CN105700438A - Electronic control system for multi-joint small robot - Google Patents
Electronic control system for multi-joint small robot Download PDFInfo
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- CN105700438A CN105700438A CN201610158159.5A CN201610158159A CN105700438A CN 105700438 A CN105700438 A CN 105700438A CN 201610158159 A CN201610158159 A CN 201610158159A CN 105700438 A CN105700438 A CN 105700438A
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/31076—Controller for cell, for robot motion, for supervision
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Abstract
Disclosed in the invention is an electronic control system for a multi-joint small robot. The system comprises an interactive input collection, an interactive data processing unit, and a motion processing unit, a plurality of motor drive units, and a plurality of joint steering engine control units, wherein the interactive input collection and the interactive data processing unit are integrated on a host machine and the motion processing unit is integrated on a slave machine. According to the invention, a multi-joint small robot can be driven simply and conveniently and thus multi-mode man-machine interaction between a robot and a user is realized. Compared with the prior art, the provided system enables a robot having the system to have high motion flexibility and motion precision; and the application range of the robot is extended substantially and the user experience is improved greatly.
Description
Technical field
The present invention relates to robot field, in particular relate to a kind of multi-joint small scale robot electric-control system。
Background technology
Along with the development of computer technology and the continuous of artificial intelligence technology are improved。Also more and more extensive in the application of domestic environments small intelligent robot, towards the small intelligent robot of domestic just in fast development。
The existing small scale robot towards domestic, is only capable of realizing button opening and closing or interactive voice, still can not realize the polynary communication of user and small scale robot by other means。Especially existing robot can not adopt body language and user mutual or can only realize stiff simple motion。In order to realize the action of complexity, being necessary for increasing the diarthrosis of robot, but be as the increase of diarthrosis, the limb control difficulty of robot is consequently increased。
In the prior art, the action electric-control system of robot can not well mate multiarticulate robot limb system, and this results in the limb action underaction of robot。This not only limit the range of application of robot, and greatly reduces the Consumer's Experience of robot。
Therefore, in order to improve the Consumer's Experience of robot, expand the range of application of robot, need a kind of multi-joint small scale robot electric-control system badly。
Summary of the invention
In order to improve the Consumer's Experience of robot, expand the range of application of robot, the invention provides a kind of multi-joint small scale robot electric-control system, described system includes being integrated in interactively entering collecting unit and interactive data processing unit and being integrated in from the action processing unit machine, multiple electric-motor drive unit and multiple joints servos control unit on main frame, wherein:
The described collecting unit that interactively enters is configured to gather the external world and interactively enters information, described in interactively enter collecting unit and comprise voice collection device and image collecting device；
Described interactive data processing unit is configured to interactively enter information according to the described external world and judges session operational scenarios and generate the multi-modal robot response mated with described session operational scenarios, described interactive data processing unit comprises the answerback memory for storing default described robot response, and described answerback memory is configured to automatically obtain from high in the clouds and update the response of described robot；
Described robot response packet is containing robot motion, and described action processing unit is configured to generate and output multi-channel motor drive signal and multichannel servos control signal according to described robot motion；
Described electric-motor drive unit and described joint servos control cell location are according to the described motor drive signal that receives or described servos control signal control motor or steering wheel operating。
In one embodiment, the response of described robot also comprises robot voice, described main frame integrated audio output unit and power amplification unit, wherein:
Described interactive data processing unit is configured to interactively enter information according to the described external world and generates and export described robot voice；
Described audio output unit is configured to generate and export corresponding audio-frequency information according to described robot voice；
Described power amplification unit is configured to amplify the power of described audio-frequency information output。
In one embodiment, the integrated graphics processing unit of described main frame, described graphics processing unit be configured to described image acquisition device to external image information carry out preliminary treatment and result be sent to described interactive data processing unit。
In one embodiment, the integrated connected network communication unit of described main frame, described connected network communication cell location is realize the data interaction between described interactive data processing unit and external server。
In one embodiment, described voice collection device comprises mike, Mike's noise reduction unit and audio amplification unit, and described Mike's noise reduction unit and described audio amplification unit are integrated on the host。
In one embodiment, described main frame is the master control borad based on MTK6572 processor。
In one embodiment, described from the integrated attitude transducer of machine, described attitude transducer is configured to gather the attitude information of current robot, and described action processing unit is configured to generate described motor drive signal and described servos control signal in conjunction with described attitude information。
In one embodiment, described from the integrated obstacle sensor of machine, described obstacle sensor is configured to gather the obstacle information in the current robot direction of motion, and described action processing unit is configured to generate described motor drive signal and described servos control signal in conjunction with described obstacle information。
In one embodiment, described from machine integrated touch sensor, described touch sensor is configured to gather the contact situation information of current robot limbs and external object, and described action processing unit is configured to generate described motor drive signal and described servos control signal in conjunction with described contact situation information。
In one embodiment, described from machine be the master control borad based on STM32 processor。
The system according to the present invention can drive multi-joint small scale robot simply and easily, it is achieved the man-machine interaction that robot is multi-modal with user；Compared to prior art, the robot of the system according to the present invention has higher dexterity of action and operation precision, and the range of application of robot is expanded significantly, and Consumer's Experience is greatly improved。
The further feature of the present invention or advantage will be set forth in the following description。Further, the Partial Feature of the present invention or advantage will be become apparent by description, or be appreciated that by implementing the present invention。The purpose of the present invention and certain advantages can be realized by step specifically noted in description, claims and accompanying drawing or be obtained。
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, is provided commonly for explaining the present invention with embodiments of the invention, is not intended that limitation of the present invention。In the accompanying drawings:
Fig. 1 is system structure sketch according to an embodiment of the invention；
Fig. 2 is system interface distribution schematic diagram according to an embodiment of the invention；
Fig. 3 is system operational flow diagram according to an embodiment of the invention。
Detailed description of the invention
Embodiments of the present invention are described in detail below with reference to drawings and Examples, the enforcement personnel of the present invention can fully understand how application technology means are to solve technical problem for the present invention whereby, and reach the process that realizes of technique effect and be embodied as the present invention according to the above-mentioned process that realizes。As long as 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, and the technical scheme formed is all within protection scope of the present invention。
In the prior art, the action electric-control system of robot can not well mate multiarticulate robot limb system, and this results in the limb action underaction of robot。This not only limit the range of application of robot, and greatly reduces the Consumer's Experience of robot。In order to improve the Consumer's Experience of robot, expanding the range of application of robot, the present invention proposes a kind of multi-joint small scale robot electric-control system。
Next the basic structure of the robot electric-control system of one embodiment of the invention described based on accompanying drawing。As it is shown in figure 1, the robot electronic control system key component of the present embodiment includes interactively entering collecting unit 110, interactive data processing unit 120, action processing unit 140, multiple electric-motor drive unit (161 and 162) and multiple joints servos control unit (171,172 and 173)。
Interactively entering collecting unit 110 to be configured to gather the external world and interactively enter information, interactive data processing unit 120 is configured to interactively enter information according to the external world and judges session operational scenarios the multi-modal robot response mated with session operational scenarios of generation。In order to the response user of accurate and flexible, in the present embodiment, robot is multi-modal for the collection of external environment data (interactively entering data)。Interactively enter collecting unit 110 and comprise voice collection device 111 and image collecting device 112。
Voice collection device 111 is used for gathering external sound information。Concrete, in the present embodiment, voice collection device 111 comprises mike, Mike's noise reduction unit and audio amplification unit。
Image collecting device 112 is used for gathering external image information。Concrete, in the present embodiment, image collecting device 112 comprises photographic head。Consider to be analyzed image processing to need higher calculation process demand, in order to reduce the data processing pressure of interactive data processing unit 120, in the present embodiment, constructing graphics processing unit 173 in system, graphics processing unit 173 is configured to external image information carries out preliminary treatment and result is sent to interactive data processing unit 120。So, not only reduce the data processing pressure of interactive data processing unit 120, but also by the concrete tupe of change graphics processing unit 113, the function of robot can be defined。Such as, for the robot having user to identify demand, the functional module that addition Face location and facial recognition are correlated with in graphics processing unit 113。
Further, in the present embodiment, interactively enter collecting unit 110 and also include touch sensor 103。Touch sensor 103 is configured to gather the external touch pressure sensing information that robot receives。Thus so that robot is not only at audition, the interaction demand visually obtaining user, but also can obtaining the interaction demand of user from sense of touch, significantly expand the range of application of robot, the application that improve robot is experienced。
Interactive data processing unit 120 is configured to interactively enter information according to the external world and judges session operational scenarios and generate the multi-modal robot response mated with session operational scenarios。In the present embodiment, robot response includes robot motion。One complete robot motion is to be combined by multiple little tricks, the corresponding a set of concrete robot motion order of each little trick。Such as, every lower limb is comprised to the biped robot in three joints, its often step move a step all need on two legs amount to six joints manipulate。
In order to reduce the data processing amount of interactive data processing unit 120, improve the response speed of robot, in the present embodiment, multiple basic actss and the manipulation instruction overlapping basic motion flow of robot pre-set more, if robot has needed basic acts, basic acts flow process or needs to complete by the action of multiple basic actss/basic acts path combination, only the manipulation instruction being previously-completed need to be called。
Concrete, for different session operational scenarios, robot, according to default match pattern, analyzes and the robot motion of current session scene matching, then directly invokes the manipulation instruction corresponding with robot motion。For realizing above-mentioned functions, interactive data processing unit 120 comprises the answerback memory 122 for storing default robot response。So, for some specific session operational scenarios, interactive data processing unit 120 just directly can choose default robot response (robot motion) from answerback memory 122, without the robot response that in-time generatin is new, thus greatly reducing the time generating robot response, improve the response speed of robot, improve the Consumer's Experience of robot。
Further, answerback memory 122 is configured to automatically obtain from high in the clouds 100 and update robot response, thus can the response scope of continuous expanding machinery people, along with constantly expanding of robot response and continuing to optimize of answer-mode, the application of robot is experienced and is also improved constantly。
Further, in an alternative embodiment of the invention, answerback memory 122 is additionally operable to the matched rule of the response of storage robot and session operational scenarios, it is set to automatically obtain from high in the clouds 100 and update above-mentioned matched rule, thus continuing to optimize the answer-mode of robot, the application improving constantly robot is experienced。
In order to realize the data interaction between interactive data processing unit 120 and high in the clouds 100, the system of the present embodiment is also configured with connected network communication unit 121。Connected network communication unit 121 is arranged for carrying out the data interaction between interactive data processing unit 120 and high in the clouds 100。Answerback memory 122 automatically obtains robot motion and the matched rule of renewal by connected network communication unit 121 from high in the clouds 100。
Further, interactive data processing unit 120 is additionally configured under the auxiliary of beyond the clouds 100 to generate robot response。Thus be equivalent to give high in the clouds 100 to complete the data processing operation originally needing interactive data processing unit 120 to complete, it addition, originally need the data information being stored in interactive data processing unit 120 can also be stored in high in the clouds 100。The performance requirement of interactive data processing unit 120 is greatly diminished, and its volume and cost obtain effective control。
Robot motion is sent to action processing unit 140 by interactive data processing unit 120, and action processing unit 140 is configured to generate and output multi-channel (2 tunnel) motor drive signal and multichannel (3 tunnel) servos control signal according to robot motion。Electric-motor drive unit (161 and 162) and joint servos control unit (171,172 and 173) are configured to according to the motor drive signal that receives or servos control signal control motor or steering wheel operating。
Multiple electric-motor drive unit and multiple joints servos control unit is comprised due to the system of the present embodiment, therefore multiple joint can be constructed based on the robot of the system of the present embodiment, this operation precision allowing for robot and action complexity are greatly improved, thus extending the range of application of robot, the application that improve robot is experienced。
Needing exist for illustrating, in the embodiment shown in fig. 1, system comprises 2 electric-motor drive units and joint servos control unit。In other embodiments of the present invention, it is possible to construct electric-motor drive unit and the joint servos control unit of respective number according to the particular hardware structure (pass joint number) of robot。
Along with the raising of robot motion precision and action complexity, robot motion also just improves further with the demand of mating of external environment condition。It is to say, robot has wanted a complete action, it is necessary to take into full account different external environments。The action that such as performs in the plane to take a step is just entirely different with the concrete operations instruction performing to take a step needed for action on inclined-plane。
For the more perfect execution of auxiliary robot, in the present embodiment, system is also configured with attitude transducer 151。Attitude transducer 151 is configured to gather the attitude information of current robot。Accordingly, action processing unit 140 is configured to generate motor drive signal and servos control signal in conjunction with attitude information。
By attitude transducer 151, the action currently carried out can not only be finely tuned the smooth execution with safety action for self currently different attitude by robot, and robot can be avoided to ignore self attitude current and perform action by force, thus movement posture mistake or disequilibrium is avoided the generation of situation such as to fall down。
Further, in the process of robot execution action, especially in robot displacement's process, its action (displacement) may be hindered by barrier。In order to realize the automatic obstacle-avoiding of robot, in the present embodiment, system is also configured with obstacle sensor 152。Obstacle sensor 152 is configured to gather the obstacle information in the current robot direction of motion。Accordingly, action processing unit 140 is configured to generate motor drive signal and servos control signal in conjunction with obstacle information。Break the barriers sensor 152, and robot can be automatically obtained simple avoid-obstacle behavior。
Further, in the process of robot execution action, its part of limb may be hindered by barrier or part of limb touches external object。The barrier (barrier in motion front) on robot mass motion path is mainly found due to obstacle sensor 152。It tends not to detect that robot part's limbs are obstructed, and this results in robot and still may proceed to when part of limb is obstructed motion drive this part of limb, thus causing robot stuck or part of limb deformation breaking-up。
For the problems referred to above, in the present embodiment, system is also configured with touch sensor 153。Touch sensor 153 is configured to gather the contact situation information of current robot limbs and external object。Corresponding, action processing unit 140 is configured to generate motor drive signal and servos control signal in conjunction with contact situation information。
Utilize touch sensor 153, what robot can effectively detect limbs and external object contacts situation, it is possible not only to avoid action card to wait indefinitely the generation of situation, and based on contact situation information, the action currently carried out can be finely tuned, be effectively ensured the smooth execution of action。
Further, above-mentioned attitude transducer 151, obstacle sensor 152 and touch sensor 153 are directly connected with action processing unit 140。Owing to attitude transducer 151, obstacle sensor 152 and touch sensor 153 directly transmit data to action processing unit 140, action processing unit 140 attitude information that direct quick obtaining is current when driven machine people's limbs, obstacle information and contact situation information, not only reduce the data processing amount of interactive data processing unit 120, but also improve the response speed of robot。Further, when attitude information, obstacle information or contact situation information are excessively complicated, when action processing unit 140 cannot automatically process, attitude information, obstacle information or contact situation information are sent to interactive data processing unit 120 and process by action processing unit 140。
In order to expand the range of application of robot, the application improving robot is experienced, and in the present embodiment, the mutual response of robot is multi-modal。Concrete, the robot response in the present embodiment also comprises robot voice。As it is shown in figure 1, system also comprises audio output unit 130 and power amplification unit 131。Interactive data processing unit 120 is configured to interactively enter information according to the external world and generates and output device people's voice；Audio output unit 130 is configured to generate and export corresponding audio-frequency information according to robot voice；Power amplification unit 131 is configured to amplify the power of audio-frequency information output。Robot voice and robot motion are mutually matched, thus more lively responds the mutual of user。Being greatly expanded the range of application of robot, the application that improve robot is experienced。
The system according to the present invention can drive multi-joint small scale robot simply and easily, it is achieved the man-machine interaction that robot is multi-modal with user；Compared to prior art, the robot of the system according to the present invention not only has higher dexterity of action and operation precision, and along with the concrete condition of external environment condition, the action of self can be finely tuned, the range of application of robot is expanded significantly, and Consumer's Experience is greatly improved。
The robot electric-control system of the present invention is mainly used in small scale robot, in order to effectively control the volume of robot electronic control system to realize the miniaturization of robot, in an embodiment of the present invention, have employed the mode being integrated on master control borad by each functional module。Considering the power supply requirement of each functional module, data processing needs and difference functionally, in an embodiment of the present invention, robot electronic control system is configured to main frame and from machine two parts。
Main frame and respectively comprise master control borad one piece independent from machine respectively, so has the module of conflict separately, thus ensure that the stable and high effective operation of system under the premise of the overall integrated level of guarantee system by resource。
In one embodiment of this invention, following analysis is made:
First consider that the robot that system interactively enters acquisition of information interaction scenarios in analysis outside, generation is mated with interaction scenarios responds to need to carry out larger amount of data operation；
Next considers to generate according to robot motion and output multi-channel motor drive signal and multichannel servos control signal all need to carry out larger amount of data operation；
Generation motor drive signal and servos control signal (driven machine people's limbs) need the power supply support of relatively high power。
Therefore, outside will be interactively entered the analysis system of information, generate the process system separation of motor drive signal and servos control signal。Collecting unit will be interactively entered and interactive data processing unit will be integrated on main frame, action processing unit, multiple electric-motor drive unit and multiple joints servos control unit will be integrated in from machine。Main frame mainly realizes outside and interactively enters the generation of the collection analysis of information, robot response (robot motion and robot voice)；Action is responded control information and is sent to from machine by main frame, realizes the generation of robot limb control signal and the driving of robot limb from machine。Generation robot limb control signal and driven machine people's limbs are thus made to obtain relatively independent data processing hardware and power supply support。
Further, it is contemplated that the data processing amount exported needed for corresponding audio-frequency information based on robot voice is less, and the required hardware configuration of the output of audio-frequency information be not required to the limbs of robot execution action and participate in。Therefore audio output unit and power amplification unit are integrated on main frame。
Finally relevant peripheral circuit and functional module are integrated on corresponding master control borad, it is integrated on main frame 101 as it is shown in figure 1, interactively enter acquisition module 110 (image collecting device 112, voice collection device 111 and touch sensor 103), graphics processing unit 113, interactive data processing unit 120 (answerback memory 122), connected network communication unit 121, audio output unit 130 and power amplification unit 131。Attitude transducer 151, obstacle sensor 152, touch sensor 153 action processing unit 140, electric-motor drive unit 161 and 162, joint servos control unit 171,172 and 173 are integrated in from machine 102。
In an embodiment of the present invention, main frame is the master control borad based on MTK6572 processor。MTK6572 is the chip product that a new generation of MediaTek Inc. adopts 28 nanometers of processing procedures。MTK6572 is Mobile solution processor, is mainly used in Embedded exploitation。As in figure 2 it is shown, main frame 210 is integrated with connected network communication unit 222 (WiFi communication module)。The interface that main frame 210 provides has:
Touch interface 216, 217 and 218, each touch interface is three-wire interface, line sequence is power supply (VCC) ground connection (GND) output (OUT), it is connected respectively to touch modules 206, 207 and 208 (in the present embodiment, main frame 210 comprises 3 and touches interface, in other embodiments of the present invention, different number of touch interface can be constructed according to specifically needing), touch modules 206 in the present embodiment, 207 and 208 adopt capacitive touch sensors (is capable of detecting when whether have hands to contact, have during contact and return low level, high level is returned) time contactless；
Serial communication interface 221, three-wire interface, line sequence is ground connection (GND) up (RX) descending (TX), and it is connected to the serial communication interface 231 from machine 230；
Speaker interface 213 and 214, each interface is two line interfaces, line sequence is audio signal just (Speaker+) audio signal negative (Speaker-), it is connected respectively to speaker 203 and 204 (in the present embodiment, there are 2 speaker interface (left and right acoustic channels), in other embodiments of the present invention, it is possible to construct different number of speaker interface according to specifically needing)；
Microphone interface 211 and 212, each interface is two line interfaces, line sequence is MICP (Mic+) MICN (Mic-), it is connected respectively to mike 201 and 202 (in the present embodiment, there are 2 microphone interface (to determine sound source direction and positional distance), in other embodiments of the present invention, it is possible to construct different number of microphone interface according to specifically needing)；
Utilizing camera interface 215, it is connected to photographic head 205；
Power interface 219, it is connected to from the power management module 251 machine 230。
From the master control borad that machine is based on STM32 processor。STM32 processor is the microcontroller series products that ST Microelectronics (ST) releases, based on 32 Cortex-M series kernels that ARM company releases。As in figure 2 it is shown, be integrated with from machine 230:
Power management module 251 and lithium battery 254, it is for power from machine 230 and main frame 210；
Physical switch 200, whether its control system switches on power；
Sofe Switch 253, whether its control system brings into operation。
The interface provided from machine 230 has:
Charge port 252, two line interfaces, line sequence is power supply (VCC) ground connection (GND), and it is connected to power management module 251 and connects lithium battery 254；
Serial communication interface 231, three-wire interface, line sequence is GNDRXTX, main frame 210 and between machine 230 by serial communication realize data transmission；
Range finding interface 241, it is connected to Ultrasonic ranging device 257；
Attitude transducer interface 242, it is connected to attitude transducer 258, and attitude transducer 258 adopts six axle attitude transducer MPU6500 of integrated acceleration and gyroscope in the present embodiment；
Motor drives 243 and 244, and it is connected respectively to motor 261 and 262；
Steering wheel interface 261～271 (11 steering wheel interfaces), it is connected respectively to steering wheel 281～291 (based on 11 steering wheels and 2 motors, system shown in Figure 2 can support the joint motions of 13 degree of freedom)；
Touching interface 232,233 and 234, it is connected respectively to touch modules 263,264 and 265。
Further, understand, for the ease of user, the state of charge that robot is current。In the embodiment depicted in figure 2, system also comprises electricity quantity display module, and electricity quantity display module is configured to the information about power that display robot is current。Considering that the data processing amount of electricity display needs is not high and however it is necessary that certain power drives support (driven for emitting lights diode), therefore electricity quantity display module is integrated in from machine 230, wherein:
Main frame 210 is configured to gather and send the information about power that robot is current；
The electricity that electricity quantity display module is configured to according to information about power output is corresponding shows。
Electricity display interface 238 is comprised from machine 230, electricity display interface 238 is four-wire interface, line sequence is output (IO) output (IO) output (IO) ground connection (GND), it is connected to electricity display lamp 255 (electricity display lamp is multi-color LED (LED) lamp, three I/O interface corresponding red R respectively, green G, blue B)；
Further, understand, for the ease of user, the interaction mode that robot is current。In the embodiment depicted in figure 2, system also comprises interactive display module, and interactive display module is configured to the interaction mode that display robot is current。Considering that the data processing amount of interaction mode display needs is not high and however it is necessary that certain power drives support (driven for emitting lights diode), therefore interactive display module is integrated in from machine 230, wherein:
Main frame 210 is configured to gather and send the interaction mode that robot is current, and interaction mode includes recording state, voice/action output state and semantic parsing state；
The interaction mode that interactive display module is configured to according to interaction mode output is corresponding shows。
Comprising interactive display interface 239 from machine 230, interactive display interface 239 is two line interfaces, and line sequence is pulse output (PWM) ground connection (GND), is connected to mutual display lamp 256 (mutual display lamp is respiratory nasal lamp)。
In the embodiment depicted in figure 2, system power supply voltage is 11.1V。Physical switch 200 closed-system powers on, and from machine 230 by coulometer Real-time Collection battery electric quantity, and detects Sofe Switch 253 state。
Start process:
When Sofe Switch 253 action (length is pressed) being detected, system brings into operation, and main frame 210 completes networking, initializes。It is in breathing state from the mutual display lamp 256 of machine 230 and waits that main frame has initialized。
Interaction:
Main frame 210 has initialized, on from machine 210 and 230 by serial ports (221 and 231) normal delivery data。Mike 201 and 202 gathers audio signal, through giving MTK6572 to noise reduction and the amplification of audio frequency, voice messaging is passed to high in the clouds by connected network communication unit 222 by MTK6572, and voice messaging is made and judged that the speaker 203 and 204 by MTK6572 feeds back to user accurately by high in the clouds。Simultaneously, MTK6572 will need the robot motion performed to control to perform from machine 230 by serial ports。Steering wheel 281～291 and motor 261 and 262 is driven to realize robot motion from machine 230。
Send capacity prompt instruction from the STM32 of machine 230 by serial ports and inform the electricity of custom system, complete electricity from the electricity display lamp 255 of machine 230 and show, complete mutual display from the mutual display lamp 256 of machine 230。
Electricity display lamp 255 is represented by RGB tri coloured lantern: R represents electricity deficiency, and it is normal that B represents electricity, and G represents electricity abundance。User's charge condition is informed by speaker 203 and 204 in MTK6572 and high in the clouds simultaneously。
Mutual display lamp 256 is by the PWM LED controlled: normal bright prompting user now robot is in recording state, and prompting user's now robot voice output of often going out, flash for prompting subscriber set people carries out semantic parsing in networking。
To sum up, it is mutual that the robot electronic control system of the present invention can realize action while carrying out interactive voice, and compared with the robot control system of prior art, its volume is little, simple in construction, has wider array of range of application and better Consumer's Experience。
The carrying out practically process of system according to an embodiment of the invention is described followed by methodology flow process。As shown in Figure 3。Step shown in the flow chart of accompanying drawing can perform in the computer system comprising such as one group of computer executable instructions。Although illustrate the logical order of each step in flow charts, but in some cases, it is possible to perform shown or described step with the order being different from herein。
First perform respectively S32 and S33, gather external voice information and external image information respectively。Performing step S34 after step S33, image information does preliminary analysis process to external world。Perform the preliminary processing results of the external voice information of step S35, analytical procedure S32 collection and the external image information of step S34 to determine current interaction scenarios。Then perform step S36, generate and output device people's response based on current interaction scenarios。Robot response includes robot voice and robot motion, performs step S37 and S38, output device people's voice and robot motion after step S36 respectively。
In step S36, from the robot response prestored, select the robot response of coupling。For realizing above-mentioned functions, step S31 being first carried out before system is run, prestore robot response。And further, perform step S30 when every subsystem is connected to high in the clouds, automatically update the robot response that prestores with the quantity of continuous expanding machinery people's response and fine degree, upgraded machine people's system。
To sum up, the system according to the present invention can drive multi-joint small scale robot simply and easily, it is achieved the man-machine interaction that robot is multi-modal with user；Compared to prior art, the robot of the system according to the present invention not only has higher dexterity of action and operation precision, and along with the concrete condition of external environment condition, the action of self can be finely tuned, the range of application of robot is expanded significantly, and Consumer's Experience is greatly improved。
While it is disclosed that embodiment as above, but described content is only to facilitate the embodiment understanding the present invention and adopt, is not limited to the present invention。System of the present invention also can have other various embodiments。When without departing substantially from essence of the present invention, those of ordinary skill in the art are when can make various corresponding change or deformation according to the present invention, but these change accordingly or deform the scope of the claims that all should belong to the present invention。
Claims (10)
1. a multi-joint small scale robot electric-control system, it is characterized in that, described system includes being integrated in interactively entering collecting unit and interactive data processing unit and being integrated in from the action processing unit machine, multiple electric-motor drive unit and multiple joints servos control unit on main frame, wherein:
The described collecting unit that interactively enters is configured to gather the external world and interactively enters information, described in interactively enter collecting unit and comprise voice collection device and image collecting device；
Described interactive data processing unit is configured to interactively enter information according to the described external world and judges session operational scenarios and generate the multi-modal robot response mated with described session operational scenarios, described interactive data processing unit comprises the answerback memory for storing default described robot response, and described answerback memory is configured to automatically obtain from high in the clouds and update the response of described robot；
Described robot response packet is containing robot motion, and described action processing unit is configured to generate and output multi-channel motor drive signal and multichannel servos control signal according to described robot motion；
Described electric-motor drive unit and described joint servos control cell location are according to the described motor drive signal that receives or described servos control signal control motor or steering wheel operating。
2. system according to claim 1, it is characterised in that the response of described robot also comprises robot voice, described main frame integrated audio output unit and power amplification unit, wherein:
Described interactive data processing unit is configured to interactively enter information according to the described external world and generates and export described robot voice；
Described audio output unit is configured to generate and export corresponding audio-frequency information according to described robot voice；
Described power amplification unit is configured to amplify the power of described audio-frequency information output。
3. system according to claim 1 and 2, it is characterized in that, the integrated graphics processing unit of described main frame, described graphics processing unit be configured to described image acquisition device to external image information carry out preliminary treatment and result be sent to described interactive data processing unit。
4. the system according to any one of claim 1-3, it is characterised in that the integrated connected network communication unit of described main frame, described connected network communication cell location is realize the data interaction between described interactive data processing unit and external server。
5. the system according to any one of claim 1-4, it is characterised in that described voice collection device comprises mike, Mike's noise reduction unit and audio amplification unit, and described Mike's noise reduction unit and described audio amplification unit are integrated on the host。
6. the system according to any one of claim 1-5, it is characterised in that described main frame is the master control borad based on MTK6572 processor。
7. the system according to any one of claim 1-6, it is characterized in that, described from the integrated attitude transducer of machine, described attitude transducer is configured to gather the attitude information of current robot, and described action processing unit is configured to generate described motor drive signal and described servos control signal in conjunction with described attitude information。
8. the system according to any one of claim 1-7, it is characterized in that, described from the integrated obstacle sensor of machine, described obstacle sensor is configured to gather the obstacle information in the current robot direction of motion, and described action processing unit is configured to generate described motor drive signal and described servos control signal in conjunction with described obstacle information。
9. the system according to any one of claim 1-8, it is characterized in that, described from machine integrated touch sensor, described touch sensor is configured to gather the contact situation information of current robot limbs and external object, and described action processing unit is configured to generate described motor drive signal and described servos control signal in conjunction with described contact situation information。
10. the system according to any one of claim 1-9, it is characterised in that described from machine be the master control borad based on STM32 processor。
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