CN100360204C - Control system of intelligent perform robot based on multi-processor cooperation - Google Patents
Control system of intelligent perform robot based on multi-processor cooperation Download PDFInfo
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- CN100360204C CN100360204C CNB200510026804XA CN200510026804A CN100360204C CN 100360204 C CN100360204 C CN 100360204C CN B200510026804X A CNB200510026804X A CN B200510026804XA CN 200510026804 A CN200510026804 A CN 200510026804A CN 100360204 C CN100360204 C CN 100360204C
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Abstract
The present invention relates to a control system of an intelligent perform robot based on multi-processor cooperation, which comprises a face image recognition controller, an environment perceiving and positioning controller, a communication control and decision making device and a robot body behavior controller, wherein the face image recognition controller recognizes information about the sex and the age range of viewers standing in front of a robot through visual information, and the information are transmitted to the communication control and decision making device through a local area network; the environment perceiving and positioning controller obtains position information and ambient environment information of the robot through the visual information, and exchanges information with the communication control and decision making device through the local area network; the communication control and decision making device decides the behavior action of the robot according to the information from the environment perceiving and positioning controller and the communication control and decision making device, and the robot self state information transmitted from the robot body behavior controller through the wireless local area network. The present invention has the advantages of easy functional expansion and secondary development, low price, safety and reliability.
Description
Technical field
The present invention relates to a kind of control system that belongs to the Electromechanical Control technical field, specifically, is a kind of intelligence performance ROBOT CONTROL system based on multi-processor cooperation.
Background technology
Along with computer technology, control technology and other as development of internet technology, and the improving constantly of people's living standard, people are more and more denseer to the interest of high-tech amusement equipment, teaching through lively activities becomes one of effective ways of present work of popular science.Robot will open up the commercial market 21 century, and a wherein important field is an amusement robot.In recent years, the amusement robot technical development gets very fast, and from the walking robot to the Soccer robot, to the machine insect, many amusement robots have been come into our life from robot.But at present special-purpose class people's amusement robot carries out the performance of some function singleness only, and the behavior sequencing can not carried out interaction with the people and gets along amiably and peacefully.And the shortcoming that the lead time is long, cost of manufacture is high arranged.The performance robot normally works under the destructuring environment, i.e. the environment of its work may change in the performance process, and that works arranges production environment in advance unlike industrial robot.Compare with industrial robot and automated arm, the reciprocation of performance machine human and environment is complicated more, and control is difficulty more, so it requires higher to intelligent degree.
Find by prior art documents, Chinese invention patent (application number: 03141789) announced a kind of piano performing robot, this robot adopts the method for automatic movement locus planning or motion teaching, under normal music beat, the finger movement of robot can be played as real pianist with the shift position.But this robot adopts centralized control mode, is unfavorable for the function expansion; And can only under structural environment, work, be not suitable for the stage performance environment of dynamic non-structure.And as a performance robot that incorporates people's daily life, its development cost and lead time also are its important factors that squeezes into the market.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of intelligence performance robot control system based on multi-processor cooperation is provided, make it use modular design, be easy to function expansion and secondary development, and cheap, safe and reliable.
The present invention is achieved through the following technical solutions, the present invention includes: facial image identification controller, environment sensing and register control, Communication Control and decision-making device, robot body behavior controller.The facial image identification controller is identified in the sex of the spectators in face of the robot and the range of age information, elevation information by visual information, and this information is sent to Communication Control and decision-making device by LAN; Environment sensing and register control obtain the positional information and the ambient condition information of robot by visual information, and carry out information interaction by LAN and Communication Control and decision-making device; The robot oneself state information that information that the information that Communication Control and decision-making device obtain according to the facial image identification controller, environment sensing and register control obtain and robot body behavior controller send by WLAN determines the behavior act of robot, be sent to the robot body behavior controller with certain agreement, the behavior of control robot.
Described facial image identification controller comprises: a CCD camera, wireless video transmitter, wireless video recipient, image pick-up card, first PC, facial image identification module.The CCD camera collection is in the spectators' in robot the place ahead image information, this image information sends by the wireless video transmitter, the wireless video recipient links to each other with image pick-up card, IMAQ is fastened on first people's computer, the facial image identification module is located in first PC, and the facial image identification module identifies sex, age and the elevation information of the spectators in face of robot.
Described environment sensing and register control comprise: the 2nd CCD camera, image pick-up card, second PC, vision locating module, the 2nd CCD camera by video line with video signal transmission to image pick-up card, IMAQ is fastened on second PC, the vision locating module is located in second PC, the vision locating module detects positional information, the ambient condition information of robot in stage, and described ambient condition information comprises the boundary position of stage, the position of barrier, spectators' positional information.
Described Communication Control and decision-making device comprise: hub, wireless bridge, netting twine, Communication Control and decision-making module, first PC links to each other with hub by netting twine with second PC, wireless bridge links to each other with hub by netting twine, thereby realize the interconnection between the flush bonding processor on two PCs and the robot body, Communication Control and decision-making module are located in second PC, finish the information interconnection between each system and the fusion of various information, the final behavior control instruction of determining robot, and be sent to embedded controller on the robot body by wireless network.
Described robot body behavior controller comprises: sensing system, intelligent processor system, drive system, four subsystems of executive system.Sensing system is gathered ambient condition information and robot self attitude information, and is transferred to the intelligent processor system; The intelligent processor system sends corresponding instruction by the control instruction that wireless network sends over to drive system according to these information and Communication Control and decision-making device, controls executive system at last by drive system and moves, and finishes the corelation behaviour of robot.
Described intelligent processor system comprises: embedded controller, AD card, IO card, motion control card, wireless network card, planning control module and motion-control module automatically.Behavior planning control module is located in the memory of embedded controller, embedded controller is by PC104 bus and AD card, IO card connection, embedded controller is connected with wireless network card by USB interface, embedded controller carries out information interaction by serial ports and motion control card, and motion-control module is located in the memory of motion control card automatically.
Described sensing system comprises: rotary encoder, potentiometer and ultrasonic sensor, rotary encoder are located on the servomotor, link to each other the position signalling of feedback robot simultaneously with motion control card with motor driver; Potentiometer links to each other by shaft joint with motor output shaft, and potentiometer output is gathered by the AD card, the joint motions state of feedback robot; Ultrasonic sensor is located at dead ahead, robot chassis, and ultrasonic sensor is exported by the motion control card collection, the feedback ambient condition information.
Described drive system comprises: motor driver, LED drive, loudspeaker drive.Motor driver and motion control card connection, LED drive and IO card connection, loudspeaker drive and IO card connection, the robot behavior instruction transformation that the intelligent processor system is determined is that executive system directly drives order, finishes the isolation and the electrical level match of signal simultaneously.
Described executive system comprises: servomotor, light emitting diode, loudspeaker.Servomotor is connected with motor driver, light emitting diode is connected with LED drive, loudspeaker is connected with loudspeaker drive, realizes that finally the brandishing of the moving of robot body, arm, the swing of head, the song of knee stretch and the change of led color and the control of voice output.
At performance venue, behind the people that starts the machine, robot at first obtains environmental information by the panoramic shooting head, handles obtaining self poisoning information and environment obstacle information by the vision locating module.The vision locating module is sent to communication control module by respective protocol with these information.Simultaneously, the embedded controller on the robot body obtains to handle the odometer information that obtains, the obstacle distance information that ultrasonic sensor records by the DSP card by serial ports, is sent to communication control module equally by wireless network then.Communication control module is finally determined the self poisoning information and the environmental information of robot by to the fusion of these two kinds of information, comes the action and the voice operating of guidance machine people moving before the lights, arm.In case there are spectators to be invited on the stage by the host, after robot detected spectators' positional information by the panoramic shooting head, all-moving surface was to these spectators immediately, and keep and spectators between certain distance, with assurance safety, and obtain recognition of face performance preferably and good man-machine interaction effect.Be located at after robot eyes CCD camera captures spectators' facial image, send on the PC A by the wireless video transmitter.The facial image identification module is by the characteristic information of identification people face, profile as eye, eyebrow, nose, mouth, judge these spectators' sex information and age bracket range information, and send in the embedded controller on the robot body by corresponding procotol, the guidance machine people makes corresponding action performance and voice control, such as waving, make a slight bow, saying hello.Simultaneously, according to spectators' sex, change the color of LED.Such as representing the Ms, represent the man with blueness with redness.Accordingly, after the facial image identification module is judged the position of people's face in entire image, send to equally in the embedded controller on the robot body, the guidance machine people adjusts the height of self, makes the sight line of robot and spectators remain on the same horizontal plane.
Adopt machine vision to carry out the identification of people's face essential information among the present invention; It is self-align that employing panoramic vision and code-disc information fusion are carried out robot; Adopt panoramic vision, and the auxiliary ultrasonic sensor information is carried out the environmental information extraction; Adopt intelligent control technology carry out robot behavior and voice from main control, each functions of modules is separated, and is easy to design and expansion.Adopt the technology of multi-processor cooperation, will appeal each function and organically be combined into as a wholely, finish the task of legitimate drama performance, the perfect deduction and the theme of people's harmonious coexistence.Corresponding behavior and language manipulation are selected according to the spectators' that identify essential information by this robot, flexible movements, and independence is strong, realizes that man-machine harmony is mutual, thereby reaches the purpose of teaching through lively activities.The relevant control technology of robot of the present invention also can be applied on other equipment that need coordinate distributed control.DC servo motor of the present invention, Pentium class embedded controller and motion control card make the arm of robot and mobile behavior response speed fast; Owing to adopted position servo control, make the positioning accuracy of robot very high simultaneously.Because the localization method that has adopted multiple sensors to merge, robot can accurately locate, and adapts to the performance environment automatically, and carries out different performances, intelligent height according to the difference of scene.The technology that multiple sensors merges makes that simultaneously robot can automatic obstacle-avoiding, improves it as a kind of and human security performance of carrying out mutual amusement robot.The control technology that adopts multiprocessor to merge makes this robot easily just can expand its function, such as increasing its free degree, perhaps increases speech identifying function, and does not need to design again.
Description of drawings
Fig. 1 is a structured flowchart of the present invention
The specific embodiment
Below in conjunction with accompanying drawing and example technical scheme of the present invention is further described.
As shown in Figure 1, the present invention includes: facial image identification controller, environment sensing and register control, Communication Control and decision-making device, robot body behavior controller.Division is as follows:
1. facial image identification controller.The facial image identification controller is identified in sex and the range of age information of the spectators in face of the robot by visual information, and this information is sent to Communication Control and decision-making device by LAN.Comprise: a CCD camera, wireless video transmitter, wireless video recipient, image pick-up card, first PC, facial image identification module.The CCD camera collection is in the spectators' in robot the place ahead image information, this image information sends by the wireless video transmitter, the wireless video recipient links to each other with image pick-up card, IMAQ is fastened on first people's computer, the facial image identification module is located in first PC, and the facial image identification module identifies sex, age and the elevation information of the spectators in face of robot.
2. environment sensing and register control.Environment sensing and register control obtain the positional information and the ambient condition information of robot by visual information.Comprise: the 2nd CCD camera, image pick-up card, second PC, vision locating module, the 2nd CCD camera by video line with video signal transmission to image pick-up card, IMAQ is fastened on second PC, the vision locating module is located in second PC, the vision locating module detects positional information, the ambient condition information of robot in stage, and described ambient condition information comprises the boundary position of stage, the position of barrier, spectators' positional information.
3. Communication Control and decision-making device.Communication Control and decision-making device are according to the above two the information and the behavior act of the oneself state information decision robot of robot that sends by WLAN of robot body behavior controller, be sent to the robot body behavior controller with certain agreement, the behavior of control robot.Comprise: hub, wireless bridge, netting twine, Communication Control and decision-making module, first PC links to each other with hub by netting twine with second PC, wireless bridge links to each other with hub by netting twine, thereby realize the interconnection between the flush bonding processor on two PCs and the robot body, Communication Control and decision-making module are located in second PC, finish the information interconnection between each system, and the fusion of various information, the final behavior control instruction of determining robot, and be sent to embedded controller on the robot body by wireless network.
4. robot body behavior controller.Comprise: sensing system, intelligent processor system, drive system, four subsystems of executive system.Division is as follows:
Described sensing system comprises rotary encoder, potentiometer and ultrasonic sensor.Rotary encoder is located on the servomotor, links to each other the position signalling of feedback robot simultaneously with motion control card with motor driver; Potentiometer links to each other by shaft joint with motor output shaft, and potentiometer output is gathered by the AD card, the joint motions state of feedback robot; Ultrasonic sensor is located at dead ahead, robot chassis, and ultrasonic sensor is exported by the motion control card collection, the feedback ambient condition information.
Described intelligent processor system comprises embedded controller, AD card, IO card, motion control card, wireless network card, planning control module and motion-control module automatically.Embedded controller is located in the robot knapsack, is located at for the planning control module in the memory of embedded controller.This controller is connected by USB interface and the wireless network card in being located at the robot knapsack by PC104 bus and AD card, IO card connection, carries out information interaction by serial ports and the motion control card that is located in the robot chassis.Automatically motion-control module is located in the memory of motion control card.The control instruction that intelligent controller sends over by wireless network according to the information of sensing system collection and Communication Control and decision-making device is sent the behavior act of corresponding instruction decision robot to drive system, and drive system is sent command adapted thereto.
Described drive system comprises motor driver, LED drive, loudspeaker drive.Motor driver and motion control card connection, LED drive and IO card connection, loudspeaker drive and IO card connection, the robot behavior instruction transformation that the intelligent processor system is determined is that executive system directly drives order, finishes the isolation and the electrical level match of signal simultaneously.
Described executive system comprises servomotor, light emitting diode, loudspeaker.Arm, knee, neck, mobile wheel link to each other with servomotor by shaft joint, and servomotor links to each other with motor driver; Light emitting diode is located at the neck and the shoulder of robot, is connected with LED drive; Loudspeaker is located at the robot mouth, is connected with loudspeaker drive, finally realizes moving of robot body according to the direct driving order of drive system, brandishing of arm, the swing of head, the song of knee is stretched, and the change of led color, the control of voice output.
Claims (9)
1. the intelligence based on multi-processor cooperation is performed the ROBOT CONTROL system, comprise: the facial image identification controller, environment sensing and register control, Communication Control and decision-making device, the robot body behavior controller, it is characterized in that, the facial image identification controller is identified in the spectators' in front of robot sex and the range of age information by visual information, elevation information, and this information is sent to Communication Control and decision-making device by LAN, environment sensing and register control obtain the positional information and the ambient condition information of robot by visual information, and carry out information interaction by LAN and Communication Control and decision-making device, the information that Communication Control and decision-making device obtain according to the facial image identification controller, the robot oneself state information that information that environment sensing and register control obtain and robot body behavior controller send by WLAN determines the behavior act of robot, be sent to the robot body behavior controller with agreement, the behavior of control robot.
2. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 1, it is characterized in that, described facial image identification controller comprises: a CCD camera, the wireless video transmitter, the wireless video recipient, image pick-up card, first PC, the facial image identification module, the one CCD camera collection is in the spectators' in robot the place ahead image information, this image information sends by the wireless video transmitter, the wireless video recipient links to each other with image pick-up card, IMAQ is fastened on first people's computer, the facial image identification module is located in first PC, and the facial image identification module identifies the sex of the spectators in face of robot, age and elevation information.
3. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 1, it is characterized in that, described environment sensing and register control comprise: the 2nd CCD camera, image pick-up card, second PC, the vision locating module, the 2nd CCD camera by video line with video signal transmission to image pick-up card, IMAQ is fastened on second PC, the vision locating module is located in second PC, the vision locating module detects the positional information of robot in stage, ambient condition information, described ambient condition information comprises the boundary position of stage, the position of barrier, spectators' positional information.
4. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 1, it is characterized in that, described Communication Control and decision-making device comprise: hub, wireless bridge, netting twine, Communication Control and decision-making module, first PC links to each other with hub by netting twine with second PC, wireless bridge links to each other with hub by netting twine, thereby realize the interconnection between the flush bonding processor on two PCs and the robot body, Communication Control and decision-making module are located in second PC, finish the information interconnection between each system and the fusion of various information, the final behavior control instruction of determining robot, and be sent to embedded controller on the robot body by wireless network.
5. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 1, it is characterized in that, described robot body behavior controller comprises: sensing system, the intelligent processor system, drive system, four subsystems of executive system, sensing system is gathered ambient condition information and robot self attitude information, and be transferred to the intelligent processor system, the intelligent processor system sends corresponding instruction by the control instruction that wireless network sends over to drive system according to these information and Communication Control and decision-making device, control executive system at last by drive system and move, finish the corelation behaviour of robot.
6. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 5, it is characterized in that, described intelligent processor system comprises: embedded controller, the AD card, the IO card, motion control card, wireless network card, planning control module and automatic motion-control module, behavior planning control module is located in the memory of embedded controller, embedded controller is by PC104 bus and AD card, the IO card connection, embedded controller is connected with wireless network card by USB interface, embedded controller carries out information interaction by serial ports and motion control card, and motion-control module is located in the memory of motion control card automatically.
7. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 5, it is characterized in that, described sensing system comprises: rotary encoder, potentiometer and ultrasonic sensor, rotary encoder is located on the servomotor, link to each other with motion control card with motor driver simultaneously, the position signalling of feedback robot, potentiometer links to each other by shaft joint with motor output shaft, potentiometer output is gathered by the AD card, the joint motions state of feedback robot, ultrasonic sensor is located at dead ahead, robot chassis, and ultrasonic sensor is exported by the motion control card collection, the feedback ambient condition information.
8. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 5, it is characterized in that, described drive system comprises: motor driver, LED drive, loudspeaker drive, motor driver and motion control card connection, LED drive and IO card connection, loudspeaker drive and IO card connection, the robot behavior instruction transformation that the intelligent processor system is determined is that executive system directly drives order, finishes the isolation and the electrical level match of signal simultaneously.
9. the intelligence performance ROBOT CONTROL system based on multi-processor cooperation according to claim 5, it is characterized in that, described executive system comprises: servomotor, light emitting diode, loudspeaker, servomotor is connected with motor driver, light emitting diode is connected with LED drive, loudspeaker is connected with loudspeaker drive, realizes that finally the brandishing of the moving of robot body, arm, the swing of head, the song of knee stretch and the change of led color and the control of voice output.
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