass through judge controlling terminal transmission information for action command still
Speech text information, on the one hand control control machine person to person carries out speech exchange, on the other hand can control robot progress
Various movements are such as advanced, and are retreated, and dancing etc. is vdiverse in function, improve the interpersonal interactivity of machine；In addition, also by pre-
If pattern switching display screen image and adjustment eye steering engine angle, simulate people eyes and eyes shake movement so that
The degree that personalizes of robot is higher.
The invention is not limited to above embodiment, if not departing from the present invention to various changes or deformation of the invention
Spirit and scope, if these changes and deformation belong within the scope of claim and equivalent technologies of the invention, then this hair
It is bright to be also intended to encompass these changes and deformation.
Claims (10)
1. a kind of robot, it is characterised in that: including the head of body and installation physically, be mounted on head as robot
Two display screens of eyes and display screen be sequentially connecteds and are used to drive the eye steering engine of display screen movement, and are mounted on body
Controller and loudspeaker module and a controlling terminal；The display screen, eye steering engine, controlling terminal, loudspeaker module and institute
State controller electrical connection；The controlling terminal and the controller communicate to connect；The controller is for receiving controlling terminal
Speech text information handles and the speech text information to the loudspeaker module is forwarded to be broadcasted；The controller is also
Switch the image of its display and the angle of adjustment eye steering engine rotation, for the display screen according to preset scheme control with mould
Quasi- eye rotation and shaking.
2. robot according to claim 1, it is characterised in that: the body includes body, thigh support frame, shank branch
Frame, sole bracket, the thigh steering engine for connecting trunk and thigh support frame, for connecting the shank of thigh support frame and small leg support
Steering engine and ankle-joint steering engine for connecting small leg support and sole bracket；The thigh steering engine, shank steering engine and ankle close
Saving steering engine includes steering engine connector, the motor and control circuit being provided at its inner portion, and rotates and connect with motor output shaft
The steering wheel connect；The steering engine connector and steering wheel pass through screw connection；The steering engine connector respectively with the trunk, thigh branch
Frame and small leg support are fixed；The control circuit is connect with the controller；The controller is for receiving controlling terminal
Action command, processing action command simultaneously drives the control circuit to control the thigh steering engine, shank steering engine and ankle and closes
It saves steering engine and rotates corresponding angle.
3. robot according to claim 2, it is characterised in that: the controlling terminal be a mobile terminal or the end PC,
For sending information to the controller；
The controlling terminal provides direction ball control, for when the direction ball control is dragged, Xiang Suoshu controller to be sent
Action command；
Multiple movement controls are provided, the movement control include attention, advance, retreating, forward somersault in the air, backward somersault and dancing control；
Microphone control is provided, for obtaining user speech, identification user speech is converted into speech text information, and to the control
Device sends speech text information.
4. robot according to claim 3, it is characterised in that: including bluetooth module, the bluetooth module and the control
Device electrical connection processed；The controller is communicated to connect by the bluetooth module and the controlling terminal.
5. robot according to claim 3, it is characterised in that: the controller is also used to receiving the control eventually
When the information at end, first judge that the information is action command or speech text information.
6. robot according to claim 4, it is characterised in that: when the information is action command information, the control
Device processed is used for the value of calculating action instruction and sends corresponding control signal to control circuit according to the value of action command；
The control circuit extracts thigh steering engine, shank rudder described in control signal for receiving the control signal
The angle information and duration of machine and ankle-joint steering engine drive the thigh steering engine, shank steering engine and ankle-joint steering engine
It is run according to the angle information and duration.
7. robot according to claim 4, it is characterised in that: when the information is speech text information, the control
Whether the speech text information includes keyword corresponding with action command to device for identification；
If so, the controller is used to calculate the value of action command corresponding with keyword and is controlled according to the value of the action command
The movement of joint steering engine.
If it is not, the controller is used to be sent to the received pronunciation frame according to speech text information architecture received pronunciation frame
Loudspeaker is broadcasted.
8. robot according to claim 6, it is characterised in that: the control circuit include action control chip and
Storage chip, the storage circuit are connect with the action control chip；The action control chip and the controller serial ports
Communication；The storage chip is used to store the action command for controlling the thigh steering engine, shank steering engine and ankle-joint steering engine.
9. robot according to claim 1, it is characterised in that:
The controller includes timer；
The controller is used to control display screen from mode, one preset Timer Threshold section of every arrival is increased according to timer
Switch image and adjustment eye steering engine angle；
The controller is used to reset timer when the value of timer reaches preset timer maximum and control timing
Device restarts to increase certainly.
10. described in any item robots according to claim 1~9, it is characterised in that: the controller is
STM32F103C8T6。
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| CN201811480237.9A CN109693243A (en) | 2018-12-05 | 2018-12-05 | A kind of robot |
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| CN1191151A (en) * | 1997-02-18 | 1998-08-26 | 实用设计公司 | Animated characters utilizing face unit mechanism and control system |
| EP2571660B1 (en) * | 2010-05-20 | 2018-08-15 | iRobot Corporation | Mobile human interface robot |
| CN203047412U (en) * | 2013-02-07 | 2013-07-10 | 武汉大学 | Human-shaped dancing robot controlled in long-distance voice mode |
| CN206383128U (en) * | 2016-12-09 | 2017-08-08 | 厦门市图巴机器人有限公司 | Robot |
| CN106625670A (en) * | 2016-12-26 | 2017-05-10 | 迈赫机器人自动化股份有限公司 | Control system and method of multifunctional man-machine interaction humanoid teaching robot |
| CN206561428U (en) * | 2017-03-01 | 2017-10-17 | 深圳市爱维尔智能科技有限公司 | A kind of human-like intelligent robot |
| CN106652602A (en) * | 2017-03-07 | 2017-05-10 | 大连民族大学 | Teaching robot |
| CN108198559A (en) * | 2018-01-26 | 2018-06-22 | 上海萌王智能科技有限公司 | A kind of voice control robot system for learning action |
| CN207901174U (en) * | 2018-02-08 | 2018-09-25 | 合光正锦（盘锦）机器人技术有限公司 | Robot face emotion expression service system |
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