CN107378971A - A kind of Study of Intelligent Robot Control system - Google Patents
A kind of Study of Intelligent Robot Control system Download PDFInfo
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- CN107378971A CN107378971A CN201710806565.2A CN201710806565A CN107378971A CN 107378971 A CN107378971 A CN 107378971A CN 201710806565 A CN201710806565 A CN 201710806565A CN 107378971 A CN107378971 A CN 107378971A
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- 230000014509 gene expression Effects 0.000 claims abstract description 47
- 230000003993 interaction Effects 0.000 claims abstract description 46
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 23
- 230000002452 interceptive effect Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 18
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 8
- 230000001815 facial effect Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 230000008909 emotion recognition Effects 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000002604 ultrasonography Methods 0.000 claims 1
- 230000008921 facial expression Effects 0.000 abstract description 4
- 238000007726 management method Methods 0.000 description 18
- 230000006870 function Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 230000008451 emotion Effects 0.000 description 4
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- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
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- 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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/001—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means with emotions simulating means
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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
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Abstract
The invention discloses a kind of Study of Intelligent Robot Control system, including：Human-computer interaction module, for receiving the voice messaging of user's input, and the voice messaging of reception is parsed, and the voice messaging after parsing is subjected to classification processing；Motion-control module, the motion command information for being received according to human-computer interaction module is adjusted to the posture in each joint of robot, and generates drive command information；Servo control module, for the drive command information generated according to motion-control module, pwm control signal is generated, specially drives robot to perform corresponding task according to pwm control signal；Expression control module, the expression command information for being received according to the human-computer interaction module perform different facial expressions and acts；Human-computer interaction module is communicated by CAN and connected with power management module, motion-control module, servo control module, expression control module respectively.
Description
Technical field
The present invention relates to robot control field, more particularly to a kind of Study of Intelligent Robot Control system.
Background technology
Robot is interdisciplinary study developed in recent years.It has concentrated mechanical engineering, electronic engineering, computer work
The multi-disciplinary latest scientific research such as journey, automatic control engineering and artificial intelligence, represent the highest of electromechanical integration into
Just.With the development of science and technology, industrial robot is widely applied (such as manipulator, mechanical arm), while intelligence is specially
Industry service robot also gradually comes into daily life, industrial agricultural production and medical treatment clothes from novel and film
Business, Defence business etc..And intelligent domestic service robot is only located at primary developing stage, this kind of robot is mostly using concentration control
System processed, control system high concentration, local failure will result in the failure of total system, reduce system reliability and
Stability.
Total system is caused to lose for local fault in intelligent domestic service robot centralized control system in the market
The problems such as unreliability and unstability of effect.
For the problem present on, this application provides the technical scheme for solving above technical problem.
The content of the invention
It is an object of the invention to provide a kind of Study of Intelligent Robot Control system, the present invention using distributed control system come
Realize the control function of robot system, dcs even if do not interfered with during local break down yet other modules and
The operation of function.
Technical scheme provided by the invention is as follows：
A kind of Study of Intelligent Robot Control system, including：Human-computer interaction module, for receiving the voice messaging of user's input,
And the voice messaging of reception is parsed, and the voice messaging after parsing is subjected to classification processing；Classification is handled
The voice messaging afterwards includes motion command information, retrieval command information, expression command information；Motion-control module, it is used for
The posture in each joint of robot is adjusted according to the motion command information that the human-computer interaction module receives, and generated
Drive command information；Servo control module, for the drive command information generated according to the motion-control module, generate PWM
Control signal, specially robot is driven to perform corresponding task according to pwm control signal；Expression control module, is used for
The expression command information received according to the human-computer interaction module performs different facial expressions and acts；And power management mould
Block, the power management module give the human-computer interaction module, the motion-control module, the servo control module respectively,
The expression control module power supply；The human-computer interaction module respectively with the power management module, the motion-control module,
The servo control module, the expression control module are communicated by CAN and connected.
Preferably, including：Charging management chip, battery, voltage conversion circuit are provided with the power management module,
And power protecting circuit；The battery respectively with the charging management chip, the voltage conversion circuit, and the power supply
Protection circuit electrically connects；The power protecting circuit is used for the charge and discharge protecting to battery；The voltage conversion circuit is used for will
The power supply of the battery release carries out transformation conversion, and to the human-computer interaction module, the motion-control module, the servo
Control module, the expression control module power supply；The charging management chip is used for the charging and discharging state for detecting battery, and monitors
The human-computer interaction module, the motion-control module, the servo control module, the expression control module use telecommunications
Breath.
Preferably, including：The power management module respectively with the human-computer interaction module, the motion-control module,
The servo control module, the expression control module is communicated by CAN and connected, for obtaining the man-machine interaction mould
Block, the motion-control module, the servo control module, the power information in the expression control module.
Preferably, including：Interactive controlling chip, microphone array, camera are provided with the human-computer interaction module
Module, acousto-optic module, LCD display；The interactive controlling chip respectively with the microphone array, the camera module,
The acousto-optic module, LCD display electrical connection；The camera module is used to obtain image information, and by the figure of acquisition
As information is sent to the interactive controlling chip；The image information of acquisition is carried out recognition of face, feelings by the interactive controlling chip
Perception is other and identifies barrier in external environment condition；The microphone array is used to receive the voice messaging, and by reception
The voice messaging is sent into the interactive controlling chip；The interactive controlling chip specifically parses the voice messaging,
And the voice messaging is subjected to classification processing.
Preferably, including：Motion control chip, attitude transducer, infrared survey are provided with the motion-control module
Away from sensor, ultrasonic distance-measuring sensor, touch detection sensor, collision detection sensor；The motion control chip difference
With the attitude transducer, the infrared distance sensor, the ultrasonic distance-measuring sensor, the touch detection sensor,
The collision detection sensor electrical connection；The motion control chip is used to receive the attitude transducer, the infrared distance measurement
Sensor, the ultrasonic distance-measuring sensor, the touch detection sensor, the collision detection sensor induction information, it is real
Existing Real Time Obstacle Avoiding and path Dynamic Programming, and robot itself pose is adjusted；The infrared distance sensor is included extremely
Few 3, the ultrasonic distance-measuring sensor includes at least five, and the touch detection sensor includes at least eight.
Preferably, including：The servo control module is communicated by CAN with the motion-control module and connected；Institute
State and driving chip is provided with servo control module, motor, motor drive module, position sensor；The driving chip difference
Electrically connected with the motor, the motor drive module, the position sensor；The driving chip is used for according to the motion
The drive command information of control module generation, generates pwm control signal, and the pwm control signal is transmitted to the motor
Drive module；Motor described in the motor drive module drive control is operated；The position sensor is used to detect motor
Location status when being operated.
Preferably, including：Espressiove control chip, temperature sensor, dust is set to pass in the expression control module
Sensor and facial information display module；The expression control chip senses with the temperature sensor, the dust respectively
Device and facial information display module electrical connection.
A kind of Study of Intelligent Robot Control system provided by the invention, can bring following at least one beneficial effect：
1st, in the present invention, solve for local in intelligent domestic service robot centralized control system in the market
Failure causes the problems such as unreliability and unstability that total system fails, and the present invention is using distributed control system come real
The control function of existing robot system, dcs do not interfere with other modules and work(when being broken down even if part yet
The operation of energy.
2nd, in the present invention, by gathering the real-time data message of each sensor and video information, accomplish to keep away in real time
Barrier and path Dynamic Programming.When moving or doing some actions, center of gravity can be offset for robot, therefore motion-control module is to realization pair
Robot itself pose is adjusted.
3rd, in the present invention, acousto-optic module is provided with, is alarmed when working environment occurs abnormal；Assuming that in the present invention
Robot application in children's paradise, the temperature in children's paradise can be monitored in real time, ensure the warming problem of children；Work as application
In market or when waiting other environment, by gathering the dust information of air ambient, and humidity information, fortuitous event is controlled
Occur；Convenient environmental information is provided the user with, provides the user reliable information data.
4th, in the present invention, power management module is that the guarantee that energy is provided in whole robot security, reliability service is made
With.
5th, in the present invention, robot system can also realize cloud service application by human-computer interaction module, realize to machine
The manipulation and setting of device people, such as：Real time environment monitoring, automatic start, dormancy, alarm clock calling, domestic safety monitoring, machine mould
Formula switches.
Brief description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of Study of Intelligent Robot Control
Above-mentioned characteristic, technical characteristic, advantage and its implementation of system are further described.
Fig. 1 is a kind of one embodiment of Study of Intelligent Robot Control system；
Fig. 2 is a kind of another embodiment of Study of Intelligent Robot Control system；
Fig. 3 is a kind of another embodiment of Study of Intelligent Robot Control system；
Fig. 4 is a kind of another embodiment of Study of Intelligent Robot Control system；
Fig. 5 is a kind of another embodiment of Study of Intelligent Robot Control system；
Fig. 6 is a kind of another embodiment of Study of Intelligent Robot Control system；
Fig. 7 is a kind of another embodiment of Study of Intelligent Robot Control system.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically show in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form readily appreciates, there is identical structure or function in some figures
Part, one of those is only symbolically depicted, or only marked one of those.Herein, "one" is not only represented
" only this ", the situation of " more than one " can also be represented.
The invention provides a kind of one embodiment of Study of Intelligent Robot Control system, with reference to figure 1 and with reference to shown in figure 2；
Including：Human-computer interaction module 200, for receiving the voice messaging of user's input, and the voice messaging of reception is solved
Analysis, and the voice messaging after parsing is subjected to classification processing；The voice messaging after classification processing includes motion command
Information, retrieval command information, expression command information；Motion-control module 300, for what is received according to the human-computer interaction module
The motion command information is adjusted to the posture in each joint of robot, and generates drive command information；Servo control module
400, for the drive command information generated according to the motion-control module 300, generate pwm control signal, specially basis
Pwm control signal driving robot performs corresponding task；Expression control module 500, for according to the man-machine interaction
The expression command information that module receives performs different facial expressions and acts；And power management module 100, the power supply pipe
Module 100 be managed respectively to the human-computer interaction module 200, the motion-control module 300, the servo control module 400, institute
Expression control module 500 is stated to power；The human-computer interaction module 200 is controlled with the power management module 100, the motion respectively
Molding block 300, the servo control module 400, the expression control module 500 are communicated by CAN and connected.
Specifically, robot control system is a kind of Study of Intelligent Robot Control system of humanoid in the present embodiment, often
Communication relations between individual module are allocated by human-computer interaction module 200, each functional module be it is self-existent,
Namely the control function of robot system is realized using distributed control system, including human-computer interaction module, motion control
Multiple module compositions such as module, servo control module, expression control module, power management module, by serial between each module
Bus CAN is interconnected, and can realize that data sharing and can carries out data interaction between each module, reach share out the work and help one another, coordinate synchronization
Purpose.
In the present invention, solve for local event in intelligent domestic service robot centralized control system in the market
Barrier is caused the problems such as unreliability and unstability that total system fails, and the present invention is realized using distributed control system
The control function of robot system, dcs do not interfere with other modules and function when being broken down even if part yet
Operation.
On the basis of above example, the invention provides another embodiment, with reference to shown in figure 3；Including：In the electricity
Charging management chip, battery, voltage conversion circuit, and power protecting circuit are provided with source control module 100；The battery
Electrically connected respectively with the charging management chip, the voltage conversion circuit, and the power protecting circuit；The power supply is protected
Protection circuit is used for the charge and discharge protecting to battery；The power supply that the voltage conversion circuit is used to discharge on the battery carries out transformation
Conversion, and to the human-computer interaction module, the motion-control module, the servo control module, the expression control module
Power supply；The charging management chip is used for the charging and discharging state for detecting battery, and monitors the human-computer interaction module, the motion
Control module, the servo control module, the power information of the expression control module.
Preferably, including：The power management module 100 respectively with the human-computer interaction module 200, the motion control
Module 300, the servo control module 400, the expression control module 500 is communicated by CAN and connected, for obtaining
State human-computer interaction module 200, the motion-control module 300, the servo control module 400, the expression control module 500
In power information.
Specifically, power management module in the present embodiment with ARM COTEX M3 processors STM32F103VET6 and
Battery charger, high-power MOS FET switch composition, mainly to each module for power supply of robot, and monitor each module electricity consumption and bear
Lotus, and to battery detection, charging, electric discharge etc..
In the present invention, power management module is the guarantee effect that energy is provided in whole robot security, reliability service.
On the basis of above example, the invention provides another embodiment, with reference to shown in figure 4；Including：In the people
Interactive controlling chip, microphone array, camera module, acousto-optic module, LCD display are provided with machine interactive module 200；Institute
State interactive controlling chip respectively with the microphone array, the camera module, the acousto-optic module, the LCD display
Electrical connection；The camera module is used to obtain image information, and the image information obtained is sent to the interactive controlling chip；
The image information of acquisition is carried out recognition of face, emotion recognition and identifies obstacle in external environment condition by the interactive controlling chip
Thing；The microphone array is used to receive the voice messaging, and the voice messaging of reception is sent to the interaction and controlled
In coremaking piece；The interactive controlling chip specifically parses the voice messaging, and the voice messaging is carried out into classification processing.
Specifically, it is configured with the core 1.8G dominant frequency arm processors of high-performance 4 in human-computer interaction module in the present embodiment
RK3288,4GB capacity DDR3,32GB eMMC, WI-FI, audio-video interface module and serial communication module etc. form, while it
Also external binocular camera module, microphone array module and developer are debugged with USB interface etc..Binocular camera coordinates
Corresponding face recognition software algorithm can be achieved with recognition of face, emotion recognition and identify barrier in external environment condition.More enter
One step, software algorithm can also be expanded, realizes and perceives external environment condition, base is established for path planning, independent navigation, target following
Plinth；Simultaneously binocular camera environment can be monitored, video calling etc..The external Mike of the human-computer interaction module 200
Wind array module coordinates the corresponding algorithm of speech recognition, can not only carry out voice dialogue, while can also accomplish to know people on hearing the news and listen
Position is argued, makes the sense of hearing of robot closer to the sense of hearing of people.In addition, developer is debugged with USB interface and bottom control authority
Opening, can import or install third-party premium content and APP, and the benefit so done can cause the machine of the present invention
The device people ecosystem and content are more perfect and plentiful, when the voice messaging that the human-computer interaction module obtains is that retrieval command is believed
During breath, directly communicated with cloud server, mission bit stream corresponding to retrieval.
On the basis of above example, the invention provides another embodiment, with reference to shown in figure 5；In the motion control
Motion control chip, attitude transducer, infrared distance sensor, ultrasonic distance-measuring sensor, tactile are provided with molding block 300
Detection sensor, collision detection sensor；The motion control chip passes with the attitude transducer, the infrared distance measurement respectively
Sensor, the ultrasonic distance-measuring sensor, the touch detection sensor, collision detection sensor electrical connection；The fortune
Dynamic control chip is used to receiving the attitude transducer, infrared distance sensor, the ultrasonic distance-measuring sensor, described
Touch detection sensor, the collision detection sensor induction information, realize Real Time Obstacle Avoiding and path Dynamic Programming, and to machine
People itself pose is adjusted；The infrared distance sensor includes at least three, and the ultrasonic distance-measuring sensor is included at least
5, the touch detection sensor includes at least eight.
Specifically, in the present embodiment, motion-control module 300, the action executing task received is parsed,
Relevant action synthesizes new action sequence 1 by optimized algorithm in the action executing task, and associated joint motion is passed through coupling
Hop algorithm synthesizes new action sequence 2, then action sequence 1 and action sequence 2 be combined into new action sequence 3 be distributed to it is dynamic
It is that servo control module 400 performs as execution unit.The moving when motion-control module 300 is additionally operable to realize robot motion
Monitor, and the action message of the robot of monitoring is transmitted and stored；The motion-control module 300 is additionally operable to dynamic
Whether real-time supervisory-controlled robot surrounding environment is safe when performing, and such as finds that dynamic is close to the barrier in action executing safe range
Hinder thing then to issue stopping execution order and terminate action executing to the servo control module 400.In the motion control of the present embodiment
Module 300 is by high-performance TMS320F28335DSP, SRAM, infrared distance sensor, ultrasonic distance-measuring sensor, touch detection
The multiple sensors such as sensor, attitude transducer, collision detection sensor and CAN communication module etc. form.The motion control
Molding block is responsible for the monitoring of motion control arithmetic and the motion state related to robot.Robot in the present embodiment has
Including at least 25 joint freedom degrees, these joints connect together, and by motion-control module unified coordination and administration, are transported in robot
When dynamic, motion control arithmetic is calculated by motion-control module combination motion characteristic and articular couple degree, and these algorithms are led to
Cross serial communication bus and be handed down to servo control module to perform, need to be supervised in real time in servo control module implementation procedure
Apparent motion state, while the data of each sensor are gathered, and multiple sensing datas are merged, so as to control machine people
The work of normal table.
In the present invention, by gathering the real-time data message of each sensor and video information, Real Time Obstacle Avoiding is accomplished
With path Dynamic Programming.When moving or doing some actions, center of gravity can be offset for robot, thus motion-control module to robot from
Body pose is adjusted.
On the basis of above example, the invention provides another embodiment, with reference to shown in figure 6；Including：The servo
Control module 400 is communicated by CAN with the motion-control module 300 and connected；It is provided with the servo control module
Driving chip, motor, motor drive module, position sensor；The driving chip drives with the motor, the motor respectively
Module, position sensor electrical connection；The driving chip is used for the drive command generated according to the motion-control module
Information, pwm control signal is generated, and the pwm control signal is transmitted to the motor drive module；The motor drives mould
Motor described in block drive control is operated；The position sensor is used to detect location status when motor is operated.
Specifically, servo control module is used to control in the present embodiment and motor performs action, by High Performance DSP
TMS320F28069, brush motor drive module, position sensor, CAN communication module etc. form.Servo control module not only drives
Dynamic and controlled motor realizes given motion, and to motion-control module feed back motion implementation status, and fault detect, report
Alert and processing etc..Servo control module can at least send 10 tunnel control signals in the present invention, for drive and control have brush electricity
Machine；According to the joint freedom degrees of different operative scenario and robot body, the servo control module of varying number is configured,
Assume that robot there are 25 joint freedom degrees, at least needs 3 sets of servo control modules in the present embodiment in the present embodiment, respectively
Match to different movable joints.
It is shown in Figure 7 the invention provides another embodiment on the basis of above example；In the expression control
Espressiove control chip, temperature sensor, dust sensor and facial information display module are set in molding block 500；It is described
Expression control chip is electrically connected with the temperature sensor, the dust sensor and the facial information display module respectively
Connect.
Specifically, expression control module 500 is used to send expression, emotion exhibition according to the human-computer interactive control module 200
Show that task order information performs different facial expressions and acts；The expression control module in the present embodiment by expression control panel and
Eyebrow, eyes, face display board and Temperature Humidity Sensor and PM2.5 sensor groups into.The expression control panel is mainly with ARM
COTEX M3 processors STM32F103VET6 and LED array driver SN3731 compositions, various tables are shown in man-machine interaction
Feelings, coordinate the emotions such as voice messaging simulation mankind's pleasure, anger, sorrow, happiness.Expression control module is also responsible for collecting work environment simultaneously
In the data such as temperature, humidity and PM2.5.Alarmed when working environment occurs abnormal；Assuming that the machine in the present invention
People is applied in children's paradise, can monitor the temperature in children's paradise in real time, ensures the warming problem of children；When applying in market
Or when waiting other environment, by gathering the dust information of air ambient, and humidity information, control the generation of fortuitous event；
Convenient environmental information is provided the user with, provides the user reliable information data.
On the basis of above example, the invention provides another embodiment, with reference to shown in Fig. 1~7；In the present embodiment
In, user speech information is received by the microphone array in human-computer interaction module 200 first as the application, by the language of reception
Message breath carries out parsing identification, and the task retrieval in information is out carried out classification processing, and each module is being just in coordinating robot
Often work；Task after classification processing includes action executing task, information retrieval task, expression affect display task and man-machine
Session task；The task related to action executing is then distributed to the motion-control module 300, when the motion-control module
300 receive the assignment instructions information for needing robot to be run or moved backward, and motion-control module can send instruction
Information to action execution unit is that servo control module performs, and is provided with corresponding position sensor in servo control module, remembers
Record the distance of robot movement；Multiple distance measuring sensors are provided with motion-control module, can real-time perception robot operation ring
Information change in border, provides safeguard for Real Time Obstacle Avoiding；Broadcasted when running into obstacle, or send warning etc.；Or acousto-optic
Alarm；When the task after parsing is information retrieval task, including：When please search a certain information, robot can be according to man-machine
Interactive module asks network connection to high in the clouds or background server, searches out the information of correlation, can broadcast etc.；Work as solution
When task after analysis is session task, human-computer interaction module can find out answer in the corpus in local or high in the clouds and report out
Come；Also include the task related to expression emotion be then distributed to the expression control module come the happiness of show robot, anger, sorrow,
The emotion such as happy.
Robot system in the present invention, cloud service application can also be realized by human-computer interaction module, is realized to machine
The manipulation and setting of device people, such as：Real time environment monitoring, automatic start, dormancy, alarm clock calling, domestic safety monitoring, machine mould
Formula switches.According to robot running environment, running environment is provided for robot application, message event is received, scheduling, runs machine
People's example.Pass through task management center, when robot example is run, caused robot motion task, according to the property of robot
Feelings, environmental characteristic, psychomotor task adjustment is handled, ultimately forms the assignment instructions for being available for motion control center to use.
The present invention, can be according to the difference of usage scenario, and workload in the case where meeting the application performance parameter
Carrying information difference, being adapted to property is replaced by other chips, includes the single-chip microcomputers of 51 series, PIC series, and
ARM series etc..
It should be noted that above-described embodiment can independent assortment as needed.Described above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, do not departing from the premise of the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
- A kind of 1. Study of Intelligent Robot Control system, it is characterised in that including：Human-computer interaction module, for receiving the voice messaging of user's input, and the voice messaging of reception is parsed, and The voice messaging after parsing is subjected to classification processing；Classification processing after the voice messaging include motion command information, Retrieval command information, expression command information；Motion-control module, for the motion command information that is received according to the human-computer interaction module to each joint of robot Posture be adjusted, and generate drive command information；Servo control module, for the drive command information generated according to the motion-control module, pwm control signal is generated, Specially robot is driven to perform corresponding task according to pwm control signal；Expression control module, the expression command information for being received according to the human-computer interaction module perform different expressions Action；AndPower management module, the power management module is respectively to the human-computer interaction module, motion-control module, described Servo control module, the expression control module power supply；The human-computer interaction module respectively with the power management module, the motion-control module, the servo control module, The expression control module is communicated by CAN and connected.
- A kind of 2. Study of Intelligent Robot Control system according to claim 1, it is characterised in that including：Charging management chip, battery, voltage conversion circuit, and power protection electricity are provided with the power management module Road；The battery is electrically connected with the charging management chip, the voltage conversion circuit, and the power protecting circuit respectively Connect；The power protecting circuit is used for the charge and discharge protecting to battery；The power supply that the voltage conversion circuit is used to discharge on the battery carries out transformation conversion, and gives the man-machine interaction mould Block, the motion-control module, the servo control module, the expression control module power supply；The charging management chip is used for the charging and discharging state for detecting battery, and monitors the human-computer interaction module, the motion Control module, the servo control module, the power information of the expression control module.
- A kind of 3. Study of Intelligent Robot Control system according to claim 1, it is characterised in that including：The power management module respectively with the human-computer interaction module, the motion-control module, the servo control module, The expression control module is communicated by CAN and connected, for obtaining the human-computer interaction module, the motion control mould Block, the servo control module, the power information in the expression control module.
- A kind of 4. Study of Intelligent Robot Control system according to claim 1, it is characterised in that including：Interactive controlling chip, microphone array, camera module, acousto-optic module, LCD are provided with the human-computer interaction module Display screen；The interactive controlling chip respectively with the microphone array, the camera module, the acousto-optic module, the LCD Display screen electrically connects；The camera module is used to obtain image information, and the image information of acquisition is sent to the interactive controlling chip；The image information of acquisition in recognition of face, emotion recognition and identification external environment condition hinder by the interactive controlling chip Hinder thing；The microphone array is used to receive the voice messaging, and the voice messaging of reception is sent to the interaction and controlled In coremaking piece；The interactive controlling chip specifically parses the voice messaging, and the voice messaging is carried out into classification processing.
- A kind of 5. Study of Intelligent Robot Control system according to claim 1, it is characterised in that including：Motion control chip, attitude transducer, infrared distance sensor, ultrasound are provided with the motion-control module Away from sensor, touch detection sensor, collision detection sensor；The motion control chip passes with the attitude transducer, the infrared distance sensor, the ultrasonic ranging respectively Sensor, the touch detection sensor, collision detection sensor electrical connection；The motion control chip is used to receive the attitude transducer, the infrared distance sensor, the ultrasonic ranging The induction information of sensor, the touch detection sensor and the collision detection sensor, realizes Real Time Obstacle Avoiding and path Dynamic Programming, and robot itself pose is adjusted；The infrared distance sensor includes at least three, and the ultrasonic distance-measuring sensor includes at least five, the tactile inspection Surveying sensor includes at least eight.
- A kind of 6. Study of Intelligent Robot Control system according to claim 1, it is characterised in that including：The servo control module is communicated by CAN with the motion-control module and connected；Driving chip, motor, motor drive module, position sensor are provided with the servo control module；The driving chip electrically connects with the motor, the motor drive module, the position sensor respectively；The driving chip is used for the drive command information generated according to the motion-control module, generates pwm control signal, and The pwm control signal is transmitted to the motor drive module；Motor described in the motor drive module drive control is operated；The position sensor is used to detect location status when motor is operated.
- 7. according to a kind of any described Study of Intelligent Robot Control systems of claim 1-6, it is characterised in that including：Described Espressiove control chip, temperature sensor, dust sensor and facial information display module are set in expression control module；The expression control chip is shown with the temperature sensor, the dust sensor and the facial information respectively Module electrically connects.
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