CN208323396U - A kind of hardware platform of intelligent robot - Google Patents
A kind of hardware platform of intelligent robot Download PDFInfo
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- CN208323396U CN208323396U CN201820379879.9U CN201820379879U CN208323396U CN 208323396 U CN208323396 U CN 208323396U CN 201820379879 U CN201820379879 U CN 201820379879U CN 208323396 U CN208323396 U CN 208323396U
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Abstract
This application involves smart machines, more particularly to a kind of hardware platform of intelligent robot, comprising: which man-machine interaction unit, key control unit and real-time processing unit, man-machine interaction unit are connect with key control unit, man-machine interaction unit is connect with real-time processing unit；Wherein, a large amount of data interaction is realized in the first signal receiving end connection of the first signal output end and key control unit of man-machine interaction unit, first signal output end of key control unit is connect with the first signal receiving end of real-time processing unit realizes a small amount of data interactions, hardware platform complete is partly handled as one, without increasing tablet computer, therefore man-machine interaction unit, key control unit and real-time processing unit can share, facilitate and carries out complete system optimization, to improve system performance, simultaneously, reduce the reuse of peripheral components, it can achieve the purpose for reducing complete machine cost.
Description
Technical field
This application involves smart machines, more particularly to the hardware platform of intelligent robot.
Background technique
With the development of artificial intelligence and robot technology, the application for servicing class robot is more and more extensive, such as eats
Room service robot, enterprise's foreground guided robot, store promotional robot etc..The basic framework of these robots includes can be certainly
Main moving wheeled type chassis, and it is installed at a tablet computer on the autonomous wheel undercarriage top.Autonomous wheel undercarriage
Man-machine interaction unit, the key control unit of inside are connected with real-time processing unit, the human-computer interaction list inside tablet computer
Member, key control unit are connected with real-time processing unit, and autonomous wheel undercarriage and the tablet computer for being responsible for delivery is complete
Complete independent, therefore, some devices that can be shared can not share, and lead to the cost increase of system, and part function cannot
Carry out combined optimization.
Utility model content
In consideration of it, the utility model is directed to a kind of hardware platform of intelligent robot, based on the hard of intelligent robot
Part platform solves the problems, such as that the hardware platform fission of intelligent robot is constituted.
According to the one aspect of the application, a kind of hardware platform of intelligent robot is provided, comprising: shell, described
Interior of shell is equipped with man-machine interaction unit, key control unit and real-time processing unit, the man-machine interaction unit with it is described
Key control unit connection, the man-machine interaction unit are connect with the real-time processing unit；Wherein, the man-machine interaction unit
The first signal output end connect with the first signal receiving end of the key control unit, the first of the key control unit
Signal output end is connect with the first signal receiving end of the real-time processing unit.
Optionally, in the hardware platform of above-mentioned intelligent robot, the man-machine interaction unit and display screen, loudspeaker connect
It connects；Wherein, the second signal output end of the man-machine interaction unit is connect with the signal receiving end of the display screen, described man-machine
The third signal output end of interactive unit is connect with the signal receiving end of the loudspeaker.
Optionally, in the hardware platform of above-mentioned intelligent robot, the key control unit and binocular camera, wheat
The connection of gram wind array；Wherein, the signal of the second signal receiving end of the key control unit and the binocular camera exports
End connection, the third signal receiving end of the key control unit are connect with the signal output end of the microphone array.
Optionally, in the hardware platform of above-mentioned intelligent robot, the key control unit is connect with sensory package；
Wherein, the fourth signal receiving end of the key control unit is connect with the signal output end of the sensory package.
Optionally, in the hardware platform of above-mentioned intelligent robot, the sensory package includes laser radar, infrared biography
Sensor and ultrasonic sensor.
Optionally, in the hardware platform of above-mentioned intelligent robot, the real-time processing unit is connect with steering engine；Its
In, the first signal output end of the real-time processing unit is connect with the signal receiving end of the steering engine.
Optionally, in the hardware platform of above-mentioned intelligent robot, the real-time processing unit is connected to motor；Its
In, the second signal output end of the real-time processing unit is connect with the motor signal receiving end.
Optionally, in the hardware platform of above-mentioned intelligent robot, the real-time processing unit and motion measurement code-disc
Connection；Wherein, the second signal receiving end of the real-time processing unit is connect with the signal output end of the motion measurement code-disc.
Optionally, in the hardware platform of above-mentioned intelligent robot, the real-time processing unit and proximity sensor connect
It connects；Wherein, the third signal receiving end of the real-time processing unit is connect with the signal output end of the proximity sensor.
Optionally, in the hardware platform of above-mentioned intelligent robot, the real-time processing unit and crash sensor connect
It connects；Wherein, the fourth signal output end of the real-time processing unit is connect with the signal receiving end of the crash sensor.
The hardware platform of the intelligent robot of the application, using integrated mentality of designing, by the hardware of intelligent robot
Man-machine interaction unit, the key control unit of platform are connected with real-time processing unit, the first signal of the man-machine interaction unit
The a large amount of data interaction of first signal receiving end of output end and key control unit connection realization, the first of key control unit
Signal output end is connect with the first signal receiving end of real-time processing unit realizes a small amount of data interactions, and hardware platform is as one
A complete part is handled, and without increasing tablet computer, therefore man-machine interaction unit, key control unit and processing in real time are single
Member can share, and facilitate and carry out complete system optimization, so that system performance is improved, meanwhile, reduce the repetition of peripheral components
It uses, can achieve the purpose for reducing complete machine cost.
According to the accompanying drawings to the detailed description of the specific embodiment of the application, those skilled in the art will be more
Above-mentioned and other purposes, the advantages and features of the application are illustrated.
Detailed description of the invention
Some specific embodiments of the application are described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is the structural block diagram according to the hardware platform of the intelligent robot of the application one embodiment；
Fig. 2 is the work flow diagram of the hardware platform of intelligent robot shown in FIG. 1；
Fig. 3 is visual identity flow chart in Fig. 2.
Specific embodiment
The application is described in further detail below by specific embodiment combination attached drawing.
In view of the tablet computer for servicing the autonomous wheel undercarriage of class robot at present and being responsible for delivering is completely independent
It comes, therefore, some devices that can be shared can not share, and lead to the cost increase of system, and part function not can be carried out connection
The problem of closing optimization, this application provides the hardware platforms of intelligent robot.
A kind of hardware platform of intelligent robot comprising: shell is equipped with man-machine interaction unit, core inside the housing
Heart control unit and real-time processing unit, man-machine interaction unit are connect with key control unit, man-machine interaction unit and in real time place
Manage unit connection；Wherein, the first signal receiving end of the first signal output end of man-machine interaction unit and key control unit connects
It connects, the first signal output end of key control unit is connect with the first signal receiving end of real-time processing unit.
Using integrated mentality of designing, the man-machine interaction unit of the hardware platform of intelligent robot, core are controlled single
It is first to be connected with real-time processing unit, the first signal output end of the man-machine interaction unit and the first signal of key control unit
A large amount of data interaction, the first signal output end of key control unit and the first of real-time processing unit are realized in receiving end connection
Signal receiving end connection realizes a small amount of data interaction, hardware platform as one it is complete partly handle, it is flat without increasing
Plate computer, therefore man-machine interaction unit, key control unit and real-time processing unit can share, and facilitate and carry out complete system
Optimization, so that system performance is improved, meanwhile, reduce the reuse of peripheral components, can achieve the mesh for reducing complete machine cost
's.
The technology is described in detail below:
Embodiment 1:
The hardware platform of intelligent robot is equipped with human-computer interaction list as shown in Figure 1, including shell inside the housing
Member 13, key control unit 11 and real-time processing unit 9,13 yuan of human-computer interaction list connect with key control unit 11, man-machine friendship
Mutual unit 13 is connect with real-time processing unit 9；Wherein, the first signal output end and key control unit of man-machine interaction unit 13
First letter of 11 the first signal receiving end connection, the first signal output end of key control unit 11 and real-time processing unit 9
The connection of number receiving end.
In this embodiment, the interactive data information amount between real-time processing unit 9 and key control unit 11 is smaller, because
This is attached using simple serial interface.A large amount of data are had between key control unit 11 and man-machine interaction unit 13
Interaction, therefore be attached using gigabit ethernet interface.
In one embodiment, man-machine interaction unit 13 is connect with display screen 1, loudspeaker 12；Wherein, man-machine interaction unit 13
Second signal output end connect with the signal receiving end of display screen 1, the third signal output end and loudspeaker of man-machine interaction unit 13
12 signal receiving end connection.Display screen 1 and loudspeaker 12 are connected directly as information output unit and man-machine interaction unit 13,
1 interface of display screen is standard shows interface, such as: LVDS interface, and loudspeaker 12 are two line analog interface of standard.
In one embodiment, key control unit 11 is connect with binocular camera 2, microphone array 10；Wherein, core
The second signal receiving end of control unit 11 is connect with the signal output end of binocular camera 2, the third of key control unit 11
Signal receiving end is connect with the signal output end of microphone array 10.Key control unit 11 is connect with sensory package；Wherein, core
The fourth signal receiving end of heart control unit 11 and the signal output end of sensory package connect.Binocular camera 2, microphone array
10, laser radar, infrared sensor, ultrasonic sensor are that the information of entire core control algolithm is come as information collection entrance
Source and key control unit 11 are connected directly, and wherein 2 interface of binocular camera can be standard USB interface, microphone array 10
Microphone interface is simulated for two line of Nx of standard.Sensory package includes laser radar, infrared sensor and ultrasonic sensor,
In, laser radar interface is standard serial port, and infrared sensor and ultrasonic sensor are also all corresponding standard analog interface.
In one embodiment, real-time processing unit 9 is connect with steering engine 4；Wherein, the first signal of real-time processing unit 9
Output end is connect with the signal receiving end of steering engine 4.Real-time processing unit 9 is connect with motor 5；Wherein, the of real-time processing unit 9
Binary signal output end is connect with 5 signal receiving end of motor.Real-time processing unit 9 is connect with motion measurement code-disc 6；Wherein, in real time
The second signal receiving end of processing unit 9 is connect with the signal output end of motion measurement code-disc 6.Real-time processing unit 9 with it is close
Sensor 7 connects；Wherein, the third signal receiving end of real-time processing unit 9 is connect with the signal output end of proximity sensor 7.
Real-time processing unit 9 is connect with crash sensor 8；Wherein, the fourth signal output end and crash sensor of real-time processing unit 9
9 signal receiving end connection.Steering engine 4, motor 5, motion measurement code-disc 6, proximity sensor 7, crash sensor 8 are processors
The movement of the real time kinematics of device people and reaction peripheral hardware, therefore be directly connected to real-time processing unit 9, wherein steering engine 4 is standard PWM
Interface or digital interface, motor 5 are standard PWM interface, and motion measurement code-disc 6 is calibration pulse interface, 7 He of proximity sensor
Crash sensor 8 is also all corresponding standard interface.
In one embodiment, whole robot hardware's platform is made of three parts: core processing module, sensing
Device, control unit.Wherein, core processing module includes three subelements:
1. real-time processing unit is single-chip microcontroller or processor: the core of the unit is external interface single-chip microcontroller abundant, one
As STM32 series monolithic can be used, for handling and the interface of basic external equipment, including motor, steering engine, close to sensing
Device, crash sensor etc.；
2. key control unit is single-chip microcontroller or processor: the core of the unit is operation Linux embedded OS
ARM framework CPU, have powerful computing capability and image-capable, for running core control algolithm, including some bases
In the Orientation control algorithm of vision and the sense of hearing；
3. man-machine interaction unit is single-chip microcontroller or processor: the core of the unit is the ARM for running Android operation system
Framework CPU can run the application software of various third party's exploitations on it.The cell processing human-computer interaction, including image recognition,
Visual spatial attention, speech recognition, speech synthesis etc., and the application of various businesses rank is handled, such as promotion, welcome, guiding.
As shown in Fig. 2, when specific processing:
1. real-time controlling unit is single-chip microcontroller or processor:
Real-time controlling unit is the unit for handling the bottom of entire robot motion, which receives motion-control module
The control instruction (such as robot speed orders) provided, is converted into the instruction of the concrete operations to each peripheral unit (such as electricity
Machine PWM instruction), and operational order is issued into corresponding peripheral hardware.Motion measurement code-disc measures current motor angular velocity and feedback
To real-time controlling unit, real-time controlling unit can be realized by closed loop control algorithms such as PID and be controlled the real-time stable state of motor；It connects
Nearly sensor and crash sensor can obtain whether robot bumps against with the barrier of surrounding in real time, and notice is real-time in time
Control unit, real-time controlling unit can timely adjust the speed of robot, prevent from colliding；Attitude transducer provides robot
Current pose, and real-time controlling unit is notified to carry out gesture stability；
2. sound source information is handled:
The hardware platform of intelligent robot further includes sound source information processing module, which handles mould, for handling
The multichannel sound source that microphone array provides, carries out convergence operation, so that the direction of sound source be calculated, and assembles the sound of the direction
Sound, while inhibiting the sound in other directions.After operation, on the one hand the acoustic information after convergence is sent to human-computer interaction list
On the other hand the Sounnd source direction being calculated is sent to motion-control module by member.
3. image information HUB:
The input of image information HUB module is the two-path video data that two-way camera provides, which will wherein all the way
Video data is sent to man-machine interaction unit, while giving two-path video data transmission to extraction of depth information module.
4. image information HUB:
Extraction of depth information module reads two-path video data, while the position and attitude information that read machine people is current, leads to
The range information of exterior object in environment where visual analysis algorithm obtains robot is crossed, and sends motion-control module to；
5. motion control:
Motion-control module is resume module sound source information processing mould where the core algorithm of entire key control unit
Range information, laser radar, infrared sensor, the ultrasonic sensing that Sounnd source direction that block provides, extraction of depth information module provide
The range information that device provides, and operation is carried out according to the order received from upper layer application, the control instruction of speed command is provided, is sent out
To real-time controlling unit.In this course, which also constantly obtains the location status that real-time controlling unit provides, to be formed
Closed loop adjustment.
6. visual identity (offline+online):
Visual identity module reads video data all the way, and it is corresponding to carry out Face datection, recognition of face, two dimensional code identification etc.
Visual performance required for business-level, and corresponding result is issued into upper layer application；In order to reduce network transmission, visual identity
Module using it is offline+combine online by the way of carry out, it is specific as shown in Figure 3: where Face datection, face tracking and two dimensional code
Identification function is completed by the off-line algorithm of robot interior, and Face datection part is after completing offline detection, if inspection
Face is measured, then sends the characteristic value of the face (rather than image data) to by network the online Identification of Images mould on backstage
Block, then the matching result after identification is sent back into visual identity module in wire module by this, so as to avoid meaningless by image
It is sent to the consumption of flow caused by cloud.
7. speech recognition (offline):
Speech recognition module reads the voice data after assembling, and carries out speech recognition, and recognition result is sent to upper layer
Using；In order to improve interactive speed, speech recognition uses identified off-line mode, and the algorithm of all identifications is complete in robot interior
At not needing to be connected to the network；
8. upper layer application:
Upper layer application is the application program based on Android, which mainly handles one in human-computer interaction process
The function of a little interfaces and business-level, and the movement of instruction control robot can be passed through.
Using the technical program, can be brought at following three aspects the utility model has the advantages that
The technical program uses integrated mentality of designing, using the core processing part of robot as a complete portion
Divide to handle, facilitates and carry out complete system optimization, to improve system performance；
Simultaneously as reducing the reuse of peripheral components, the technical program can achieve the mesh for reducing complete machine cost
's；
On the other hand, in the technical program, peripheral components use modularized design, and different products can be selected different
Module, to accomplish that the same hardware platform supports the end product of a variety of class.
The preferable specific embodiment of the above, only the application, but the protection scope of the application is not limited thereto,
Within the technical scope of the present application, any changes or substitutions that can be easily thought of by anyone skilled in the art,
Should all it cover within the scope of protection of this application.Therefore, the protection scope of the application should be with scope of protection of the claims
Subject to.
Claims (10)
1. a kind of hardware platform of intelligent robot characterized by comprising
Man-machine interaction unit, key control unit and real-time processing unit, the man-machine interaction unit and core control are single
Member connection, the man-machine interaction unit are connect with the real-time processing unit；
Wherein, the first signal receiving end of the first signal output end of the man-machine interaction unit and the key control unit connects
It connects, the first signal output end of the key control unit is connect with the first signal receiving end of the real-time processing unit.
2. the hardware platform of intelligent robot according to claim 1, it is characterised in that:
The man-machine interaction unit is connect with display screen, loudspeaker；
Wherein, the second signal output end of the man-machine interaction unit is connect with the signal receiving end of the display screen, the people
The third signal output end of machine interactive unit is connect with the signal receiving end of the loudspeaker.
3. the hardware platform of intelligent robot according to claim 1, it is characterised in that:
The key control unit is connect with binocular camera, microphone array；
Wherein, the second signal receiving end of the key control unit is connect with the signal output end of the binocular camera, institute
The third signal receiving end for stating key control unit is connect with the signal output end of the microphone array.
4. the hardware platform of intelligent robot according to any one of claim 1-3, it is characterised in that:
The key control unit is connect with sensory package；
Wherein, the fourth signal receiving end of the key control unit is connect with the signal output end of the sensory package.
5. the hardware platform of intelligent robot according to claim 4, it is characterised in that:
The sensory package includes laser radar, infrared sensor and ultrasonic sensor.
6. the hardware platform of intelligent robot according to claim 1, it is characterised in that:
The real-time processing unit is connect with steering engine；
Wherein, the first signal output end of the real-time processing unit is connect with the signal receiving end of the steering engine.
7. the hardware platform of intelligent robot according to claim 1, it is characterised in that:
The real-time processing unit is connected to motor；
Wherein, the second signal output end of the real-time processing unit is connect with the motor signal receiving end.
8. the hardware platform of intelligent robot according to claim 1, it is characterised in that:
The real-time processing unit is connect with motion measurement code-disc；
Wherein, the second signal receiving end of the real-time processing unit is connect with the signal output end of the motion measurement code-disc.
9. the hardware platform of intelligent robot according to claim 1, it is characterised in that:
The real-time processing unit is connect with proximity sensor；
Wherein, the third signal receiving end of the real-time processing unit is connect with the signal output end of the proximity sensor.
10. the hardware platform of the intelligent robot according to any one of claim 6-9, it is characterised in that:
The real-time processing unit is connect with crash sensor；
Wherein, the fourth signal output end of the real-time processing unit is connect with the signal receiving end of the crash sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820379879.9U CN208323396U (en) | 2018-03-20 | 2018-03-20 | A kind of hardware platform of intelligent robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820379879.9U CN208323396U (en) | 2018-03-20 | 2018-03-20 | A kind of hardware platform of intelligent robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549337A (en) * | 2019-08-30 | 2019-12-10 | 上海有个机器人有限公司 | Distribution robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549337A (en) * | 2019-08-30 | 2019-12-10 | 上海有个机器人有限公司 | Distribution robot control system |
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