CN107309880A - A kind of anthropomorphic robot device, control system and its control method - Google Patents
A kind of anthropomorphic robot device, control system and its control method Download PDFInfo
- Publication number
- CN107309880A CN107309880A CN201710548090.1A CN201710548090A CN107309880A CN 107309880 A CN107309880 A CN 107309880A CN 201710548090 A CN201710548090 A CN 201710548090A CN 107309880 A CN107309880 A CN 107309880A
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- external equipment
- anthropomorphic robot
- robot device
- telecommunication circuit
- microprocessor
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- 238000000034 method Methods 0.000 title claims description 23
- 238000004891 communication Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 9
- 230000005236 sound signal Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 2
- 238000012827 research and development Methods 0.000 description 14
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 230000000930 thermomechanical effect Effects 0.000 description 2
- 241000700605 Viruses Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
The invention discloses a kind of anthropomorphic robot device and its control system.Described device includes telecommunication circuit, is connected for being set up with external equipment, so that external equipment is operated by telecommunication circuit to anthropomorphic robot device；Receiving space, is arranged inside device, and for accommodating external equipment, external equipment is set up with telecommunication circuit and is connected；Microprocessor and steering wheel component, microprocessor is connected with telecommunication circuit and steering wheel component respectively, and microprocessor is used for the first data from external equipment for handling telecommunication circuit reception, and produces control instruction, steering wheel component is used to receive the control instruction from microprocessor, and performs control instruction.By the above-mentioned means, the present invention can improve the performance of anthropomorphic robot Setup Controller, reduce the R＆D costs of anthropomorphic robot Setup Controller.
Description
Technical field
The present invention relates to field of intelligent control, more particularly to a kind of anthropomorphic robot device, control system and its control
Method.
Background technology
With scientific technological advance, social progress, robot is just progressively entered into people's daily life, helps people to solve
Of all kinds the problem of.Robot completes scheduled operation typically by controller control to realize its function；Therefore, machine
Device people's controller is the important component of robot system, is to influence one of key component of robot performance, and it is from certain
Machine man-based development is affected in degree.
At present, with the continuous progress of artificial intelligence, computer science, people propose higher want to the function of robot
Ask, it is desirable to which it has more functions, complete more complicated operation, this, which is accomplished by it, has the higher controller of performance.But,
Present inventor has found that current robot is all using built-in independent control, and its controller is realized in long-term research and development
Function is limited, and the construction cycle is longer, and controller R＆D costs are high, account for the substantial portion of R＆D costs of robot, controller is hard
Part, which is configured, to be fixed, and hardware is difficult the shortcomings of carrying out upgrading optimization, therefore, how to improve the performance of controller, reduce controller
R＆D costs turn into urgent problem to be solved.
The content of the invention
The present invention solves the technical problem of provide a kind of anthropomorphic robot device, control system and its controlling party
Method, it is possible to increase the performance of anthropomorphic robot Setup Controller, the R＆D costs for reducing anthropomorphic robot Setup Controller.
In order to solve the above technical problems, one aspect of the present invention is：A kind of anthropomorphic robot device is provided,
The device include telecommunication circuit, for external equipment set up be connected so that external equipment by telecommunication circuit to humanoid machine
People's device is operated；Receiving space, is arranged inside device, and for accommodating external equipment, external equipment is built with telecommunication circuit
Vertical connection；Microprocessor and steering wheel component, microprocessor are connected with telecommunication circuit and steering wheel component respectively, and microprocessor is used to locate
The first data from external equipment that telecommunication circuit is received are managed, and produce control instruction, steering wheel component is used to receive from micro-
The control instruction of processor, and perform control instruction.
In order to solve the above technical problems, another technical solution used in the present invention is：A kind of anthropomorphic robot control is provided
System processed, the system includes anthropomorphic robot device and external equipment, and there is anthropomorphic robot device above-mentioned anthropomorphic robot to fill
The feature put.
In order to solve the above technical problems, another technical solution used in the present invention is：A kind of anthropomorphic robot dress is provided
The control method put, this method includes：Anthropomorphic robot device is set up with external equipment and is connected；Judge whether external equipment passes through
Checking；If external equipment is verified, external equipment is set to operate anthropomorphic robot device.
The beneficial effects of the invention are as follows：The situation of prior art is different from, the anthropomorphic robot device tool that the present invention is provided
Have telecommunication circuit, the telecommunication circuit be used for external equipment set up is connected so that external equipment by telecommunication circuit to humanoid
Device people's device is operated.Due to setting telecommunication circuit, the telecommunication circuit can be set up with external equipment and be connected, and directly make outside
Equipment is operated by telecommunication circuit to anthropomorphic robot device, therefore, it can the application of function with external equipment in
In anthropomorphic robot device, the performance of anthropomorphic robot device is improved with this, the level of intelligence of anthropomorphic robot device is improved；
Simultaneously without the controller of individually research and development anthropomorphic robot device, external equipment is directly used, so as to shorten the R＆D cycle, is reduced
R＆D costs.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present inventor's anthropomorphic robot device one；
Fig. 2 is the structural representation of another embodiment of the present inventor's anthropomorphic robot device；
Fig. 3 is the structural representation of the embodiment of the present inventor's anthropomorphic robot control system one；
Fig. 4 is the schematic flow sheet of the embodiment of the present inventor's anthropomorphic robot apparatus control method one；
Fig. 5 is the schematic flow sheet of the embodiment of the present inventor's anthropomorphic robot apparatus control method one.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Embodiment in invention, it is every other that those of ordinary skill in the art are obtained under the premise of performing creative labour is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is the structural representation of the embodiment of the present inventor's anthropomorphic robot device one.The present invention is provided
A kind of anthropomorphic robot device, the device includes telecommunication circuit 101, receiving space (not shown), microprocessor 102 and steering wheel group
Part 103.
Telecommunication circuit 101 be used for external equipment set up is connected so that external equipment by telecommunication circuit 101 to humanoid
Device people's device is operated.
Wherein, telecommunication circuit 101 can be physical interface circuit, and physical interface circuit includes physical interface, humanoid machine
People's device carries out wired connection by physical interface and external equipment；Telecommunication circuit 101 can also be radio communication circuit, humanoid
Robot device carries out wireless connection by radio communication circuit and external equipment.
Wherein, it can be by external equipment that external equipment carries out operation by telecommunication circuit 101 to anthropomorphic robot device
Anthropomorphic robot device is controlled as controller, and then anthropomorphic robot device is completed scheduled operation, its work(is realized
Energy；Can also be that external equipment carries out filling power supply, maintenance test etc. to anthropomorphic robot device.
Receiving space, is arranged inside anthropomorphic robot device, for accommodating external equipment, external equipment and telecommunication circuit
101 set up connection.
Microprocessor 102 is connected with telecommunication circuit 101 and steering wheel component 103 respectively, and microprocessor 102, which is used to handle, to communicate
The first data from external equipment that circuit 101 is received, and control instruction is produced, steering wheel component 103 is used to receive from micro-
The control instruction of processor 102, and perform control instruction.
Wherein, steering wheel component 103 includes being arranged at the steering wheel of each joint of anthropomorphic robot, steering wheel perform control instruction with
Realize robot motion.
The anthropomorphic robot device that the present invention is provided has telecommunication circuit, and the telecommunication circuit is used to set up with external equipment and connected
Connect, so that external equipment is operated by telecommunication circuit to anthropomorphic robot device.Due to setting telecommunication circuit, communication electricity
Road can be set up with external equipment and be connected, and external equipment is operated by telecommunication circuit to anthropomorphic robot device,
It therefore, it can the application of function with external equipment in anthropomorphic robot device, anthropomorphic robot device improved with this
Performance, improve anthropomorphic robot device level of intelligence；Simultaneously without the controller of individually research and development anthropomorphic robot device, directly
Connect and use external equipment, so as to shorten the R＆D cycle, reduce R＆D costs.
Referring to Fig. 2, Fig. 2 is the structural representation of the embodiment of the present inventor's anthropomorphic robot device one.In an embodiment party
In formula, the anthropomorphic robot device 20 that provides of the present invention is internally provided with receiving space 201, when external equipment 30 is put into receiving
During space 201, external equipment 30 is set up with physical interface circuit by physical interface 202 and is connected.
Specifically, external equipment 30 can be smart mobile phone, tablet personal computer, laptop computer, intelligent controller etc..Outside is set
Standby 30 set up communication connection by telecommunication circuit and anthropomorphic robot device 20, and anthropomorphic robot device 20 enters to external equipment 30
Row checking, after being verified, makes external equipment 30 be controlled as controller to anthropomorphic robot device 20.By setting
Verification process, it is possible to increase the security of anthropomorphic robot device, it is to avoid any external equipment can be controlled it, for example
Some carry external equipment of the malice such as virus etc., and then prevent anthropomorphic robot device by poisoning intrusion or maliciously controlled
System, to complete behavior operation unfavorable to the public etc..In other embodiments, can not also be by checking directly to humanoid
Device people's device is controlled.
Alternatively, in other embodiments, external equipment 30 can not also be put into anthropomorphic robot device 20, and
That communication between anthropomorphic robot device 20 and external equipment 30 is completed by wireless connection, wireless communication connection be bluetooth,
WiFi or other wireless communication connection modes.Anthropomorphic robot device can more easily be manipulated by wireless connection, also not shadow
Ring external equipment and use other functions simultaneously.
Alternatively, in one embodiment, external equipment 30 is that smart mobile phone, tablet personal computer, laptop computer etc. are mobile eventually
End；Mobile terminal includes screen, camera, memory, sensor cluster, mixed-media network modules mixed-media and audio-frequency module etc..Mobile terminal
The first data can be sent to anthropomorphic robot device 20, anthropomorphic robot device 20 is by microprocessor (not shown) by first
Data produce control instruction after being handled, and performing control instruction with control flaps thermomechanical components completes scheduled operation, realizes humanoid
The function of device people device 20.In other embodiments, when anthropomorphic robot device 20 does not connect external equipment 30, microprocessor
Device can independently generate control instruction, and performing control instruction with control flaps thermomechanical components completes scheduled operation, realizes anthropomorphic robot
The function of device 20, i.e. microprocessor can be used with to anthropomorphic robot as the own controller of anthropomorphic robot device 20
Device 20 is controlled.Wherein, the control instruction that microprocessor is independently generated can be some simple instructions, such as front and rear to move
Dynamic, taking and placing thing etc..
Alternatively, in one embodiment, anthropomorphic robot device 20 also includes sensor assembly and power amplifier module, sensing
Device module and power amplifier module are connected with microprocessor respectively, and sensor assembly is micro- for the second data itself produced to be sent to
The 3rd data after processing after treatment, movement are sent to by telecommunication circuit by the second data by processor, microprocessor
Terminal, so that mobile terminal carries out decision-making；Power amplifier module, which is used to receive by telecommunication circuit and microprocessor, comes from mobile terminal
Audio signal, the audio signal of mobile terminal is reprocessed and exported.Wherein audio signal be microphone signal and/or
Audible warning.
Wherein, sensor assembly can include multigroup sensor not of the same race, humanoid by setting sensor assembly to make
Robot device 20 completes finer operation and realizes more complicated function；By setting power amplifier module to make anthropomorphic robot
Device 20 is handled audio signal, is realized and is reported the functions such as voice, human-computer dialogue.
In an application scenarios, external equipment is smart mobile phone；Anthropomorphic robot device is opened, smart mobile phone is put into
In the receiving space of anthropomorphic robot device, the communication connection set up between smart mobile phone and anthropomorphic robot device, Ke Yishi
Wired connection can also be wireless connection；Smart mobile phone is verified with anthropomorphic robot device, if being proved to be successful, will intelligence
Mobile phone is set to the controller of anthropomorphic robot device, opens the control module of control anthropomorphic robot device in smart mobile phone (such as
APP etc.), the friendship between smart mobile phone and anthropomorphic robot device is realized by camera, voice, motion sensor, navigation etc.
Mutually, and then control anthropomorphic robot device to complete scheduled operation to realize its function.In another application scene, if without intelligence
Mobile phone is not verified after being connected or connect with anthropomorphic robot device, and anthropomorphic robot device can be performed individually built in it
Control program, completes scheduled operation, realizes corresponding function.
Alternatively, in one embodiment, anthropomorphic robot device 20 also includes power module, and power module is used to be people
Anthropomorphic robot device 20 is powered, and it is connected with telecommunication circuit, is set up and is connected with telecommunication circuit when external equipment 30, and external equipment
30 when needing charging, and power module is that external equipment 30 charges by telecommunication circuit, when external equipment 30 and telecommunication circuit are set up
Connection, and external equipment 30 need not charge and the electricity of power module be less than threshold power when, external equipment 30 pass through communication
Circuit charges for power module；In other embodiments or external equipment 30 directly be anthropomorphic robot device 20
Power supply.
Wherein, external equipment 30 is mobile terminal or external power source etc.；Mobile terminal has the battery for being capable of discharge and recharge, outside
Portion's power supply is portable power source or wireless charging node etc..External equipment 30 can be filled by physical interface 202 and anthropomorphic robot
The physical interface circuit for putting 20 sets up wired connection, or wirelessly sets up wireless connection, and wherein radio connection is
Induction type connection, microwave connection etc., such as wireless charging node is induction type Wireless charging coil, microwave charge node.It is logical
This mode is crossed, timely and conveniently can carry out filling power supply for anthropomorphic robot device, while not influenceing its normal work；Work as people
Anthropomorphic robot device does not need external equipment to be charged in turn for external equipment 30 when filling power supply to it, so that its
It is continuously anthropomorphic robot device and control is provided；Or storage electric energy for anthropomorphic robot device in case filled in time when needed
Power supply, it is ensured that there is anthropomorphic robot device enough electricity to be operated.
Alternatively, in one embodiment, if the operating voltage of anthropomorphic robot device 20 and the electricity of external equipment 30
Pressure is mismatched, and can carry out buck conversion by voltage conversion circuit conversion.
In an application scenarios, external equipment is portable power source；Anthropomorphic robot device is opened, portable power source is put into
In the receiving space of anthropomorphic robot device, the connection set up between portable power source and anthropomorphic robot device can be wired
Connection can also be wireless connection；Monitoring judges whether portable power source needs charging, humanoid if portable power source needs charging
Robot device is that portable power source is charged；If portable power source need not charge, monitoring judges anthropomorphic robot device
Charge value, if less than predetermined threshold value, portable power source is that anthropomorphic robot device carries out filling power supply；If above default threshold
It is worth, then anthropomorphic robot device normal work；Such circulatory monitoring judges, it is ensured that anthropomorphic robot device has enough electricity to enter
Row work.
Referring to Fig. 3, Fig. 3 is the structural representation of the embodiment of the present inventor's anthropomorphic robot control system one.The present invention
A kind of anthropomorphic robot control system is provided, the system includes anthropomorphic robot device 301 and external equipment 302, humanoid machine
People's device 301 is connected by telecommunication circuit with external equipment 302, and wherein anthropomorphic robot device 301 and external equipment 302 has
Feature in above-mentioned embodiment, can interact the function of completing in above-mentioned embodiment, specifically refer to above-mentioned embodiment
Description, will not be repeated here.
Referring to Fig. 4, Fig. 4 is the schematic flow sheet of the embodiment of control method one of the present inventor's anthropomorphic robot device.
The present invention provides a kind of control method of anthropomorphic robot device, and this method comprises the following steps：
S401：Anthropomorphic robot device is set up with external equipment and is connected；
S402：Judge the external equipment whether by checking；
S403：If the external equipment is verified, the external equipment is set to carry out the anthropomorphic robot device
Operation.
Specific method implementation procedure refer to the description in said apparatus embodiment, will not be repeated here.
Referring to Fig. 5, Fig. 5 is the flow signal of another embodiment of control method of the present inventor's anthropomorphic robot device
Figure.The present invention provides a kind of control method of anthropomorphic robot device, and this method comprises the following steps：
S501：Anthropomorphic robot device is set up with external equipment and is connected；
Wherein, anthropomorphic robot device includes power module, and power module is used to power for anthropomorphic robot device.
S502：Judge whether external equipment needs charging；
S503：If external equipment needs charging, power module charges for external equipment；
S504：If external equipment need not charge, and power module electricity be less than threshold power when, external equipment passes through
Telecommunication circuit charges for power module.
Specific method implementation procedure refer to the description in said apparatus embodiment, will not be repeated here.
The anthropomorphic robot device that the present invention is provided has telecommunication circuit, and the telecommunication circuit is used to set up with external equipment and connected
Connect, so that external equipment is operated by telecommunication circuit to anthropomorphic robot device.Due to setting telecommunication circuit, communication electricity
Road can be set up with external equipment and be connected, and external equipment is operated by telecommunication circuit to anthropomorphic robot device,
It therefore, it can the application of function with external equipment in anthropomorphic robot device, anthropomorphic robot device improved with this
Performance, improve anthropomorphic robot device level of intelligence；Simultaneously without the controller of individually research and development anthropomorphic robot device, directly
Connect and use external equipment, so as to shorten the R＆D cycle, reduce R＆D costs.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (10)
1. a kind of anthropomorphic robot device, it is characterised in that including：
Telecommunication circuit, for external equipment set up be connected so that the external equipment by the telecommunication circuit to the people
Anthropomorphic robot device is operated；
Receiving space, is arranged inside described device, for accommodating the external equipment, the external equipment and the electricity that communicates
Connection is set up on road；
Microprocessor and steering wheel component, the microprocessor are connected with the telecommunication circuit and the steering wheel component respectively, described
Microprocessor is used to handling the first data from the external equipment that the telecommunication circuit is received, and produces control instruction,
The steering wheel component is used to receive the control instruction from the microprocessor, and performs the control instruction.
2. device according to claim 1, it is characterised in that the telecommunication circuit is physical interface circuit, the physics
Interface circuit includes physical interface, and the physical interface circuit is set up with the external equipment by the physical interface and is connected.
3. device according to claim 1, it is characterised in that the steering wheel component includes being arranged at each joint of described device
The steering wheel at place, the steering wheel performs the control instruction to realize robot motion.
4. the device according to claim any one of 1-3, it is characterised in that the external equipment is mobile terminal or outside
Power supply.
5. device according to claim 4, it is characterised in that described device also includes sensor assembly and power amplifier module,
The sensor assembly and power amplifier module are connected with the microprocessor respectively, and the sensor assembly is used for produce itself
Second data are sent to the microprocessor, and second data after treatment, are passed through the communication by the microprocessor
The 3rd data after processing are sent to the mobile terminal by circuit, so that the mobile terminal carries out decision-making；The power amplifier mould
Block is used to receive the audio signal from the mobile terminal by the telecommunication circuit and the microprocessor, by the movement
The audio signal of terminal is reprocessed and exported.
6. a kind of anthropomorphic robot control system, it is characterised in that the system includes anthropomorphic robot device and external equipment,
The anthropomorphic robot device is the device described in claim any one of 1-5.
7. a kind of control method of anthropomorphic robot device, it is characterised in that including：
Anthropomorphic robot device is set up with external equipment and is connected；
Judge the external equipment whether by checking；
If the external equipment is verified, the external equipment is set to operate the anthropomorphic robot device.
8. method according to claim 7, it is characterised in that described to be connected as wireless communication connection, the radio communication
It is connected as one kind in bluetooth, WiFi.
9. method according to claim 7, it is characterised in that
Described device also includes power module, and the power module is used to power for described device, described device and the outside
Equipment sets up connection；
Judge whether the external equipment needs charging；
If the external equipment needs charging, the power module charges for the external equipment；
If the external equipment need not charge, and the power module electricity be less than threshold power when, the external equipment
Charged by the telecommunication circuit for the power module.
10. method according to claim 9, it is characterised in that the external equipment is mobile terminal, portable power source or nothing
Line charge node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710548090.1A CN107309880A (en) | 2017-07-06 | 2017-07-06 | A kind of anthropomorphic robot device, control system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710548090.1A CN107309880A (en) | 2017-07-06 | 2017-07-06 | A kind of anthropomorphic robot device, control system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107309880A true CN107309880A (en) | 2017-11-03 |
Family
ID=60177626
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710548090.1A Pending CN107309880A (en) | 2017-07-06 | 2017-07-06 | A kind of anthropomorphic robot device, control system and its control method |
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Cited By (1)
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Application publication date: 20171103 |