CN107290982A - The control system and method for intelligent robot - Google Patents
The control system and method for intelligent robot Download PDFInfo
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- CN107290982A CN107290982A CN201610204582.4A CN201610204582A CN107290982A CN 107290982 A CN107290982 A CN 107290982A CN 201610204582 A CN201610204582 A CN 201610204582A CN 107290982 A CN107290982 A CN 107290982A
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- 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
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Abstract
The invention provides the control system of intelligent robot and method.Robot control system may include：Master control system module；Drive module is moved, the motion drive module is used to drive robot motor to be moved with control machine people；The signal collected is sent to the master control system module by sensor acquisition module, the sensor acquisition module；And communication interaction module, the communication interaction module is used to be communicated with extraneous intelligent apparatus, wherein signal of the master control system module collection from the motion drive module, the sensor acquisition module and/or the communication interaction module and the make decisions backward motion drive module, the sensor acquisition module and/or communication interaction module offer control signal.
Description
Technical field
The present invention relates generally to the control system and method for robot field, more particularly to intelligent robot.
Background technology
With development in science and technology and progress, the function that robot can be realized increasingly is enriched, and has also obtained more next
More be widely applied, can for example be performed according to predetermined programming operation industrial multi-joint manipulator or it is many from
By degree robot, the domestic robot of work such as it can be cleaned, be entertained, being cooked, being guarded, can be removed
Brick, construction robot for building a wall, transport etc. etc..On the one hand, robot can replace the mankind at some
Badly, it is operated in dangerous environment, and some uninteresting dull repeatability can be performed instead of the mankind
Work.
As modern material conditions are gradually stepped up, people propose various demands to home intelligence, meet the tendency of and
Raw is panoramic smart home, to meet the life requirement of people.But the various intelligence previously existed
Energy household can't be moved in itself and function is single, can not fully meet requirement of the people to smart home.
In addition, the robot platform being controlled in the prior art to smart home can only realize single predetermined function
And abundant flexible function can not be provided, it can not meet requirement of the people to smart home.For example, existing machine
The control system of device people's platform is only in that to be controlled to each smart home, and can not accomplish robot sheet
The intellectuality of body control platform；Existing robot platform realizes the detection/sensing function and machine of robot in itself
The function that device people itself provides, but the interaction with home owner/smart home is not embodied so that not
There are the intelligent functions for playing robot completely.Meanwhile, realize in the family various intelligent functions with greater need for
There is an intelligentized robot control system, the robot control system should also have more and people in itself
Interactive function, really realizes conveniently home intelligence and facilitation.
Accordingly, it would be desirable to the control system and method for improved intelligent robot.
The content of the invention
The brief overview of one or more aspects presented below is to provide the basic of many aspects of this disclosure
Understand.It should be noted, however, that outlined below is not the exhaustive overview of all aspects contemplated, and both
The key or decisive key element of statement all aspects of the disclosure is not intended to, does not attempt to limit appointing for the disclosure
The scope of what or all aspects.On the contrary, sole purpose outlined below is, this public affairs is provided in simplified form
Some concepts for the one or more aspects opened, using the preamble as the embodiment illustrated later.
According to one embodiment of present invention, a kind of robot control system includes：Master control system module；Fortune
Dynamic drive module, the motion drive module is used to drive robot motor to be moved with control machine people；
The signal collected is sent to the master control system mould by sensor acquisition module, the sensor acquisition module
Block；And communication interaction module, the communication interaction module be used for communicated with extraneous intelligent apparatus, its
Described in master control system module collection from the motion drive module, the sensor acquisition module and/or institute
State the signal of communication interaction module and the make decisions backward motion drive module, sensor collection mould
Block and/or the communication interaction module provide control signal.
In one aspect, the motion drive module includes movement sensing module, and the motion driving mould
Block drives robot motor to be moved based on the signal collected by the movement sensing module.
In one aspect, the movement sensing module include it is following at least one：The position installed on motor is passed
Sensor and/or current sensor, pressure sensor, microphone, infrared distance sensor.
In one aspect, it is described motion drive module include it is following at least one：Servo driving module, stepping
Motor drive module, servomotor drive module, DC motor Driver module.
In one aspect, the sensor acquisition module includes：Analog signal interface, for receiving the biography
The analog signal that sensor acquisition module is collected；Digital signal interface, for receiving the sensor acquisition module
The data signal of collection；And sensing signal processor module, it merges the analog signal and the numeral
Signal simultaneously uploads to the master control system module by obtained signal is merged.
In one aspect, the analog signal interface receive from range sensor, temperature sensor and/
Or the analog signal of humidity sensor；And the digital signal interface receive from imaging sensor and/
Or the data signal of infrared sensor.
In one aspect, the sensor acquisition module include it is following at least one：Pressure sensor, temperature
Sensor, humidity sensor, range sensor, imaging sensor, infrared sensor, laser radar sensing
Device, microphone, camera, touch sensor.
In one aspect, the robot control system also includes the energy powered for the robot control system
Measure storage module.
In one aspect, the energy storage module is connected directly to the motion drive module；The energy
Storage module is connected to the master control system module via the first DC/DC converters；And the energy storage
Storing module is connected to the sensor acquisition module and the communication interaction mould via the 2nd DC/DC converters
Block.
In one aspect, the energy storage module is connected directly to the motion drive module and the master control
System module；The master control system module includes DC/DC converters, and the energy storage module is carried
The electric energy of confession is supplied to the sensor acquisition module and described logical after being changed via the DC/DC converters
Believe interactive module.
In one aspect, the robot control system also includes：Subscriber Interface Module SIM, the user interface
Module include it is following at least one：Microphone, loudspeaker, display screen, camera, keypad.
In one aspect, the master control system module utilizes CAN communication interface and the motion drive module
Communication, is communicated using UART communication interfaces with the sensor acquisition module, using SPI communication interface and
The Subscriber Interface Module SIM communication, is communicated using UART interface with the communication interaction module.
In one aspect, the communication interaction module include it is following at least one：WIFI wireless modules, 2.4G
Communication module, RFID, ZIGBEE, bluetooth, infrared communication module.
In one aspect, the communication interaction module is encoded by X-Y and communicated with extraneous intelligent apparatus, its
Middle X recognizes different types of intelligent apparatus, and status signal of the Y identifications from intelligent apparatus is exported and for intelligence
The control signal input of energy device.
In one aspect, the communication interaction module carries out handshake communication to select with the extraneous intelligent apparatus
Communication protocol and control mode.
In one aspect, the communication interaction module outwardly intelligent apparatus transmission control signal and/or from outer
Boundary's intelligent apparatus reception state feedback signal.
According to another embodiment of the invention, a kind of robot control method includes：Mould is driven using motion
Block drives the robot motor to be moved with control machine people；Information is gathered using sensor acquisition module
And the signal collected is sent to master control system module；Entered using communication interaction module with extraneous intelligent apparatus
Row communication；Gathered using the master control system module collection from the motion drive module, the sensor
The signal of module and/or the communication interaction module and the make decisions backward motion drive module, the biography
Sensor acquisition module and/or the communication interaction module provide control signal.
In one aspect, the motion drive module includes movement sensing module, and the motion driving mould
Block drives robot motor to be moved based on the signal collected by the movement sensing module.
In one aspect, the movement sensing module include it is following at least one：The position installed on motor is passed
Sensor and/or current sensor, pressure sensor, microphone, infrared distance sensor.
In one aspect, included using sensor acquisition module to gather information：Use analog signal interface
Receive the analog signal that the sensor acquisition module is collected；The sensing is received using digital signal interface
The data signal that device acquisition module is collected；And merge the simulation letter using sensing signal processor module
Number and the data signal and upload to the master control system module by obtained signal is merged.
In one aspect, using the analog signal interface receive from range sensor, temperature sensor,
And/or the analog signal of humidity sensor；And received using the digital signal interface and come from image sensing
The data signal of device, and/or infrared sensor.
In one aspect, the robot control method also includes：Using energy storage module directly to described
Motion drive module is powered；Using the energy storage module via the first DC/DC converters to the master
Control system module is powered；And using the energy storage module via the 2nd DC/DC converters to described
Sensor acquisition module and the communication interaction module for power supply.
In one aspect, the robot control method also includes：Using energy storage module directly to described
Move drive module and the master control system module for power supply；The electric energy that the energy storage module is provided via
The sensor acquisition module and institute are supplied to after DC/DC converters conversion in the master control system module
State communication interaction module.
In one aspect, the communication interaction module include it is following at least one：WIFI wireless modules, 2.4G
Communication module, RFID, ZIGBEE, bluetooth, infrared communication module.
In one aspect, the communication interaction module is encoded by X-Y and communicated with extraneous intelligent apparatus, its
Middle X recognizes different types of intelligent apparatus, and status signal of the Y identifications from intelligent apparatus is exported and for intelligence
The control signal input of energy device.
In one aspect, the communication interaction module carries out handshake communication to select with the extraneous intelligent apparatus
Communication protocol and control mode.
In one aspect, the communication interaction module outwardly intelligent apparatus transmission control signal and/or from outer
Boundary's intelligent apparatus reception state feedback signal.
The invention provides the control system of intelligent robot and method, the control system and method realize machine
The displacement of people is controlled, interacted with the external world and the customization application in various scenes.
The invention provides the control system of intelligent robot and method, the control system and method realize machine
The displacement of people is controlled, interacted with the external world and the customization application in various scenes.The intelligence of the present invention
Energy robot can realize communication each other, can be perceived, and can pass through language between people
The sensors such as display and tactile between sound, screen are interactive.
The present invention robot can be communicated with other smart homes, it is possible to control voluntarily other
Smart home or other intelligent apparatus.The robot possesses certain operations ability and intelligent work(in itself
Can, it can be communicated with owner.And medium can be used as by robot to realize owner to smart home
Control.
Brief description of the drawings
, can be preferably after the detailed description of multiple embodiments of this disclosure is read in conjunction with the following drawings
Understand the features described above and advantage of the disclosure.In the accompanying drawings, specify each with same or similar reference
Same or similar element common to accompanying drawing.
Fig. 1 shows the structured flowchart of robot control system according to an embodiment of the invention.
Fig. 2 shows the structured flowchart of robot communication circuit according to an embodiment of the invention.
Fig. 3 shows the schematic block of robot control system construction for electricity according to an embodiment of the invention
Figure.
Fig. 4 shows the structured flowchart of motion planning and robot control circuit according to an embodiment of the invention.
Fig. 5 shows control and the telecommunication circuit of sensor acquisition module according to an embodiment of the invention
Structured flowchart.
Fig. 6 shows the signal that robot according to an embodiment of the invention communicates with external smart device
Figure.
Embodiment
The disclosure is described in detail below in conjunction with the drawings and specific embodiments.Note, below in conjunction with accompanying drawing and
The aspects of specific embodiment description is only exemplary, and is understood not to protection domain of this disclosure
Carry out any limitation.
Fig. 1 shows the structured flowchart of robot control system 100 according to an embodiment of the invention.Should
Robot control system 100 includes master control system module 101, motion drive module 102, sensor collection
Module 103, energy storage module 104, communication interaction module 105 and Subscriber Interface Module SIM 106.With
Upper modules are only examples, and the control system not limited to this of robot.Master control system module 101 is included
But be not limited only to：Central processing unit, storage module (for example, ROM, RAM etc.), various communications
Interface (I/O interface, USB, I2C, UART, SPI) etc..Master control system module 101 (for example, in
Central processor) it is used to handling the information that is received from the modules of robot control system 100 and to machine
The modules of device people control system 100 send information/order etc..Storage mould in master control system module 101
Block is used to store various data and instruction.Various communication interfaces in master control system module 101 are used for and machine
Other modules of people's control system 100 are communicated, as described in detail further below.
Motion drive module 102 is used to drive robot motor, so that all parts of control machine people are carried out
Motion, the shift action such as advance, retrogressing, left-hand rotation, right-hand rotation.Drive module 102 is moved comprising still
It is not limited only to：Servo driving module, driving stepper motor module, servomotor drive module, direct current generator
Drive module etc..The signal collected is sent to master control system module 101 and entered by sensor acquisition module 103
Row processing.Sensor acquisition module 103 is included but is not limited only to：Pressure sensor, temperature sensor,
Humidity sensor, range sensor, imaging sensor, infrared sensor, laser radar sensor, Mike
Wind, camera, touch sensor etc..Energy storage module 104 includes battery, and such as one to two pieces chargeable
Formula lithium battery or other power supplys.Communication interaction module 105 is used for extraneous intelligent apparatus (for example, movement is set
Standby, smart home etc.) communicated, for example wirelessly receive signal and nothing from extraneous intelligent apparatus
Line outwardly intelligent apparatus send signal.Communication interaction module 105 is included but is not limited only to：WIFI
The communication modules such as module, 2.4G communication modules, RFID, ZIGBEE, bluetooth, infrared communication module.With
Family interface module 106 be used for interacted with user, comprising but be not limited only to：Microphone module and raise one's voice
Device module, video module (such as including display panel module and camera module), keypad.At one
In embodiment, display panel module may include touch display screen, so as to receive the input from user.
Fig. 2 shows robot communication circuit structure block diagram according to an embodiment of the invention.Fig. 2 is machine
The whole control circuit structure block diagram of device people, show whole robot control system circuit connection and
Corresponding information transmission situation.Master control system module 101 is used as the control centre of whole robot, itself and machine
Other modules of device people control system 100 are communicated and collected, handled from other modules
Signal.Master control system module 101 include various communication interfaces with robot control system 100 each its
He communicates at module.For example, master control system module 101 have UART interface, CAN communication interface, with
And SPI communication interface etc., wherein master control system module 101 can be driven using CAN communication interface with motion
Module 102 communicates and controls to move drive module 102, is gathered using UART communication interfaces and sensor
Module 103 communicates, and is communicated using SPI communication interface with Subscriber Interface Module SIM 106, using UART
Interface communicates with communication interaction module 105.Communication interaction module 105 can further with extraneous intelligent apparatus 202
Communicated.Motion drive module 102 can drive each motor 1,2 ... the N of robot, to control
The motion of all parts of robot.Above-mentioned master control system module 101 and connecing that robot components are in communication with each other
Mouth mold block is not limited to above-mentioned module, wherein each interface module can be other alternative interfaces.As an example,
Shown in Fig. 2 sensor acquisition module 103 include range sensor, imaging sensor, infrared sensor,
Temperature Humidity Sensor etc.；Communication interaction module 105 includes WiFi module；Subscriber Interface Module SIM 106 includes
Display panel module, loudspeaker module etc..But it is as mentioned above, it is sensor acquisition module 103, logical
Letter interactive module 105, Subscriber Interface Module SIM 106 may include other assemblies and be not limited to listed in accompanying drawing
Component.
Subscriber Interface Module SIM 106 (such as display panel module and loudspeaker module) and master control system module 101
Between communication can use SPI communication mode.The processing of master control system module 101 comes from communication interaction module
105th, after the information of sensor acquisition module 103 and Subscriber Interface Module SIM 106, make decisions with right
Display panel module, loudspeaker module are driven, and corresponding information is shown on display panel module and/or is passed through
Loudspeaker sounding.Driver for display and loudspeaker can be integrated in display panel module and loudspeaker
In module, master control system module 101 only needs to send control command to both parts by SPI communication line
Can control display screen and loudspeaker.
Energy storage module 104 is connected with master control system module 101 and motion drive module 102, so as to
It is that master control system module 101 and motion drive module 102 provide energy and power.Above-mentioned annexation is pure
Electrical connection, circuit requirement therein is different according to the different electrical characteristic of robot and requirement.As schemed
It is attached between the modules shown by different communication interfaces and different voltage-current converter circuits,
And it is controlled and connects power supply to overall control system.
Fig. 3 shows the schematic block of robot control system construction for electricity according to an embodiment of the invention
Figure.As an example, energy storage module 104 can be battery, such as 11.1V dc-battery.The electricity
Pond is preferably lithium ion battery, but is not limited to species, voltage, electric discharge, rate of charge and the capacity of battery
Etc. characteristic.
It can be divided into three branch roads for the whole circuit that robot powers：
1st, energy storage module 104 (for example, 11.1V direct currents) is directly supplied motion drive module 102
Electricity；
2nd, energy storage module 104 by DC/DC-1 modules after being depressured, to whole master control system mould
Block 101 is powered；
3rd, energy storage module 104 is entered after the decompression of DC/DC-2 modules to three below system
Row power supply：Sensor acquisition module 103, communication interaction module 105 and Subscriber Interface Module SIM 106.
Described in above-mentioned construction for electricity and modules are powered, wherein can equally be wrapped inside modules
Different supply lines are included, to be carried out inside modules to each sensor, communication device, display screen
And the part such as microphone is powered.
In the first alternative, energy storage module 104 can directly with master control system module 101
It is physically coupled to connect with motion drive module 102, voltage conversion circuit (for example, DC/DC-1 and DC/DC-2)
And other auxiliary circuits are integrated in inside master control system module 101, so that by master control system module 101
Corresponding supply voltage is exported to sensor acquisition module 103, communication interaction module 105, user interface mould
Block 106 carries out unified power supply.
Another second of alternative is that DC/DC-2 and corresponding auxiliary circuit can be integrated in modules
In (sensor acquisition module 103, communication interaction module 105, Subscriber Interface Module SIM 106), master control system
The output supply voltage of module 101 (for example, 11.1V voltages) gives modules, and supply voltage is in each mould
Corresponding voltage conversion is first carried out in block, then converted voltage is powered accordingly to modules.
Above two alternative can be used, it is preferred to use the first replaces power supply plan.
Fig. 4 shows the structured flowchart of motion planning and robot control circuit according to an embodiment of the invention.
In one embodiment, master control system module 101 is communicated with CAN with motion drive module 102,
Move drive module 102 and connect N number of motor (being illustrated as M) with CAN, wherein the species of motor,
Model and specific load and other electrical characteristics are configured accordingly according to specific service condition.
The number of motor and corresponding line can be adjusted according to specific mechanical requirements and respective electric connection.The fortune
Module in dynamic drive module 102 is related to following several modules --- movement sensing module, motion control mould
Block, motion drive and communication module, the function of each module are as follows：
1. motion drive, which is mainly electronic circuit, exports corresponding driving current, each motor M is carried out
Drive, so that robot progress motion accordingly (mobile such as advance, retrogressing, left-hand rotation, right-hand rotation)；
2. the main function of movement sensing module is to receive the sensors such as position, the electric current installed on motor
Signal, and these signals are fed back into motion-control module, to be correspondingly processed；
3. the main function of communication module is to receive the control signal of master control system module 101 to drive motion
Dynamic device is controlled, so as to be driven accordingly to each motor M.
4. the main function of motion-control module is known from master control system module 101 and movement sensing module
Motion drive is controlled after information, the motion of whole robot is driven.
In a preferred embodiment, the motion drive module 102 can also be integrated with other sensors, example
Such as：Pressure sensor, microphone, infrared distance sensor etc..These sensors can expend less resource,
It feeds back to motion-control module after the motion enterprising row information of drive module 102 collection, the motion control
Module can priority treatment these signals, these signals are subjected to data fusion, and bypass master control system module 101
Directly make decisions to control corresponding motor to rotate.This set of motion drive module 102 can be used in machine
When device people itself needs overall slave computer emergency function, so that moving drive module 102 can believe detection
Number make quick response.For example, motion drive module 102 on infrared distance sensor detect it is close
During barrier, motion-control module can immediately controlled motor operating (for example halt or get around obstacle
Thing), so as to avoid robot from being collided with barrier.
Fig. 5 shows control and the communication electricity of sensor acquisition module 103 according to an embodiment of the invention
Line structure block diagram.Master control system module 101 can pass through various communication interfaces and sensor acquisition module 103
Communicated, such as wired communication interface or wireless communication interface.Unrestricted as example, Fig. 5 is shown
(UART) interface.Used specific sensor is different according to robot function, for example away from
From sensor, infrared sensor, temperature sensor, humidity sensor etc..
Due to there is different types of sensor, and the signal that different sensors are exported is divided into analog signal
And data signal, therefore it is provided with whole sensing acquisition module 103 sensing signal processor 502,
The data signal gathered and analog signal are unified to be handled by it, row information of going forward side by side fusion, will be resulting
Information unification upload to and handled in master control system module 101.For example, range sensor, temperature are passed
Sensor, humidity sensor are connected to analog signal interface 504, the numeral such as imaging sensor, infrared sensor
Signal transducer is connected to digital signal interface 506.By sensing signal processor 502 to analog signal sum
Word signal is carried out after Data Fusion, sends the information through processing to master control system mould by UART
Block 101.
Fig. 6 shows robot according to an embodiment of the invention with external smart device (for example, intelligence
Household fixtures) communication schematic diagram.As illustrated, robot can carry out radio communication with external smart device,
And robot can control each external smart device.As described above, the master control system module 101 of robot
Communicated using communication interaction module 105 with extraneous intelligent apparatus, each intelligent apparatus can also have phase
The wireless communication module answered.Communication interaction module 105 and these wireless communication modules may include that WIFI is wireless
Module, 2.4G communication modules, RFID, ZIGBEE, bluetooth, infrared communication module or other are suitable
Communication module.In robot is exchanged with extraneous information, robot can be used as controlling party to external world each
Individual intelligent apparatus is controlled, and specific communication mode and control method can be available logical according to smart home
Letter mode and the function of smart home and it is different.Used specific communication interface is included but not only
It is confined to the wireless communication interfaces such as WIFI communication interfaces, infrared communication interface, RFID.Below with WIFI
Whole control system is described exemplified by communication module.
Master control system module 101 is connected to communication interaction module 105 (for example, WIFI by URAT interfaces
Module), the communication with the outside world of communication interaction module 105.For example, master control system module 101 is handed over by communicating
Intelligent apparatus (for example, Intelligent home device) the transmission control signal of mutual module 105 outwardly, Yi Jicong
Extraneous intelligent apparatus receives signal, the remote signal for receiving owner etc..Communication interaction module 105 and extraneous intelligence
The communication of energy device is including by following agreement, intelligent apparatus is identified to external world --- and X-Y is encoded：
The X-Y signal identification tables of table 1
In table 1, status signal output represents that the status signal from extraneous intelligent apparatus is fed back to machine
The communication interaction module 105 of people, and control signal input represents to be carried by the communication interaction module 105 of robot
The control signal of the extraneous intelligent apparatus of supply.Coded system, control content and status signal can be according to each
The function and the custom feature of user that robot can be realized set and define accordingly, and the coding is needed
The difference in functionality for being directed to different machines people carries out different establishments.
During robot is interacted with extraneous intelligent apparatus, it is necessary first to which progress is carrying out shake communication to set
Put the communication protocol and control mode of both sides.Because both sides have consistent communication code form, therefore handing over
Meeting priority treatment recognizes signal to distinguish corresponding device type in mutually, while the whole interaction of adaptation.For example,
When robot is with an intelligent appliance --- intelligent air condition --- when matching, robot enters with air-conditioning
Row carrying out shake communication to select/determine communication protocol and control mode.After handshake communication, robot can root
Temperature, wind speed, the pattern of intelligent air condition are adaptively controlled according to the order of owner or according to environmental aspect
Deng.In addition, robot (communication interaction module 105) can receive the signal from intelligent air condition, pass through
Signal type is identified signal identification table, when it is determined that receiving the output signal of intelligent air condition, namely
Air-conditioning feedack --- such as temperature, current wind speed, setting pattern information, robot is (for example, logical
Letter interactive module 105) received information will be decoded, and by the feedback of the information received to master
System module 101 is controlled to be handled, and user can be showed for example, by voice or visual manner.
Master control system module 101 can be determined according to the feedback information of intelligent air condition intelligent air condition whether normal work, and
Turn off intelligent air condition, adjustment air-conditioning when intelligent air condition is not in normal work to set, send alarm etc..Other
Intelligent apparatus is not limited to specific outward appearance and function, and with being interacted or other letters with people, machine etc.
The equipment of breath sharing functionality can be said to smart machine.
In practical operation, robot need using it is preceding shaken hands with extraneous each intelligent apparatus progress it is logical
Letter, and communication protocol and control mode are set.In one embodiment, the control of shaking hands needs people's progress auxiliary
Help：Corresponding intelligent apparatus coded system (including switch and related function) is stored in the robot,
Classified simultaneously with different appliance type and brand, when robot needs to be held with other intelligent apparatus
When hand communicates, owner can be pointed out to provide information to robot using remote control or other input modes, assisted
Robot precisely recognizes the type and brand of corresponding intelligent apparatus, thus by corresponding signal (for example,
Infrared signal) it is controlled.
On the other hand, robot independently can carry out handshake communication with intelligent apparatus, and such as robot can be with
Receive and search for corresponding in the signal from intelligent apparatus, and the intelligent apparatus list stored in advance from robot
Signal, in the case where finding corresponding signal with regard to the available mode of the intelligent apparatus and the intelligence dress can be selected
Put and communicated, so as to successfully complete handshake communication.Further, there is configurable communication in intelligent apparatus
In the case of mode and coded system, robot can consult suitable communication mode and coding with intelligent apparatus
Mode.
The robot can also be exchanged with people：People can by sound identification module, Digiplex, touch
Touch the modes such as sensor to interact with robot, it is possible to by equipment such as voice, remote controls to robot
It is controlled.Meanwhile, people with the intelligent apparatus of surrounding can also be attached and communicated by remote-controlled robot,
And be controlled.Interconnect, search for afterwards for example, people can be realized by bluetooth or WIFI with robot
The smart machine or other robot of the robot are may be connected to, when retrieving the external world that can be in communication with each other
After equipment (communication protocol is consistent), owner is made robot by sending corresponding instruction character to robot
The instruction character is transmitted to other smart machines to be controlled other smart machines for medium.
Some applications of robot are the foregoing is only, when being related to some other similar application sides
Formula, also should be regarded as the category of the patent of invention.The control system of the present invention also can be used for other field robot
Application, wherein being also extended to other carry communication module with the communication and control of extraneous smart machine
Actuator or performs device.
The invention provides the control system of intelligent robot and method, the control system and method realize machine
The displacement control of people is (for example：The shift action such as advance, retreat, turning left, turning right), with extraneous friendship
Mutually and in various scenes customization application (for example, with owner it is interactive, play weather forecast, voice
The functions such as chat).The intelligent robot of the present invention can realize communication each other, can be perceived,
And can be interactive by sensors such as the display between voice, screen and tactiles between people.
The present invention robot can be communicated with other smart homes, it is possible to control voluntarily other
Smart home or other intelligent apparatus.The robot possesses certain operations ability and intelligent work(in itself
Can, it can be communicated with owner.And medium can be used as by robot to realize owner to smart home
Control.The control system of the robot goes for other robot with Wireless Telecom Equipment, intelligence
Can household or other performs devices.The present invention is not only limited to the concrete implementation platform of robot：Biped
Walking, wheel type mobile (comprehensive, differential mobile platform).
The many aspects that the disclosure is described according to the presently disclosed embodiments are above directed to, should be managed
Solution, various embodiments above is only illustrative and not restrictive, and combined embodiments multiple above are with shape
Cheng Xin alternate embodiment, or only can perform the subset of one embodiment to put into practice the disclosure.
Those skilled in the art will further appreciate that what is described with reference to the embodiments described herein is various
Illustrative components, blocks, module, circuit and algorithm steps can realize for electronic hardware, computer software or this
Both combinations.To clearly demonstrate the interchangeability of hardware and software, various Illustrative components, frame, mould
Block, circuit and step are hereinbefore that vague generalization description is made in its functional form.Such function
Property be implemented as hardware or software and depend on concrete application and put on the design constraint of total system.This
Art personnel can realize described feature for every kind of application-specific with different modes, but
It is such to realize that decision-making is not to be regarded as a departure from the scope of the present disclosure.
The various illustrative logical modules and circuit described with reference to presently disclosed embodiment can be with general
Processor, digital signal processor (DSP), application specific integrated circuit (ASIC), field-programmable gate array
Arrange (FPGA) or other PLDs, discrete door or transistor logic, discrete hardware group
Part or its any combinations of function described herein are designed to carry out to realize or perform.General processor can
To be microprocessor, but in alternative, the processor can be any conventional processor, driving mould
Block, micro-move device module or state machine.Processor is also implemented as the combination of computing device, for example
One or more micro- places that DSP cooperates with the combination of microprocessor, multi-microprocessor, with DSP core
Manage device or any other such configuration.
Can be embodied directly in hardware, in reference to the method that embodiment disclosed herein is described or the step of algorithm by
Embodied in the software module of computing device or in combination of the two.Software module can reside in
RAM memory, flash memory, ROM memory, eprom memory, eeprom memory, deposit
Device, hard disk, removable disk, the storage medium of CD-ROM or any other form known in the art
In.Exemplary storage medium is coupled to processor to enable the processor to read and write from/to the storage medium
Enter information.In alternative, storage medium can be integrated into processor.Processor and storage medium can
Reside in ASIC.ASIC can reside in user terminal.In alternative, processor and storage
Medium can be resident in the user terminal as discrete assembly.
In one or more exemplary embodiments, described function can hardware, software, firmware or its
Realized in any combinations.If being embodied as computer program product in software, each function can be used as one
Bar or more bar is instructed or code storage is transmitted on a computer-readable medium or via it.Computer can
Reading medium includes both computer-readable storage medium and communication media, it include facilitating computer program from a ground to
Any medium shifted anotherly.Storage medium can be any usable medium that can be accessed by a computer.Make
Non-limiting for example, such computer-readable medium may include RAM, ROM, EEPROM, CD-ROM
Other optical disc storages, disk storage or other magnetic storage apparatus or can be used to carry or store instruction or
The desirable program code of data structure form and any other medium that can be accessed by a computer.Any connection
It is properly termed a computer-readable medium.If for example, software be using coaxial cable, fiber optic cables,
The wireless skill of twisted-pair feeder, digital subscriber line (DSL) or such as infrared, radio and microwave etc
Art from web site, server or other remote sources transmit, then the coaxial cable, fiber optic cables,
The wireless technology of twisted-pair feeder, DSL or such as infrared, radio and microwave etc is just included in Jie
Among the definition of matter.Disk (disk) as used herein includes compact disc (CD), laser disc, light
Dish, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) often in the way of magnetic again
Existing data, and dish (disc) laser reproduce data optically.Combinations of the above should be also included in
In the range of computer-readable medium.
It is for so that any person skilled in the art can make or make to provide of this disclosure be previously described
Use the disclosure.Various modifications of this disclosure all will be apparent for a person skilled in the art, and
The generic principles defined herein can be applied to spirit or model of other variants without departing from the disclosure
Enclose.Thus, the disclosure is not intended to be limited to example described herein and design, but should be awarded
Give the widest scope consistent with novel features with principle disclosed herein.
Claims (27)
1. a kind of robot control system, it is characterised in that including：
Master control system module；
Drive module is moved, the motion drive module is used to drive robot motor to carry out with control machine people
Motion；
The signal collected is sent to the master control system by sensor acquisition module, the sensor acquisition module
System module；And
Communication interaction module, the communication interaction module is used to be communicated with extraneous intelligent apparatus,
Wherein described master control system module collection is from the motion drive module, the sensor acquisition module
And/or the signal and the make decisions backward motion drive module, the sensor of the communication interaction module
Acquisition module and/or the communication interaction module provide control signal.
2. robot control system as claimed in claim 1, it is characterised in that the motion driving
Module includes movement sensing module, and the motion drive module is based on being gathered by the movement sensing module
To signal drive the robot motor to be moved.
3. robot control system as claimed in claim 2, it is characterised in that the motion-sensing
Module include it is following at least one：Position sensor and/or current sensor, the pressure sensing installed on motor
Device, microphone, infrared distance sensor.
4. robot control system as claimed in claim 1, it is characterised in that the motion driving
Module include it is following at least one：
Servo driving module, driving stepper motor module, servomotor drive module, DC motor Driver mould
Block.
5. robot control system as claimed in claim 1, it is characterised in that the sensor is adopted
Collection module includes：
Analog signal interface, for receiving the analog signal that the sensor acquisition module is collected；
Digital signal interface, for receiving the data signal that the sensor acquisition module is collected；And
Sensing signal processor module, it merges the analog signal and the data signal and obtains merging
Signal upload to the master control system module.
6. robot control system as claimed in claim 5, it is characterised in that：
The analog signal interface, which is received, comes from range sensor, temperature sensor, and/or humidity sensor
Analog signal；And
The digital signal interface receives the data signal from imaging sensor, and/or infrared sensor.
7. robot control system as claimed in claim 1, it is characterised in that the sensor is adopted
Collect module include it is following at least one：
It is pressure sensor, temperature sensor, humidity sensor, range sensor, imaging sensor, infrared
Sensor, laser radar sensor, microphone, camera, touch sensor.
8. robot control system as claimed in claim 1, it is characterised in that also including to be described
The energy storage module that robot control system is powered.
9. robot control system as claimed in claim 8, it is characterised in that：
The energy storage module is connected directly to the motion drive module；
The energy storage module is connected to the master control system module via the first DC/DC converters；And
And
The energy storage module via the 2nd DC/DC converters be connected to the sensor acquisition module and
The communication interaction module.
10. robot control system as claimed in claim 8, it is characterised in that：
The energy storage module is connected directly to the motion drive module and the master control system module；
The master control system module includes DC/DC converters, and the electricity that the energy storage module is provided
The sensor acquisition module and the communication interaction are supplied to after being changed via the DC/DC converters
Module.
11. robot control system as claimed in claim 1, it is characterised in that also include：
Subscriber Interface Module SIM, the Subscriber Interface Module SIM include it is following at least one：Microphone, loudspeaker,
Display screen, camera, keypad.
12. robot control system as claimed in claim 11, it is characterised in that：
The master control system module is communicated using CAN communication interface with the motion drive module, is utilized
UART communication interfaces communicate with the sensor acquisition module, are connect using SPI communication interface with the user
Mouth mold block communicates, and is communicated using UART interface with the communication interaction module.
13. robot control system as claimed in claim 1, it is characterised in that the communication interaction
Module include it is following at least one：
WIFI wireless modules, 2.4G communication modules, RFID, ZIGBEE, bluetooth, infrared communication module.
14. robot control system as claimed in claim 1, it is characterised in that the communication interaction
Module is encoded by X-Y and communicated with extraneous intelligent apparatus, and wherein X recognizes different types of intelligent apparatus, Y
Recognize the status signal output from intelligent apparatus and inputted for the control signal of intelligent apparatus.
15. robot control system as claimed in claim 14, it is characterised in that the communication interaction
Module carries out handshake communication to select communication protocol and control mode with the extraneous intelligent apparatus.
16. robot control system as claimed in claim 14, it is characterised in that the communication interaction
Module outwardly intelligent apparatus transmission control signal and/or from extraneous intelligent apparatus reception state feedback signal.
17. a kind of robot control method, it is characterised in that including：
Robot motor is driven to be moved with control machine people using motion drive module；
Information is gathered using sensor acquisition module and the signal collected is sent to master control system module；
Communicated using communication interaction module with extraneous intelligent apparatus；And
Using the master control system module collection from the motion drive module, the sensor acquisition module
And/or the signal and the make decisions backward motion drive module, the sensor of the communication interaction module
Acquisition module and/or the communication interaction module provide control signal.
18. robot control method as claimed in claim 17, it is characterised in that the motion driving
Module includes movement sensing module, and the motion drive module is based on being gathered by the movement sensing module
To signal drive the robot motor to be moved.
19. robot control method as claimed in claim 18, it is characterised in that the motion-sensing
Module include it is following at least one：Position sensor and/or current sensor, the pressure sensing installed on motor
Device, microphone, infrared distance sensor.
20. robot control method as claimed in claim 17, it is characterised in that adopted using sensor
Collection module includes to gather information：
The analog signal that the sensor acquisition module is collected is received using analog signal interface；
The data signal that the sensor acquisition module is collected is received using digital signal interface；And
Merge the analog signal and the data signal using sensing signal processor module and will merge
Obtained signal uploads to the master control system module.
21. robot control method as claimed in claim 20, it is characterised in that：
Received and passed from range sensor, temperature sensor, and/or humidity using the analog signal interface
The analog signal of sensor；And
The numeral letter from imaging sensor, and/or infrared sensor is received using the digital signal interface
Number.
22. robot control method as claimed in claim 17, it is characterised in that also include：
Directly powered using energy storage module to the motion drive module；
Supplied using the energy storage module via the first DC/DC converters to the master control system module
Electricity；And
Using the energy storage module via the 2nd DC/DC converters to the sensor acquisition module and
The communication interaction module for power supply.
23. robot control method as claimed in claim 17, it is characterised in that also include：
Using energy storage module directly to the motion drive module and the master control system module for power supply；
The electric energy that the energy storage module is provided is changed via the DC/DC in the master control system module
The sensor acquisition module and the communication interaction module are supplied to after device conversion.
24. robot control method as claimed in claim 17, it is characterised in that the communication interaction
Module include it is following at least one：
WIFI wireless modules, 2.4G communication modules, RFID, ZIGBEE, bluetooth, infrared communication module.
25. robot control method as claimed in claim 17, it is characterised in that the communication interaction
Module is encoded by X-Y and communicated with extraneous intelligent apparatus, and wherein X recognizes different types of intelligent apparatus, Y
Recognize the status signal output from intelligent apparatus and inputted for the control signal of intelligent apparatus.
26. robot control method as claimed in claim 25, it is characterised in that the communication interaction
Module carries out handshake communication to select communication protocol and control mode with the extraneous intelligent apparatus.
27. robot control system as claimed in claim 25, it is characterised in that the communication interaction
Module outwardly intelligent apparatus transmission control signal and/or from extraneous intelligent apparatus reception state feedback signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610204582.4A CN107290982A (en) | 2016-03-31 | 2016-03-31 | The control system and method for intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610204582.4A CN107290982A (en) | 2016-03-31 | 2016-03-31 | The control system and method for intelligent robot |
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| Publication Number | Publication Date |
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| CN107290982A true CN107290982A (en) | 2017-10-24 |
Family
ID=60087043
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610204582.4A Withdrawn CN107290982A (en) | 2016-03-31 | 2016-03-31 | The control system and method for intelligent robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161955A (en) * | 2018-03-19 | 2018-06-15 | 重庆鲁班机器人技术研究院有限公司 | Robot controller |
| CN108606834A (en) * | 2018-02-05 | 2018-10-02 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and its control method |
| CN109571498A (en) * | 2018-12-20 | 2019-04-05 | 山东爱泊客智能科技有限公司 | A kind of location-based robot controller |
-
2016
- 2016-03-31 CN CN201610204582.4A patent/CN107290982A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606834A (en) * | 2018-02-05 | 2018-10-02 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and its control method |
| CN108606834B (en) * | 2018-02-05 | 2021-07-20 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and control method thereof |
| CN108161955A (en) * | 2018-03-19 | 2018-06-15 | 重庆鲁班机器人技术研究院有限公司 | Robot controller |
| CN109571498A (en) * | 2018-12-20 | 2019-04-05 | 山东爱泊客智能科技有限公司 | A kind of location-based robot controller |
| CN109571498B (en) * | 2018-12-20 | 2022-03-11 | 山东爱泊客智能科技有限公司 | Robot control device and method based on position |
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