CN105904460A - Control system for real-time human-simulated dance robot - Google Patents
Control system for real-time human-simulated dance robot Download PDFInfo
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- CN105904460A CN105904460A CN201610541212.XA CN201610541212A CN105904460A CN 105904460 A CN105904460 A CN 105904460A CN 201610541212 A CN201610541212 A CN 201610541212A CN 105904460 A CN105904460 A CN 105904460A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/0035—Dancing, executing a choreography
Abstract
The invention relates to a control system for a real-time human-simulated dance robot, and belongs to the technical field of robots. The control system comprises a robot master controller module, a motor steering engine controller module, a spatial position sensor module, a wireless data sending module and a wireless data receiving module, wherein spatial position change information detected by the spatial position sensor is transmitted to a first micro processor connected with the wireless data sending module; the first micro processor is used for controlling the wireless data sending module to send out the position change information; the wireless data receiving module is used for receiving the spatial position change information sent by the wireless data sending module; the robot master controller module is used for comprehensively processing information, and communicates with the motor steering engine controller module for controlling a motor steering engine of each part to carry out corresponding action, so that the dance robot act along with the action of a human body. According to the scheme adopted by the invention, the dance robot simulates human dance actions more intelligently in real time, so that the scope of application is wide.
Description
Technical field
The present invention relates to a kind of apery Dancing Robot control system in real time, belong to robotics.
Background technology
Anthropomorphic robot (Humanoid Robot), is also called anthropomorphic robot, is to be similar to people outside one,
There is the motor capacity close with the mankind and the specialized robot of certain intelligence.Since First apery machine
Since device people Wabot-1 is born, anthropomorphic robot has become as one and combines machinery, electronics, calculates
Machine programs, sensing technology, material, controls technology, multiple fields such as artificial intelligence technology comprehensive
Highly difficult research direction, is a national high-tech strength and the important symbol of level of development.Robot
Dancing has the strongest sight, it is intended that robot can make complexity as the mankind and
Action flexibly, it is desirable to robot makes coherent complicated dance movement and is accomplished by its each degree of freedom
Reasonably design arrangement.
Dancing Robot is the middle one of numerous robot, existing Dancing Robot be external form as people,
Typically the most only there is fixing dancing posture rather than imitate human body dance movement according to human action in real time.
Summary of the invention
The present invention is directed to the problems referred to above, the invention provides a kind of apery Dancing Robot in real time and control system
System.This system Real-time Collection human body dance movement information, processes through processor data, controls dancing
Robot steering engine controller action, makes human body dance movement in real time.
The present invention is achieved in that
A kind of apery Dancing Robot control system in real time, this system includes:
Robot main controller module, motor steering engine controller module, locus sensor assembly,
Wireless data sending module, wireless data receipt modules；Wherein:
Locus sensor assembly is N number of, is arranged on the robot position equipped with steering wheel corresponding to people
The juxtra-articular of body, the transmission of spatial position change information that described locus sensor detects to
The first microprocessor that described wireless data sending module connects；First microprocessor controls wireless data
Change in location information is sent by sending module；
Wireless data receipt modules includes the second microprocessor, and described second microprocessor is by this module
Mode of operation is set to reception pattern, the spatial position change letter that receiving radio data sending module sends
Breath；
Robot main controller module has the 3rd microprocessor, and described robot main controller module leads to
After crossing the data that described 3rd microprocessor receives the transmission of wireless data sending module, to letter
Breath integrated treatment, communicates with described motor steering engine controller module, controls the motor at each position
Steering wheel carries out corresponding action so that Dancing Robot follows the action of human body and action.
Further, first microprocessor receives the space bit of locus sensor assembly transmission
Confidence ceases, and processes, and after confirming to change, wireless data sending module is set to sending mode,
The transmitting terminal mastery routine run in first microprocessor afterwards calls wireless transmission subprogram, is moved by human body
The spatial positional information data made send, and wait that receiving terminal receives, if sending unsuccessful, and meeting
Send always, until success.
Further, the transmission realizing spatial position change information data of wireless transmission subprogram, adjust
After wireless transmission subprogram, described wireless transmission subprogram handwritten copy identity is to depositor
TX_ADDR, writes 0 channel reception address to RX_ADDR_P0, arranges automatic-answering back device and allows, if
Set to 0 passage to allow to receive, configure automatic sending times, select communication channel, configuration to send parameter,
Selector channel 0 valid data width, arranges module configuration register to sending mode, will transmit
Data write sends buffer register, and pin CE is put 1, then enter transmission state.
Further, receiving terminal mastery routine is called wireless receiving subprogram and is received the information data that transmission comes,
In the second microprocessor in wireless data receipt modules and robot main controller module the afterwards
Three microprocessors communicate, robot master controller comprehensively analyze data and process, referring to
Showing that motor steering engine controller module works, the mastery routine of motor steering engine controller module calls motor steering wheel
Action subprogram so that robot makes corresponding action.
Further, wireless receiving subprogram receives the spatial position change that airborne sensor module sends
Information data, is controlled wireless data transfer module by the second microprocessor and realizes.Wireless receiving subprogram
Basic procedure: write transmitter ID address to depositor 0 channel reception address RX_ADDR_P0,
Arrange automatic-answering back device to allow, 0 passage is set and allows to receive data, select communication channel, selector channel
0 valid data width, configuration sends parameter, arranges module configuration register to sending mode, will draw
Foot CE puts 1, then enter reception state.
Further, steering wheel action subprogram receives the space bit of human action at wireless data module
After putting change information data, motor steering wheel carries out action, makes robot make the action of application, motor
Steering wheel action subroutine procedure is: the people that the second microcomputer reads wireless data receipt modules receives
After body action information data, send data to robot main controller module, by ARM therein
Microprocessor and CPLD chip complete data and process and compiling work, and data processed result is by therein
ARM microprocessor and motor servo driving circuit perform.
The present invention compared with prior art, has the beneficial effects that:
Existing Dancing Robot typically the most only has fixing dancing posture, and be the most only previously set is several
Dance movement, kind fixes and single, and the intelligence degree of Dancing Robot is relatively low.And institute of the present invention
The scheme proposed is possible not only to realize above-mentioned functions, it is also possible to make Dancing Robot imitate human body dance in real time
Step action, more intelligent, have wide range of applications.
Accompanying drawing explanation
Fig. 1 is the structural principle block diagram of control system of the present invention；
Fig. 2 is the locus sensor assembly connection figure with microprocessor of embodiment of the present invention offer；
Fig. 3 be the embodiment of the present invention provide wireless data sending module or wireless data receipt modules with
Microprocessor connects circuit；
Fig. 4 is the basic flow sheet of the present invention real-time apery Dancing Robot control system；
Fig. 5 is transmitting terminal main program flow chart；
Fig. 6 is the flow chart of wireless transmission subprogram；
Fig. 7 is receiving terminal main program flow chart；
Fig. 8 is the flow chart of wireless receiving subprogram；
Fig. 9 is motor steering wheel action subprogram.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And embodiment, the present invention is further elaborated.Should be appreciated that described herein specifically
Embodiment only in order to explain the present invention, is not intended to limit the present invention.
Seeing Fig. 1, a kind of apery Dancing Robot control system in real time includes:
Robot main controller module, motor steering engine controller module, locus sensor assembly,
Wireless data sending module, wireless data receipt modules；Wherein:
Locus sensor assembly is N number of, is arranged on the robot position equipped with steering wheel corresponding to people
The juxtra-articular of body, the transmission of spatial position change information that described locus sensor detects to
The first microprocessor that described wireless data sending module connects；First microprocessor controls wireless data
Change in location information is sent by sending module；
Wireless data receipt modules includes the second microprocessor, and this module is worked by the second microprocessor
Pattern is set to reception pattern, the spatial position change information that receiving radio data sending module sends；
Robot main controller module has the 3rd microprocessor, and robot main controller module passes through institute
After stating the data that the 3rd microprocessor receives the transmission of wireless data sending module, information is combined
Conjunction processes, and communicates with described motor steering engine controller module, controls the motor steering wheel at each position
Carry out corresponding action so that Dancing Robot follows the action of human body and action.
The degree of freedom of apery Dancing Robot is N, and the degree of freedom of robot is the biggest, and robot is the most flexible,
The most just it is more prone to reproduce the dance movement of human body.By N number of steering wheel, each joint of robot is entered
Row manipulation, allows the robot to make various motion, and apish dancing that can be more life-like is moved
Make.N number of locus is installed equipped with the position of steering wheel corresponding to the juxtra-articular of human body in robot
Sensor assembly.The installation position of locus sensor assembly is consistent with robot steering wheel, and peace
The locus sensor die number of blocks of dress is the most, and human body dance movement imitation is got over by such robot
Accurately.After human body makes dance movement, the locus at associated position will change.
The transmission of change information that locus sensor assembly detects is to the in wireless data sending module
Two microprocessors, first microprocessor controls wireless data sending module and change in location information is sent out
Go.Now, wireless data receipt modules is started working, and the second microprocessor is by this module mode of operation
It is set to reception pattern, the spatial position change information that receiving radio data sending module sends.Micro-place
After reason device 4 receives the data that the transmission of wireless data sending module comes, after informix is processed, with
Motor steering engine controller module communicates, and the motor steering wheel controlling each position carries out corresponding action,
Make Dancing Robot follow the action of human body and action, so move in circles.Each microprocessor pair
The information real time processing received, each position of driven machine people carries out corresponding actions, and human body dancing is moved
Making to keep consistent, the most single action links up, and just constitutes the dancing posture that Dancing Robot is graceful.
51 series monolithic STRC89C52 selected by first microprocessor and the second microprocessor, and the 4th is micro-
C8051F410 series monolithic selected by processor, as shown in Figure 1.
Robot main controller module selects ARM microprocessor and CPLD chip.ARM microprocessor
Using STM32F104 family chip as the 3rd microprocessor, its dominant frequency is up to 72MHz, inside sets high
Speed memorizer (flash memory of 512KB and the SRAM of 64KB), the instruction with 1.25Mips/MHz performs
Speed, the loading for complicated algorithm provides hardware foundation, and it has 112 general input/output ports.
CPLD CPLD is for compiling of instruction and addresses, and major function is for the micro-place of ARM
Interface saved by reason device, reduces the time taken when ARM microprocessor sends instruction, for the micro-place of ARM
Reason device computing pose algorithm, time-consuming, make system response time fast, control more accurate.ARM
Microprocessor and CPLD complex programmable logic unit communication, and it is complicated that the strings of commands is transferred to CPLD
Programmable logic cells input interface, the strings of commands is decoded by CPLD complex programmable logic unit, and
Output is to single-chip microcomputer, Single-chip Controlling stepper motor driver chip, drive stepping motor action, stepping
The state of motor action is fed back to single-chip microcomputer by signal feedback unit, it is achieved closed loop control, motor steering wheel
Controller module is made up of C8051F410 series monolithic and THB6064H driving chip.
Locus sensor assembly can be selected for GY-29-ADXL345 digital acceleration module.Wherein
ADXL345 be a little and thin super low-power consumption 3 axis accelerometer, resolution high (13), survey
Weight range reaches ± 16g.Digital output data is 16 complement of two's two's complement forms, can pass through SPI (3 lines or 4
Line) or the access of I2C digital interface.ADXL345 is especially suitable for mobile device application.It can tilt
Static weight acceleration is measured in detection application, it is also possible to the dynamic acceleration that measurement motion or impact cause
Degree.Its high-resolution (3.9mg/LSB), it is possible to measure the angle change less than 1.0 °.This device
Multiple special detection function is provided.Movable and inactive detection function is by the acceleration on relatively any axle
Degree detects the presence of motion generation with the threshold value of user setup.Tap detection function and can detect any side
To singly shake and double vibration is made.The connection figure of locus sensor assembly and first microprocessor U1 is such as
Shown in Fig. 2, GY-29-ADXL345 digital acceleration module is micro-by IC bus IIC and first
Processor U1 communicates, so pin 10 in the sensor assembly of locus, pin 11 are straight through resistance
Connect 5V direct current power source voltage.The pin 18 of locus sensor assembly, pin 19 connect crystal oscillator, brilliant
The frequency of oscillation frequency shaken is 11.0592MHz.Can be external at the P0 mouth of first microprocessor
LCD1602 display circuit, in order to show the number of GY-29-ADXL345 digital acceleration module transfer
According to, i.e. acceleration on x, y, z solid axes.
Wireless data sending module and wireless data receipt modules U8 may select NRF24L01 chip.
NRF24L01 chip is 2.4GHz global open ISM band, and maximum 0dBm launches power, supports six
The data receiver of paths, low-work voltage, 2Mbps two-forty, owing to the air transmission time is the shortest,
Greatly reduce the collision phenomenon in being wirelessly transferred；125 frequencies, meet multi-point and frequency hopping is led to
Letter needs；Built-in 2.4GHz antenna, compact；When being operated in answer-mode communication, quickly
Air transmission and the time of startup, greatly reduce current drain.NRF24L01 be integrated with all with
RF protocol-dependent igh-speed wire-rod production line part, such as: automatically retransmit lost data packets and automatically generate
Answer signal etc..Wireless data sending module is identical with the hardware circuit of wireless data receipt modules,
Simply software view arranges difference.Wireless data sending module and wireless data receipt modules U8 and monolithic
Machine (microprocessor) connects circuit as shown in Figure 3.As a example by wireless data sending module, wireless number
Reset circuit of SCM is connect according to sending module pin 9.The pin 18 of wireless data sending module and pin
19 connect crystal oscillator, constitute the clock of single-chip microcomputer, and control processes the beat of information.Single-chip microcomputer P2 mouth controls
NRF24L01 wireless communication module.It should be noted that if 51 series monolithic P0 mouths control
This module, needs the pull-up resistor adding 10K to carry out dividing potential drop, otherwise easily causes module and burn, 51 series
When other I/O mouths of single-chip microcomputer are connected with NRF24L01 wireless communication module, then need not so operate.
NRF24L01 wireless data delivery and reception module has five states: power-down mode, emission mode,
Reception pattern, holding state 1, holding state 2, the switching of pattern by signal input and control terminal IRQ,
MISO, CSN, SCK, MOSI, CE, coordinate depositor jointly to complete.
Fig. 4 is the basic procedure of real-time apery Dancing Robot control system, is introduced in detail below.
Human body makes dance movement, it should be noted that a lot of positions of human body placed multiple space bit
Put sensor.The dance movement of human body can cause the change of the information that locus sensor collection arrives.
First microprocessor by P1.0 and P1.1 and locus sensor assembly with SDA (SPI number
According to I/O, IIC data wire), SCL (serial communication clock) terminal be connected receive locus sensing
The spatial positional information of device module transfer, processes, and after confirming to change, is sent by wireless data
Module is set to sending mode, and the transmitting terminal mastery routine mastery routine run in first microprocessor afterwards is adjusted
Use wireless transmission subprogram, it is possible to the spatial positional information data of human action sent, etc.
End to be received receives.If sending unsuccessful, can send always, until success.Above-mentioned process be
In locus sensor assembly on human body and the first microprocessor in wireless data sending module
Run.
Transmitting terminal main program flow chart is as shown in Figure 5.The mode of operation of wireless data transfer module is by core
Tablet mode controls together with controlling depositor PWR_UP with PRIM_RX in end pin CE and module.
If pin CE, depositor PWR_UP and PRIM_RX power on, then mode of operation is for receiving
Pattern.If pin CE, depositor PWR_UP power on, depositor PRIM_RX power down, then
It is operated in sending mode.If pin CE, depositor PWR_UP power on, depositor PRIM_RX
Switched by power-up state to power-down state, then the most non-sending mode of mode of operation, until data send
Complete.
The major function of wireless transmission subprogram is to realize the transmission of spatial position change information data, by
Microprocessor 1 controls wireless data sending module and realizes data transmission.Wireless transmission subprogram basic
Flow process is that handwritten copy identity (writing Tx address of node) arrives depositor TX_ADDR, writes 0 passage
Receive address (writing Rx address of node) and arrive depositor RX_ADDR_P0, automatic-answering back device is set and permits
Permitted, 0 passage be set and allow to receive, configure automatic sending times, select communication channel (transmitter with
Receiver need to be at a channel), configuration sends parameter, selector channel 0 valid data width, arranges
Module configuration register sends buffer register to sending mode, the data that will transmit write, will draw
Foot CE puts 1, then entrance transmission state, the flow chart of wireless transmission subprogram, as shown in Figure 6.
Sender terminal flow chart is as shown in Figure 7.The task of wireless data receiving terminal is that human body dancing is moved
After making, wireless data sending module sender's body action spatial position change information, wireless data
Receiver module receives the information data that transmission comes, second micro-process in wireless data receipt modules afterwards
Device 2 communicates, by Dancing Robot master with the 3rd microprocessor in robot main controller module
Data are comprehensively analyzed and process by controller, instruction the 4th microprocessor and motor servo driving electricity
Road works, and mastery routine calls motor steering wheel action subprogram so that robot makes corresponding action,
Thus overall real-time implementation human body when making dance movement apery Dancing Robot make identical action.
In Fig. 7, receiving terminal mastery routine have invoked wireless receiving subprogram and motor steering wheel action subprogram.
The major function of wireless receiving subprogram is to receive the space that locus sensor assembly sends
Change in location information data, is controlled NRF24L01 wireless data by the second microprocessor in module and passes
Defeated module realizes.The basic procedure of wireless receiving subprogram is to write transmitter ID address to depositor 0
Channel reception address RX_ADDR_P0, arranges automatic-answering back device and allows, and arranges 0 passage and allows to receive
Data, select communication channel (transmitter and receiver need to be at channels), and selector channel 0 is effective
Data width, configuration sends parameter (low noise amplifier gain, launch power, constant without line rate),
Module configuration register is set to sending mode, pin CE is put 1, then enter reception state.Nothing
Line sends the flow chart of subprogram, as shown in Figure 8.
The major function of steering wheel action subprogram is to receive the sky of human action at wireless data module
Between after the change information data of position, motor steering wheel carries out action, makes robot make the action of application.
The basic flow sheet of motor steering wheel action subprogram is as it is shown in figure 9, the second wireless number of microcomputer reads
According to after the human action information data that receiver module receives, send data to robot master controller
Module, is completed data by ARM microprocessor therein and CPLD chip and processes and compiling work,
Data processed result is performed by the 4th microprocessor and motor servo driving circuit.
Claims (6)
1. a real-time apery Dancing Robot control system, it is characterised in that this system includes:
Robot main controller module, motor steering engine controller module, locus sensor assembly, wireless
Data transmission blocks, wireless data receipt modules；Wherein:
Locus sensor assembly is N number of, is arranged on the robot position equipped with steering wheel corresponding to people
The juxtra-articular of body, the transmission of spatial position change information that described locus sensor detects to
The first microprocessor that described wireless data sending module connects；First microprocessor controls wireless data
Change in location information is sent by sending module；
Wireless data receipt modules includes the second microprocessor, and described second microprocessor is by this module
Mode of operation is set to reception pattern, the spatial position change letter that receiving radio data sending module sends
Breath；
Robot main controller module has the 3rd microprocessor, and described robot main controller module leads to
After crossing the data that described 3rd microprocessor receives the transmission of wireless data sending module, to letter
Breath integrated treatment, communicates with described motor steering engine controller module, controls the motor at each position
Steering wheel carries out corresponding action so that Dancing Robot follows the action of human body and action.
2. according to the real-time apery Dancing Robot control system described in claim 1, it is characterised in that
First microprocessor receives the spatial positional information of locus sensor assembly transmission, carries out
Processing, after confirming to change, wireless data sending module is set to sending mode, first is micro-afterwards
The transmitting terminal mastery routine run in processor calls wireless transmission subprogram, by the space bit of human action
Put information data to send, waiting that receiving terminal receives, if sending unsuccessful, can send always,
Until success.
3., according to the real-time apery Dancing Robot control system described in claim 2, its feature exists
In, the transmission realizing spatial position change information data of wireless transmission subprogram, call wireless transmission
After subprogram, described wireless transmission subprogram handwritten copy identity, to depositor TX_ADDR, is write 0 and is led to
Reception address, road, to RX_ADDR_P0, arranges automatic-answering back device and allows, and arranges 0 passage and allows to receive,
Configure automatic sending times, select communication channel, configuration to send parameter, selector channel 0 valid data
Width, arranges module configuration register and sends buffering post to sending mode, the data that will transmit write
Storage, puts 1 by pin CE, then enter transmission state.
4., according to the real-time apery Dancing Robot control system described in claim 1, its feature exists
In,
Receiving terminal mastery routine is called wireless receiving subprogram and is received the information data that transmission comes, the most wireless
The second microprocessor in data reception module and the 3rd micro-process in robot main controller module
Device communicates, robot master controller comprehensively analyze data and process, indication motor rudder
Machine controller module works, and the mastery routine of motor steering engine controller module calls the motor journey of steering wheel action
Sequence so that robot makes corresponding action.
5., according to the real-time apery Dancing Robot control system described in claim 4, its feature exists
In, wireless receiving subprogram receives the spatial position change information data that airborne sensor module sends,
Controlled wireless data transfer module by the second microprocessor to realize.The basic procedure of wireless receiving subprogram:
Write transmitter ID address to depositor 0 channel reception address RX_ADDR_P0, automatically should arrange
Answer perhaps, 0 passage is set and allows to receive data, select communication channel, selector channel 0 valid data
Width, configuration sends parameter, arranges module configuration register to sending mode, pin CE is put 1,
Then enter reception state.
6., according to the real-time apery Dancing Robot control system described in claim 4, its feature exists
In, steering wheel action subprogram receives the spatial position change information of human action at wireless data module
After data, motor steering wheel carries out action, makes robot make the action of application, motor steering wheel action
Program step is: the human action information that the second microcomputer reads wireless data receipt modules receives
After data, send data to robot main controller module, by ARM microprocessor therein and
CPLD chip completes data and processes and compiling work, and data processed result is micro-by ARM therein
Reason device and motor servo driving circuit perform.
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| CN105904460B (en) | 2018-09-04 |
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