CN105563500B - A kind of electronic control system and method towards household small-size intelligent robot - Google Patents
A kind of electronic control system and method towards household small-size intelligent robot Download PDFInfo
- Publication number
- CN105563500B CN105563500B CN201610077819.7A CN201610077819A CN105563500B CN 105563500 B CN105563500 B CN 105563500B CN 201610077819 A CN201610077819 A CN 201610077819A CN 105563500 B CN105563500 B CN 105563500B
- Authority
- CN
- China
- Prior art keywords
- robot
- information
- master
- control information
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of electronic control system and method towards household small-size intelligent robot.System includes：Interactive information acquisition module, it is configured to, and collection is outside to interactively enter information, and the interactive information acquisition module includes voice collecting unit and touch sensor；Interaction process module, it is configured to analyze the outside and interactively enters information and export corresponding speech response control information and control information is responded in action；Voice-output unit, it is configured to the speech response according to the speech response control information output matching；Robot limb control unit, it is configured to respond the robot limb control signal of control information output matching to drive the limbs of robot to make corresponding actions according to the action while voice-output unit exports the speech response.Realization action it can be interacted while interactive voice is carried out according to the robot electronic control system and method for the present invention, with wider array of application and more preferable Consumer's Experience.
Description
Technical field
The present invention relates to robot field, a kind of Electronic Control system towards household small-size intelligent robot is in particulard relate to
System and method.
Background technology
With computer technology continue to develop and artificial intelligence technology continuous progress.In domestic environments small intelligent
Also more and more extensively, the small intelligent robot towards family expenses is just in fast development for the application of robot.
The existing small scale robot towards family expenses, is only capable of realizing button opening and closing or interactive voice, can not still pass through its other party
Formula, realizes the polynary communication of user and small scale robot.Especially existing robot can not be still reached during interactive voice
Limb action is exported simultaneously to realize the interaction on limb action.This not only limit the application of robot, Er Qie great
The big Consumer's Experience for reducing robot.
Therefore, in order to improve the Consumer's Experience of robot, the application of robot is expanded, is needed badly a kind of small towards family expenses
The electronic control system of type intelligent robot.
The content of the invention
In order to improve the Consumer's Experience of robot, the application of robot is expanded, the invention provides one kind towards family
With the electronic control system of small intelligent robot, including：
Interactive information acquisition module, it is configured to, and collection is outside to interactively enter information, the interactive information acquisition module bag
Unit containing voice collecting and touch sensor, the voice collecting unit are configured to gather extraneous voice messaging, the touch
Sensor configuration is collection external touch pressure data；
Interaction process module, it is configured to analyze the outside and interactively enters information and export corresponding speech response control
Control information is responded in information and action, and mutual of control information is responded in the speech response control information and the action
Match somebody with somebody；
Voice-output unit, it is configured to the speech response according to the speech response control information output matching；
Robot limb control unit, it is configured to the root while voice-output unit exports the speech response
Respond the robot limb control signal of control information output matching to drive the limbs of robot to make accordingly according to the action
Action.
In one embodiment, the interaction process module includes networked interactive unit, and the networked interactive unit is configured to
The data interaction of the interaction process module and robot network's service end is realized, the interaction process module is configured to described
The interaction is generated under the auxiliary of robot network's service end and responds control information.
In one embodiment, the system include master system and lower computer system, the master system and
The lower computer system is respectively respectively comprising one piece of independent master control borad, the interactive information acquisition module, the interaction process mould
Block and the voice-output unit are built into the master system, and the robot limb control unit is built into
In the lower computer system.
In one embodiment, the master control borad of the master system is the master control borad based on full will double-core A20 processors, institute
State and wireless networking module, Mike's noise reduction module and audio amplification block are integrated with the master control borad of master system.
In one embodiment, the system also includes attitude transducer, and the attitude transducer is built into the bottom
In machine system, the attitude transducer is configured to supervisory-controlled robot current pose, and the robot limb control unit is configured to
Based on the corresponding robot limb control signal of robot current pose output.
In one embodiment, the master control borad of the lower computer system is the master based on STMicw Electronics microcontroller STM32
Control and be integrated with six axle attitude transducer MPU6500 and motor drive module on plate, the master control borad of the lower computer system.
In one embodiment, the system also includes electricity quantity display module, and the electricity quantity display module is built into described
In lower computer system, wherein：
The master control borad of the master system is configured to gather and sends the current information about power of robot；
The electricity quantity display module is configured to be shown according to the corresponding electricity of information about power output.
In one embodiment, the system also includes interactive display module, and the interactive display module is built into described
In lower computer system, wherein：
The master control borad of the master system is configured to gather and sends the current interaction mode of robot, the interactive shape
State includes recording state, voice/action output state and semantic analysis state；
The interactive display module is configured to be shown according to the corresponding interaction mode of interaction mode output.
In one embodiment, the system also includes vision sensor and VPU, wherein：
The vision sensor is configured to gather external image information；
The VPU is configured to analyze and process the external image information and image analysis processing result is sent out
It is sent to the interaction process module；
The interaction process module is configured to outside described in comprehensive analysis interactively enter at information and described image analysis
Reason result simultaneously exports corresponding speech response control information and action response control information.
Present invention also offers a kind of electronic control method towards household small-size intelligent robot, including：
Collection is outside to interactively enter information, and the outside interactively enters packet and contains extraneous voice messaging and external touch
Pressure data；
The outside is analyzed to interactively enter information to generate corresponding speech response control information and action response control
Information, the speech response control information and the action are responded control information and are mutually matched；
The speech response of matching is generated according to the speech response control information；
The robot limb of control information generation matching is responded according to the action while speech response is generated
Control signal is to drive the limbs of robot to make corresponding actions.
In one embodiment, robot network is utilized when outside described in local machine people's network analysis interactively enters information
Service end aids in the local machine people system to carry out data analysis.
In one embodiment, master system and lower computer system are constructed respectively based on two pieces of independent master control borads, its
In：
Realize that the gathering of the external input information, the outside interactively enter point of information by the master system
The generation of control information and the generation of the speech response are responded in analysis, the speech response control information and the action；
The generation of the robot limb control signal is realized by the lower computer system.
In one embodiment, using master of the master control borad based on full will double-core A20 processors as the master system
Plate is controlled, wireless networking module, Mike's noise reduction module and audio amplification block are integrated in the master control borad of the master system
On.
In one embodiment, it is current based on the robot by the lower computer system supervisory-controlled robot current pose
The corresponding robot limb control signal of posture output.
In one embodiment, the slave computer system is used as using the master control borad based on STMicw Electronics microcontroller STM32
The master control borad of system, six axle attitude transducer MPU6500 and motor drive module is integrated in the master control of the lower computer system
On plate.
In one embodiment, electricity quantity display module is constructed in the lower computer system, wherein：
Gathered by the master control borad of the master system and send the current information about power of robot；
Corresponding electricity is exported using the electricity quantity display module according to the information about power to show.
In one embodiment, interactive display module is constructed in the lower computer system, wherein：
Gathered by the master control borad of the master system and send the current interaction mode of robot, the interaction mode
Including recording state, voice/action output state and semantic analysis state；
Corresponding interaction mode is exported using the interactive display module according to the interaction mode to show.
In one embodiment, methods described also includes：
Gather external image information；
The external image information is analyzed and processed to generate image analysis processing result；
It is outside described in comprehensive analysis to interactively enter information and described image analysis processing result to generate corresponding voice
Respond control information and control information is responded in action.
Realization it can be acted while interactive voice is carried out according to the robot electronic control system and method for the present invention
Interaction, it is its small volume, simple in construction compared with the robot control system of prior art, with wider array of application and
More preferable Consumer's Experience.
The further feature or advantage of the present invention will be illustrated in the following description.Also, the present invention Partial Feature or
Advantage will be become apparent by specification, or be appreciated that by implementing the present invention.The purpose of the present invention and part
Advantage can be realized or obtained by specifically noted step in specification, claims and accompanying drawing.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, the reality with the present invention
Apply example to be provided commonly for explaining the present invention, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is according to one embodiment of the invention system architecture sketch；
Fig. 2 is according to one embodiment of the invention system master plate interface distribution schematic diagram；
Fig. 3 is according to one embodiment of the invention method flow diagram.
Embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, whereby implementation personnel of the invention
Can fully understand how application technology means solve technical problem by the present invention, and reach technique effect implementation process and according to
The present invention is embodied according to above-mentioned implementation process.If it should be noted that do not constitute conflict, each embodiment in the present invention
And each feature in each embodiment can be combined with each other, the technical scheme formed protection scope of the present invention it
It is interior.
The existing small scale robot towards family expenses, is only capable of realizing button opening and closing or interactive voice, can not still pass through its other party
Formula, realizes the polynary communication of user and small scale robot.Especially existing robot can not be still reached during interactive voice
Limb action is exported simultaneously to realize the interaction on limb action.This not only limit the application of robot, Er Qie great
The big Consumer's Experience for reducing robot.
In order to improve the Consumer's Experience of robot, the application of robot is expanded, the invention provides one kind towards family
With the electronic control system of small intelligent robot.
The robot electronic control system chief component of the present invention includes interactive information acquisition module, interaction process mould
Block, voice-output unit and robot limb control unit.
As shown in figure 1, interactive information acquisition module 110 is configured to, collection is outside to interactively enter information.Interactive information is gathered
Module 110 includes voice collecting unit 111 and touch sensor 112, and voice collecting unit 111 is configured to gather extraneous voice
Information, touch sensor 112 is configured to gather external touch pressure data.
Interaction process module 120 is configured to analysis outside and interactively enters information and export corresponding speech response control information
And control information is responded in action, speech response control information and action are responded control information and are mutually matched.
Voice-output unit 130 is configured to the speech response according to speech response control information output matching；
Robot limb control unit 140 is configured to respond the robot limb control of control information output matching according to action
Signal processed is to drive the limbs of robot to make corresponding actions.
Because interaction process module 120 is exported and outside interactively enters the corresponding speech response control of information analysis result simultaneously
Control information is responded in information processed and action, and speech response control information and action are responded control information and be mutually matched.
Therefore robot can make while speech response is made responds with the supporting action of speech response.This is just expanded significantly
The application of robot, and improve the Consumer's Experience of robot.
Information is interactively entered in view of analysis outside and generates speech response control information and action response control information
Need to carry out substantial amounts of data processing.In order to reduce the performance requirement of interaction process module, reduce the body of robot control system
Product and cost, in one embodiment of this invention, are configured with networked interactive unit 121 in interaction process module 120.
The data that networked interactive unit 121 is arranged for carrying out interaction process module 120 and robot network's service end 100 are handed over
Mutually, interaction process module 120 is configured to generate interaction response control information under the auxiliary of robot network's service end 100.This
Sample is equivalent to that the data processing operation that interaction process module 120 is completed will be needed to have given robot network's service end originally
100 complete, in addition, original need the data information for being stored in interaction process module 120 to be stored in robot network's clothes
Business end 100.The performance requirement of interaction process module 120 is greatly diminished, and its volume and cost have obtained effective control.
Further, in the embodiment shown in fig. 1, robot electronic control system also includes attitude transducer 150, posture
Sensor 150 is configured to supervisory-controlled robot current pose, and robot limb control unit 140 is configured to the current appearance of robot
State exports corresponding robot limb control signal.It can thus avoid robot from ignoring the current posture of itself to perform by force
Action, so as to avoid the generation for situations such as movement posture mistake or disequilibrium are fallen down.In addition, attitude transducer 150 directly will
Monitoring data is sent to robot limb control unit 140, and interaction process module is quick when control information is responded in generation action
The posture of current robot is obtained, so as to reduce the data processing amount of interaction process unit.
In order to effective control machine people electronic control system volume to realize the miniaturization of robot, it is real in the present invention one
Apply in example, employ the mode being integrated in each functional module on master control borad.Power supply requirement in view of each functional module,
Data processing needs and difference functionally, in an embodiment of the present invention, robot electronic control system is configured to
Position machine system and lower computer system two parts.Master system and lower computer system are respectively respectively comprising one piece of independent master control
The external circuit original paper of plate, master system and lower computer system is connected on respective master control borad.So ensureing system
The module that resource has conflict is separated on the premise of overall integrated level, so as to ensure that the stable and high effective operation of system.
In one embodiment of this invention, following analysis is made：
Information is interactively entered outside analysis in view of system first and generate corresponding speech response control information and
Action is required to carry out larger amount of data operation when responding control information, generation robot limb control signal；
Generation robot limb control signal (driving robot limb) needs the power supply of relatively high power to support；
Information data operand is interactively entered according to speech response control information output voice and collection outside very big.
Therefore, by interactive information acquisition module, interaction process module and voice-output unit construction in master system
In；By robot limb control unit and attitude transducer construction in lower computer system.Master system realizes outside hand over
Mutually input collection analysis, the generation of speech response control information and action response control information and the speech response of information
Output；Host computer master control borad will act response control information and be sent to slave computer master control borad, and lower computer system realizes robot limb
The generation of body control signal and the driving of robot limb.So allow for generation robot limb control signal and driving
Robot limb obtains relatively independent data processing hardware and power supply is supported.
As shown in figure 1, interactive information acquisition module 110, interaction process module 120 and voice-output unit 130 are by structure
Make in master system 101, robot limb control unit 140 and attitude transducer 150 are built into lower computer system
In 102.
Further, the current state of charge of robot is understood for the ease of user.In an embodiment of the present invention, system
Electricity quantity display module is also included, electricity quantity display module is configured to show the information about power that robot is current.Shown in view of electricity
The data processing amount needed is not high but needs certain power drives to support (driving light emitting diode), therefore electricity shows mould
Block is built into lower computer system, wherein：
The master control borad of master system is configured to gather and sends the current information about power of robot；
Electricity quantity display module is configured to be shown according to the corresponding electricity of information about power output.
Further, the current interaction mode of robot is understood for the ease of user.In an embodiment of the present invention, system
Interactive display module is also included, interactive display module is configured to show the interaction mode that robot is current.In view of interaction mode
Show that the data processing amount needed is not high but needs certain power drives to support (driving light emitting diode), therefore interaction is aobvious
Show that module is built into lower computer system, wherein：
The master control borad of master system is configured to gather and sends the current interaction mode of robot, and interaction mode includes record
Sound-like state, voice/action output state and semantic analysis state；
Interactive display module is configured to be shown according to the corresponding interaction mode of interaction mode output.
Specifically, in an embodiment of the present invention, the master control borad of master system is based on full will double-core A20 processors
Wireless networking module (WiFi), Mike's noise reduction module and audio amplification are integrated with master control borad, the master control borad of master system
Module.The outside analysis for interactively entering information, speech response control information and action, which are carried out, using A20 processors responds control
The generation of information；The data interaction with robot network's service end is realized using WiFi networking modules；Utilize Mike's noise reduction module
And the microphone being connected on master control borad realizes the collection of extraneous voice messaging；Using audio amplification block and it is connected to master
Loudspeaker on control plate realizes the output of speech response.
As shown in Fig. 2 host computer master control borad 210 is the master control borad based on full will double-core A20 processors, its onboard wifi connection
Net module, Mike's noise reduction and audio amplification block and power management module.The interface that host computer master control borad 210 is provided has：
Capacitance touch interface 212, three-wire interface, line sequence is power supply (VCC) ground connection (GND) output (OUT), and it is connected to tactile
Touch module 204；
Serial communication interface 216, three-wire interface, line sequence is descending (TX) for ground connection (GND) up (RX), and it is connected to bottom
The serial communication interface 227 of machine master control borad 217；
Speaker interface 213, two line interfaces, line sequence is that audio signal just (Speaker+) audio signal bears (Speaker-)
(in an embodiment of the present invention, with 2 speaker interfaces), it is connected to loudspeaker 205；
Microphone interface 211, two line interfaces, line sequence is MICP (Mic+) MICN (Mic-), and it connects
It is connected to microphone 203；
Charge port 214, two line interfaces, line sequence is power supply (VCC) ground connection (GND), and it is connected to robot charge port 201 simultaneously
Connect power management module 215；
The battery charging inlet of power management module 215, two line interfaces, line sequence is power input (DCIN) ground connection (GND),
It is connected to lithium battery 202.
The size of host computer master control borad 210 is 60mm*40mm, and microphone 203 is diameter 6mm electret mike, loudspeaker
205 be the coaxial loudspeaker of diameter 25mm high bass, and touch modules 204 are 2mm*2mm touch modules.
Specifically, in an embodiment of the present invention, the master control borad of lower computer system is based on STMicw Electronics's microcontroller
Six axle attitude transducer MPU6500 and motor driving mould are integrated with STM32 master control borad, the master control borad of lower computer system
Block.Robot limb control signal is generated using microcontroller STM32；Machine is monitored using six axle attitude transducer MPU6500
People's current pose；Utilize motor drive module driving robot limb action.
As shown in Fig. 2 slave computer master control borad 220 is the master control borad based on STMicw Electronics microcontroller STM32.Slave computer
Master control borad 220 is internally integrated power management module, power supply display module, interaction mode display module, six axle attitude transducers
MPU6500 and motor driving.
Specifically, the interface that slave computer master control borad 220 is provided has：
Power interface, two line interfaces, line sequence is VCC GND, and the voltage stabilizing chip 223 of power management module passes through power interface
It is connected with the power management module 215 of lithium battery 202 and host computer master control borad 210；
Serial communication interface 227, three-wire interface, line sequence is GND RX TX, host computer master control borad 210 and the next owner
Data transfer is realized by serial communication between control plate 220；
Three road motor interfaces, are two line interfaces per road, and line sequence is that motor just (Motor+) motor bears (Motor-), and motor drives
Dynamic (224,225,226) drive the motors (231,232,233) of robots by three road motor interfaces, and (three motors are respectively two
Individual one arm motor of thigh motor) operate to realize robot motion；
System charge display interface, four-wire interface, line sequence is output (IO) output (IO) output (IO) ground connection (GND), even
Being connected to electricity display lamp 206, (electricity display lamp is multi-color LED (LED) lamp, and three I/O interfaces correspond to red R respectively, green
G, indigo plant B)；
Interactive display interface, two line interfaces, line sequence is pulse output (PWM) ground connection (GND), is connected to interactive display lamp
207 (interaction display lamp is respiratory nasal lamp).
The size of slave computer master control borad 220 is 55mm*35mm, and the LED that interaction display lamp 207 is diameter 3mm, electricity is shown
Lamp 206 is diameter 3mm LED.
System upper and lower computer master control borad 210 and 220 is controlled by a physical switch.System boot process is：
System electrification, host computer master control borad 210 completes networking, initialization；
The interaction display lamp 207 of slave computer master control borad 220 is in breathing state and waits host computer master control borad 210 to initialize
Into.
Interaction：
The initialization of host computer master control borad 210 is completed, and upper and lower computer master control borad 210 and 220 is normal by serial ports (216,227)
Transmit data；
Microphone 203 gathers audio signal, and the processing of host computer master control borad 210 is given by the noise reduction to audio and amplification
Voice messaging is passed to robot network's service end by chip A20, A20 by networking module, and robot network's service end is to language
Message breath, which is made, accurately judges and will determine that result passes A20 back, and A20 controlling loudspeakers 205 feed back to user speech response, in
This passes through serial ports while A20 will act response control information (needing the action performed), information about power and interaction mode information
It is sent to slave computer master control borad 220；
Slave computer master control borad 220 by serial ports receive A20 control instruction, complete electricity show, interaction show, leg and
The multi-modal interactive action such as hand motion.
During electricity is shown, system charge is showed by RGB tri coloured lanterns：R represents not enough power supply, and B is representing electricity just
Often, G represents electricity abundance.Host computer master control borad 210 informs user's charge condition by loudspeaker simultaneously.In interaction display process
In, the LED controlled by PWM：Now robot is in recording state to normal bright prompting user, and often go out prompting user now machine
People's voice output, flash for prompting user robot carries out semantic parsing in networking.
In order to further expand the application of robot, the Consumer's Experience of robot is improved, in one embodiment of the invention
In, robot electronic control system also includes vision sensor, and vision sensor is configured to gather external image information.This model machine
The interaction process module configuration of device people's electronic control system just can be to interactively enter information and external image outside comprehensive analysis
Information simultaneously exports corresponding speech response control information and action response control information.
There is higher data processing amount in view of the analysis of external image information, therefore, in an embodiment of the present invention,
System also includes VPU, and VPU is configured to analyzing and processing external image information and image analysis processing
As a result it is sent to interaction process module.Interaction process module is configured to interactively enter information and graphical analysis outside comprehensive analysis
Result simultaneously exports corresponding speech response control information and action response control information.
To sum up, robot electronic control system of the invention can be interacted in realization action while interactive voice is carried out,
It is its small volume, simple in construction compared with the robot control system of prior art, with wider array of application and preferably
Consumer's Experience.
The invention also provides a kind of electronic control method towards household small-size intelligent robot, its main process is as schemed
Shown in 1.The step of being shown in the flow chart of accompanying drawing can include the computer system of such as one group computer executable instructions
It is middle to perform., in some cases, can be with different from herein although showing the logical order of each step in flow charts
Order perform shown or described step.
S31, collection is outside to interactively enter information, and outside interactively enters packet and contains extraneous voice messaging and external touch
Pressure data；
S32, analysis is outside to be interactively entered information to generate corresponding speech response control information and action response control
Information, speech response control information and action are responded control information and are mutually matched；
S33, the speech response of matching is generated according to speech response control information；According to dynamic while speech response is generated
Make to respond the robot limb control signal of control information generation matching to drive the limbs of robot to make corresponding actions.
Further, in an embodiment of the present invention, step S34 is also performed in step s 32, in local machine people's system
Analysis outside utilizes robot network's service end to aid in local machine people system to carry out data analysis when interactively entering information.
Further, in an embodiment of the present invention, method also includes：S35, gathers external image information；S36, analysis
The external image information is handled to generate image analysis processing result.So in step s 32, interaction is defeated outside comprehensive analysis
Enter information and image analysis processing result and respond control information to generate corresponding speech response control information and action.
For simplied system structure, improve level of integrated system and keep system hardware stability and high efficiency.In the present invention
In one embodiment, master system and lower computer system are constructed respectively based on two pieces of independent master control borads.
The gathering of external input information, outside analysis, the speech response for interactively entering information are realized by master system
The generation of control information and the generation of speech response are responded in control information and action.Specifically, using based on full will double-core A20
The master control borad of processor amplifies wireless networking module, Mike's noise reduction module and audio as the master control borad of master system
Module is integrated on the master control borad of master system.
The generation of robot limb control signal is realized by lower computer system.Further, supervised by lower computer system
Man-controlled mobile robot current pose, corresponding robot limb control signal is exported based on robot current pose.Specifically, using base
In STMicw Electronics microcontroller STM32 master control borad as lower computer system master control borad, by six axle attitude transducers
MPU6500 and motor drive module are integrated on the master control borad of lower computer system.
Further, in an embodiment of the present invention, electricity quantity display module is constructed in lower computer system, wherein：
Gathered by the master control borad of master system and send the current information about power of robot；
Corresponding electricity is exported using electricity quantity display module according to the information about power to show.
Further, in an embodiment of the present invention, interactive display module is constructed in lower computer system, wherein：
Gathered by the master control borad of master system and send the current interaction mode of robot, interaction mode includes recording
State, voice/action output state and semantic analysis state；
Corresponding interaction mode is exported using interactive display module according to interaction mode to show.
Realization action it can be interacted while interactive voice is carried out according to the robot electronic control method of the present invention, with
The robot control system of prior art is compared, its small volume, simple in construction, with wider array of application and is preferably used
Experience at family.
While it is disclosed that embodiment as above, but described content is only to facilitate understanding the present invention and adopting
Embodiment, is not limited to the present invention.Method of the present invention can also have other various embodiments.Without departing substantially from
In the case of essence of the present invention, those skilled in the art work as can make various corresponding changes or change according to the present invention
Shape, but these corresponding changes or deformation should all belong to the scope of the claims of the present invention.
Claims (16)
1. a kind of electronic control system towards household small-size intelligent robot, it is characterised in that including：
Interactive information acquisition module, it is configured to, and collection is outside to interactively enter information, and the interactive information acquisition module includes language
Sound collecting unit and touch sensor, the voice collecting unit are configured to gather extraneous voice messaging, the touch sensing
Device is configured to gather external touch pressure data；
Interaction process module, it, which is configured to analyze the outside, interactively enters information and exports corresponding speech response control information
And control information is responded in action, the speech response control information and the action are responded control information and are mutually matched, institute
State interaction process module and include networked interactive unit；
Voice-output unit, it is configured to the speech response according to the speech response control information output matching；
Robot limb control unit, it is configured to while the voice-output unit exports the speech response according to institute
Action is stated to respond the robot limb control signal of control information output matching to drive the limbs of robot to make corresponding actions；
Robot network's service end, the networked interactive unit is arranged for carrying out interaction process module and robot network's service end
Data interaction, robot network's service end is configured to store the related data that the networked interactive unit transmission comes and right
The data that the networked interactive unit transmission comes are handled, to share the performance requirement of the interaction process module so that institute
State interaction process module and the speech response control information and action response are generated under the auxiliary of robot network's service end
Control information.
2. system according to claim 1, it is characterised in that the system includes master system and slave computer system
System, the master system and the lower computer system are respectively respectively comprising one piece of independent master control borad, and the interactive information is adopted
Collection module, the interaction process module and the voice-output unit are built into the master system, the machine
People's limb control unit is built into the lower computer system.
3. system according to claim 2, it is characterised in that the master control borad of the master system is based on full will double-core
Be integrated with the master control borad of A20 processors, the master control borad of the master system wireless networking module, Mike's noise reduction module and
Audio amplification block.
4. system according to claim 2, it is characterised in that the system also includes attitude transducer, the posture is passed
Sensor is built into the lower computer system, and the attitude transducer is configured to supervisory-controlled robot current pose, the machine
People's limb control unit is configured to the corresponding robot limb control signal of robot current pose output.
5. system according to claim 4, it is characterised in that the master control borad of the lower computer system is partly to be led based on meaning method
Be integrated with body microcontroller STM32 master control borad, the master control borad of the lower computer system six axle attitude transducer MPU6500 with
And motor drive module.
6. system according to claim 2, it is characterised in that the system also includes electricity quantity display module, the electricity
Display module is built into the lower computer system, wherein：
The master control borad of the master system is configured to gather and sends the current information about power of robot；
The electricity quantity display module is configured to be shown according to the corresponding electricity of information about power output.
7. system according to claim 2, it is characterised in that the system also includes interactive display module, the interaction
Display module is built into the lower computer system, wherein：
The master control borad of the master system is configured to gather and sends the current interaction mode of robot, the interaction mode bag
Include recording state, voice/action output state and semantic analysis state；
The interactive display module is configured to be shown according to the corresponding interaction mode of interaction mode output.
8. the system according to any one of claim 1-7, it is characterised in that the system also include vision sensor with
And VPU, wherein：
The vision sensor is configured to gather external image information；
The VPU is configured to analyze and process the external image information and image analysis processing result is sent to
The interaction process module；
The interaction process module is configured to outside described in comprehensive analysis and interactively enters information and described image analyzing and processing knot
Fruit simultaneously exports corresponding speech response control information and action response control information.
9. a kind of electronic control method towards household small-size intelligent robot, it is characterised in that methods described is based on such as right
It is required that the electronic control system towards household small-size intelligent robot any one of 1-8 realizes the control to robot,
Methods described includes：
Collection is outside to interactively enter information, and the outside interactively enters packet and contains extraneous voice messaging and external touch pressure
Data；
The outside is interactively entered into information transfer to robot network's service end, robot network's service end storage is described
The related data and the data next to networked interactive unit transmission that the transmission of networked interactive unit comes are handled, to share
The performance requirement of interaction process module is stated, analyzing the outside under the auxiliary of robot network's service end interactively enters letter
Breath responds control information, the speech response control information and institute to generate corresponding speech response control information and action
Action response control information is stated to be mutually matched；
The speech response of matching is generated according to the speech response control information；
The robot limb for responding control information generation matching according to the action while speech response is generated is controlled
Signal is to drive the limbs of robot to make corresponding actions.
10. method according to claim 9, it is characterised in that construct host computer respectively based on two pieces of independent master control borads
System and lower computer system, wherein：
By the master system realize the gathering of the external input information, the outside interactively enter information analysis,
The generation of control information and the generation of the speech response are responded in the speech response control information and the action；
The generation of the robot limb control signal is realized by the lower computer system.
11. method according to claim 10, it is characterised in that use the master control borad based on full will double-core A20 processors
As the master control borad of the master system, wireless networking module, Mike's noise reduction module and audio amplification block are integrated in
On the master control borad of the master system.
12. method according to claim 10, it is characterised in that pass through the current appearance of lower computer system supervisory-controlled robot
State, based on the corresponding robot limb control signal of robot current pose output.
13. method according to claim 12, it is characterised in that using based on STMicw Electronics microcontroller STM32's
Master control borad as the lower computer system master control borad, six axle attitude transducer MPU6500 and motor drive module are integrated
On the master control borad of the lower computer system.
14. method according to claim 10, it is characterised in that construct electricity in the lower computer system and show mould
Block, wherein：
Gathered by the master control borad of the master system and send the current information about power of robot；
Corresponding electricity is exported using the electricity quantity display module according to the information about power to show.
15. method according to claim 10, it is characterised in that construct interaction in the lower computer system and show mould
Block, wherein：
Gathered by the master control borad of the master system and send the current interaction mode of robot, the interaction mode includes
Recording state, voice/action output state and semantic analysis state；
Corresponding interaction mode is exported using the interactive display module according to the interaction mode to show.
16. the method according to any one of claim 9-15, it is characterised in that methods described also includes：
Gather external image information；
The external image information is analyzed and processed to generate image analysis processing result；
It is outside described in comprehensive analysis to interactively enter information and described image analysis processing result to generate corresponding speech response
Control information is responded in control information and action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610077819.7A CN105563500B (en) | 2016-02-04 | 2016-02-04 | A kind of electronic control system and method towards household small-size intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610077819.7A CN105563500B (en) | 2016-02-04 | 2016-02-04 | A kind of electronic control system and method towards household small-size intelligent robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105563500A CN105563500A (en) | 2016-05-11 |
| CN105563500B true CN105563500B (en) | 2017-08-18 |
Family
ID=55874408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610077819.7A Active CN105563500B (en) | 2016-02-04 | 2016-02-04 | A kind of electronic control system and method towards household small-size intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105563500B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003077A (en) * | 2016-06-22 | 2016-10-12 | 昆山邦泰汽车零部件制造有限公司 | Robot voice conservation method |
| CN106020057A (en) * | 2016-07-19 | 2016-10-12 | 东莞市优陌儿智护电子科技有限公司 | Nursing robot |
| CN106393113A (en) * | 2016-11-16 | 2017-02-15 | 上海木爷机器人技术有限公司 | Robot and interactive control method for robot |
| CN109521927B (en) * | 2017-09-20 | 2022-07-01 | 阿里巴巴集团控股有限公司 | Robot interaction method and equipment |
| CN110069025B (en) * | 2018-01-24 | 2022-06-07 | 可赛尔内存股份有限公司 | Control system for analyzing ecological complex information around computer |
| CN111274803B (en) * | 2018-12-04 | 2024-03-26 | 科沃斯商用机器人有限公司 | Robot limb language generation method and generation device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101623865A (en) * | 2009-07-08 | 2010-01-13 | 北京工业大学 | One-wheel robot system and control method thereof |
| CN101786272A (en) * | 2010-01-05 | 2010-07-28 | 深圳先进技术研究院 | Multisensory robot used for family intelligent monitoring service |
| CN203956916U (en) * | 2014-04-11 | 2014-11-26 | 北京路德瑞科电子技术有限公司 | One intelligent domestic robot |
| CN204462733U (en) * | 2015-02-27 | 2015-07-08 | 青岛里奥机器人技术有限公司 | A kind of Study of Intelligent Robot Control system based on android system |
| CN105068460B (en) * | 2015-07-30 | 2018-02-02 | 北京智网时代科技有限公司 | A kind of intelligence control system |
| CN205734966U (en) * | 2016-02-04 | 2016-11-30 | 北京光年无限科技有限公司 | A kind of electronic control system towards household small-size intelligent robot |
-
2016
- 2016-02-04 CN CN201610077819.7A patent/CN105563500B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105563500A (en) | 2016-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105563500B (en) | A kind of electronic control system and method towards household small-size intelligent robot | |
| CN205734966U (en) | A kind of electronic control system towards household small-size intelligent robot | |
| CN104102346A (en) | Household information acquisition and user emotion recognition equipment and working method thereof | |
| CN108475933A (en) | Electronic equipment and its operating method | |
| WO2014104531A1 (en) | Personal robot | |
| CN105874682B (en) | Charging method for electronic equipment and charging unit | |
| CN102789218A (en) | Zigbee smart home system based on multiple controllers | |
| CN106999781A (en) | Interactive learning building blocks | |
| CN108600059A (en) | Apparatus control method and Related product | |
| CN105700438A (en) | Electronic control system for multi-joint small robot | |
| CN204968086U (en) | Headphone circuit | |
| CN207139820U (en) | A kind of intelligent robot | |
| CN205750377U (en) | A kind of multi-joint small scale robot electric-control system | |
| CN106853638A (en) | A kind of human-body biological signal tele-control system and method based on augmented reality | |
| CN108683790A (en) | Method of speech processing and Related product | |
| CN109067965A (en) | Interpretation method, translating equipment, wearable device and storage medium | |
| CN206532244U (en) | A kind of Intelligent glove and display terminal | |
| TWI593208B (en) | Non-contact passive data acquisition system, method and passive data acquisition device | |
| CN207120236U (en) | Face recognition robot | |
| CN207867256U (en) | Intelligent housing panel based on frequency induction | |
| CN207304803U (en) | Intelligence projection speaker | |
| CN206993178U (en) | Wireless calling apparatus and VTS equipment and system for VTS equipment | |
| CN203208671U (en) | Robot with emotion sensing, expression showing and voice dialoguing functions | |
| CN109820249A (en) | The electronic cigarette data collection system and application method of remote wireless transmission data | |
| CN109347729A (en) | A kind of means of communication and terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |