CN108608443A - A kind of intellect service robot control system - Google Patents
A kind of intellect service robot control system Download PDFInfo
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- CN108608443A CN108608443A CN201810444854.7A CN201810444854A CN108608443A CN 108608443 A CN108608443 A CN 108608443A CN 201810444854 A CN201810444854 A CN 201810444854A CN 108608443 A CN108608443 A CN 108608443A
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- Prior art keywords
- master controller
- host computer
- control system
- data
- light bar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Abstract
A kind of intellect service robot control system, is related to intelligentized control method field.The present invention includes：Host computer, master controller, serial ports TTL turn USB interface chip, 8 optoelectronic switches, 2 steering engines, RGB light bar, Inertial Measurement Unit, movable motor, Hall sensor, lithium battery, laser radar, microphone array, temperature sensor and humidity sensor.Master controller is the core of the intellect service robot control of the present invention, for realizing functions such as optoelectronic switch control, servos control, the control of RGB light bar, inertial navigation data acquisition, movable motor control, li-ion cell protection, data of the Temperature and Humidity module acquisitions.Master controller turns USB interface chip by serial ports TTL and is connect with host computer, only need to be inserted into USB lines.The present invention have many advantages, such as good reliability, strong antijamming capability, autonomous navigation keep in obscurity, interactive voice.
Description
Technical field
The present invention relates to intelligent control technology fields, and in particular to a kind of intellect service robot control system.
Background technology
The control system of robot is varied, and traditional scheme is wireless remote control mode, is set generally by wireless handheld
The problem of being ordered for transmission to manipulate, the control mode of the machinery by being then based on physics, therefore reliability can be brought；This control
Mode processed and the mode of robot interactive are excessively single, and robot lack of wisdom itself and affinity cannot be moved actively, be led
It the interaction such as navigates, keep in obscurity and carry out voice.
Invention content
The object of the present invention is to provide a kind of good reliability, strong antijamming capability, can autonomous navigation keep in obscurity, can
Carry out the intellect service robot control system of interactive voice.
The present invention is that technical scheme applied to solve the technical problem is as follows：
A kind of intellect service robot control system of the present invention, including：
Host computer；
Turn the master controller that USB interface chip is connected with host computer by serial ports TTL, the master controller is gone here and there by UART
Mouth agreement carries out data exchange with host computer；
The microphone array being connected with host computer, the host computer acquire the voice signal that microphone array measures and to them
The angle that processing calculates Sounnd source direction and horizontal and vertical directions immediately ahead of robot is carried out, host computer presss from both sides the two
Angle information is transferred to master controller；
8 optoelectronic switches being connected with master controller, the master controller is according to 8 light of order timing acquiring of host computer
The data of electric switch, and be uploaded in host computer by master controller, whether there is obstacle in each direction by host computer judgement
Object；
2 steering engines being connected with master controller, the master controller control 2 steering engines according to the angle information received and turn
To corresponding angle；
The Inertial Measurement Unit being connected with master controller, acceleration that the master controller measures Inertial Measurement Unit,
Angular speed, earth magnetic field, Eulerian angles carry out attitude algorithm, and the data after resolving are uploaded to host computer；
The movable motor and Hall sensor being connected with master controller, master controller control walking by Hall sensor
The speed of motor；
The chassis control system being connected with master controller and the laser radar being connected with chassis control system, laser radar are used
In carrying out sweeping figure to environment, the graphical data transmission scanned gives chassis control system storage.
Further, further include：The temperature sensor and humidity sensor being connected with master controller；The master controller is adopted
The humidity data of the temperature data and humidity sensor measurement that collect temperature sensor measurement is transferred to host computer and is shown.
Further, further include：The RGB light bar being connected with master controller；Host computer issues RGB light bar points to master controller
Bright order, order include colouring information, and RGB light bar shows corresponding color according to the colouring information given in instruction；It is upper
Machine issues light bar to master controller and extinguishes order, then RGB light bar is extinguished.
Further, the master controller uses STM32F407VGT6 microcontrollers.
Further, further include the lithium battery powered for entire control system, the lithium battery and master controller, serial ports
TTL turns USB interface chip, 8 optoelectronic switches, 2 steering engines, RGB light bar, Inertial Measurement Unit, movable motor, hall sensing
Device, chassis control system, laser radar, microphone array, temperature sensor are connected with humidity sensor.
Further, the master controller periphery is provided with communication serial ports and IIC interfaces, and serial ports is realized by communicating serial ports
Communication function is communicated by IIC interfaces and a variety of different sensor chips, realizes IIC communication functions.
Further, the optoelectronic switch uses the E18-D80NK type optoelectronic switches of Mai Dehao companies, detecting distance 3-
80cm。
Further, the steering engine uses the big torsion steering engines of PDI-6221MG types 20KG of limit electronics scientific technology co, control
Ranging from 0-180 ° of system.
Further, the RGB light bar uses 5050 patch RGB light bar, supply voltage 12V, common-anode connection.
Further, the Inertial Measurement Unit uses the JY901 type Inertial Measurement Units of Wei Te intelligence, adds for measuring
Speed, angular speed, earth magnetic field, Eulerian angles.
The beneficial effects of the invention are as follows：
The intellect service robot control system of the present invention mainly uses host computer, master controller as core control unit
Part, then coordinate the various functions of peripheral other sensors effect realization robot, there is good reliability, strong antijamming capability, energy
Enough autonomous navigation keep in obscurity, can carry out the advantages that interactive voice.
Description of the drawings
Fig. 1 is a kind of structure diagram of intellect service robot control system of the present invention.
Specific implementation mode
Below in conjunction with attached drawing, invention is further described in detail.
As shown in Figure 1, a kind of intellect service robot control system of the present invention, which is mounted on Intellectual garment
It is engaged in robot body, which includes mainly：Host computer, master controller, serial ports TTL turn USB interface chip, 8 light
Electric switch, 2 steering engines, RGB light bar, Inertial Measurement Unit, movable motor, Hall sensor, lithium battery, chassis control system,
Laser radar, microphone array, temperature sensor and humidity sensor.
8 optoelectronic switches, 2 steering engines, RGB light bar, Inertial Measurement Unit, movable motor, Hall sensor, chassis control
System, temperature sensor and humidity sensor are connected with master controller.Chassis control system is connected with laser radar.Lithium battery
Turn USB interface chip, 8 optoelectronic switches, 2 steering engines, RGB light bar, Inertial Measurement Unit, walking with master controller, serial ports TTL
Motor, Hall sensor, chassis control system, laser radar, microphone array, temperature sensor are connected with humidity sensor,
It powers for entire control system.Microphone array is connected with host computer.Master controller is the intellect service robot control of the present invention
The core of system obtains, movable motor for realizing optoelectronic switch control, servos control, the control of RGB light bar, inertial navigation data
The functions such as control, li-ion cell protection, data of the Temperature and Humidity module acquisition.Master controller turns USB interface chip and host computer by serial ports TTL
Connection only need to be inserted into USB lines.
Master controller specifically uses STM32F407VGT6 microcontrollers.Two kinds of power supplys of 5V and 12V are provided on master controller to connect
Entrance, wherein 5V power supplys are mainly master controller, optoelectronic switch and steering engine power supply, and 12V power supplys are mainly the power supply of RGB light bar.5V
Power supply is all made of 3.5mm PCB connecting terminals with 12V power supply power supplies and connect, and the PCB connecting terminals of 5V power supplys are connected to main control
The P43 interfaces (close to optoelectronic switch) of device, the PCB connecting terminals of 12V power supplys are connected to the P39 interfaces of master controller (close to RGB
Light bar).5V power supplys and 12V power supplys are sure not hybrid junction, and positive and negative anodes are sure not reversed, otherwise can lead to master controller and be connected thereto
Optoelectronic switch, steering engine etc. are all burnt.
Master controller periphery is provided with communication serial ports, is led to by communicating serial ports and being interacted with other equipments such as microphone arrays
News realize serial communication function.IIC interfaces are additionally provided on master controller, it can be with a variety of different sensors by IIC interfaces
Chip is communicated, and realizes IIC communication functions.Master controller to steering engine output pwm signal by that can drive 3 road 5V or 12V rudders
Machine realizes servo driving function.Master controller can be with the temperature data and humidity of the surrounding air of collecting temperature sensor measurement
The humidity data of the surrounding air of sensor measurement realizes that data of the Temperature and Humidity module acquires function.Master controller can drive 2 road 24V
Direct current movable motor, single channel maximum output current can realize dynamic up to 4A, overcurrent protection function by connecting Hall sensor
Speed governing blocks up and stops detection function, realizes the integrated control functions of movable motor.Master controller can detect lithium battery temperature, work as lithium
When battery temperature is excessively high, alarm and power-off protection are carried out, realizes the temperature detecting function of lithium battery.Master controller can also detect
The maximum voltage of lithium battery is 48V, and has lithium battery and overcharge, cross and put detection function.Master controller can drive the rated voltage to be
The 5050RGB light bar of 12V realizes RGB light bar driving functions.Inertial Measurement Unit can measure acceleration, angular speed, earth magnetic
The data such as field, Eulerian angles, master controller receives these data and carries out attitude algorithm using these data, while can access GPS
Or triones navigation system, realize inertial navigation function.Timing dormancy can also be set by master controller and wakes up isochronon work(
Energy.
Master controller is communicated using UART serial port protocols with host computer.Before use, serial ports is installed in host computer
TTL turns USB interface chip (CH340 chips) driver, and under default situations, 10 systems of Windows in host computer can be automatic
The driver is installed.After installing driver, serial ports is checked in 10 systems of host computer Windows " equipment manager "
Number.For linux system, "/dev/ttyUSBx " equipment please be check.Serial ports configuration is as follows：Baud rate：115200bits/s；
Data bit：8bits；Check bit：Nothing；Stop position：1；Flow control：Nothing.
Master controller carries out data exchange, and controllable host computer switching on and shutting down by UART serial port protocols and host computer, together
When by detecting host computer USB interface voltage judge the on off state of host computer, when host computer still at runtime, avoid to upper
Machine forced interruption.
Whether optoelectronic switch has object to block for detecting around robot, and optoelectronic switch is to certain distance in front of robot
Object respond to master controller.Optoelectronic switch mainly using the E18-D80NK type optoelectronic switches of Mai Dehao companies,
The detecting distance of the device is 3-80cm.It is provided with optoelectronic switch spare interface on master controller, is likely to occur from now on
Function Extension designs, without connection.Optoelectronic switch can measure the object in 3-80cm, and the mode for adjusting measurement threshold value is：First
It installs optoelectronic switch and connects 5V power supplys, then robot is placed in and is exactly the distance for measuring threshold value apart from testee
(such as 30cm) adjusts the screw of optoelectronic switch tail portion with screwdriver, until the red light by screw just lights.
2 steering engines are for controlling robot head and neck movement, wherein 1 steering engine turns for controlling robot head
Dynamic, another steering engine is for controlling Robot neck rotation.Steering engine is mainly using the PDI- of limit electronics scientific technology co
The control range of the big torsion steering engines of 6221MG types 20KG, the device is 0-180 °.It is provided with that steering engine is spare to be connect on master controller
Mouthful, for the Function Extension design being likely to occur from now on, it is not necessarily to connection.
RGB light bar is using 5050 patch RGB light bar, supply voltage 12V, common-anode connection.RGB light bar length is
5m can be cut as needed in actual use.
For Inertial Measurement Unit (IMU) using the JY901 types Inertial Measurement Unit (IMU) of Wei Te intelligence, which can
Measure the data such as acceleration, angular speed, earth magnetic field, Eulerian angles.JY901 types Inertial Measurement Unit (IMU) needs to connect serial ports
TTL turns USB module and is debugged, and specific debud mode is shown in《JY901 operation instructions V4.0》.
The intellect service robot control system of the present invention, when controlling robot, detailed process is as follows：
1, system electrification initializes.
2, host computer sends stopping or enabling signal to master controller, and master controller will stop or enabling signal is converted into phase
The signal answered is received by all parts and executes corresponding operation.
3, data, the master controllers such as acceleration, angular speed, earth magnetic field, Eulerian angles is measured by Inertial Measurement Unit to connect
It receives these data and carries out attitude algorithm using these data, the data after resolving are uploaded to upper by master controller by serial ports
Machine, host computer can show that robot is presently in the information such as the earth magnetic field of position, Eulerian angles by patterned mode, with
And the acceleration and angular speed information of robot current motion state.
4, during robot ambulation, master controller, can be with 8 optoelectronic switches of timing acquiring according to the order of host computer
Data.Each optoelectronic switch can identify the barrier in 30cm, and the acquisition of each optoelectronic switch is returned by master controller
Data be uploaded in host computer, by host computer judge each direction (8 optoelectronic switches respectively correspond to eight directions, i.e., east,
South, west, north, the southeast, southwest, northeast, northwest) on whether have barrier.
5, during robot ambulation, two for sweeping figure, being scanned carry out robot by laser radar
Dimension map datum is stored in chassis control system.Chassis control system uses ARM controller, is equipped in the ARM controller
Ubuntu operating systems, ROS robot platforms, (ARM controller is a kind of existing robot wall to operation slam algorithms navigation avoidance
Hinder control device, directly can be realized using its existing capability).It (can based on the application software in the two-dimensional map and host computer
To use robot application interaction platform, a kind of existing robot application software) hot spot can be arbitrarily marked on map, it can be with
For during controlling robot navigation, using any two hot spot defined on two-dimensional map as beginning and end,
Robot can independent navigation, and by laser radar and ultrasonic sensor (Hall sensor) to the barrier on guidance path
Object is hindered to make avoidance processing.Laser radar, ultrasonic sensor, optoelectronic switch, chassis control system cooperate, can be in machine
People avoids the barrier of certain distance around by movable motor during independent navigation.
Obstacle process is as follows：For example, when a certain optoelectronic switch recognizes the barrier in 30cm, and measurement result is transmitted
To master controller, master controller calculates measurement result and is converted into chassis control system can be with received signal, chassis
Control system drives the turntable of laser radar itself to rotate while driving robot avoiding obstacles row according to the signal received
It walks, during this, master controller also controls the speed of movable motor by Hall sensor.
6, the voice signal that host computer acquisition speech input device, that is, microphone array measures, can will collect in 5 meters
Voice signal handled, obtain the direction of corresponding word and sound source, and then before calculating Sounnd source direction and robot just
The angle of square horizontal and vertical directions, and the two angle informations are transferred to master controller, it is controlled by master controller
It makes corresponding two-way steering engine and goes to corresponding angle, make position of the robot head towards sound source.Pass through servos control robot
The horizontal and vertical rotation on head.
7, host computer issues acquisition to master controller, and robot is acquired by temperature and relative humidity
Temperature and humidity data, and host computer is returned to after being handled via master controller, host computer carries out figure to the data received
Change and converts and finally shown in a manner of patterned.
8, host computer issues RGB light bar to master controller and lights order, and order includes colouring information, RGB light bar according to
The colouring information given in instruction shows corresponding color；Host computer issues light bar to master controller and extinguishes order, then RGB light bar
Extinguish.
For master controller periodically to host computer transmission data, every 1 group of data include optoelectronic switch data, Inertial Measurement Unit
(IMU) data, RGB light bar current status data, steering engine current status data.Data are sent in the form of character string, every a kind
Data are all started with character '@', are later data type, colon, data value, finally with newline (' n ') ending, 4 kinds of data
It is sent for 1 group, the transmission interval of every 1 group of data is about 66ms.It is as shown in table 1 that data send form.
Table 1
Such as：
@photo:1010000100000000
@imu:0.111,0.222,1.333,0.444,0.555,0.666,7.777,8.888,9.999,1234,2345,
3456
@rgb:20,40,60
@servo:90,0,180
@photo:1010000100000000
@imu:0.111,0.222,1.333,0.444,0.555,0.666,7.777,8.888,9.999,1234,2345,
3456
@rgb:20,40,60
@servo:90,0,180
@photo:1010000100000000
@imu:0.111,0.222,1.333,0.444,0.555,0.666,7.777,8.888,9.999,1234,2345,
3456
@rgb:20,40,60
@servo:90,0,180
Wherein, chain-dotted line indicates the interval time between every group of data.It should be noted that all letters are in agreement
Small letter, and without space between data.
As shown in table 2, the data type of optoelectronic switch data is " photo ", and data value is 16 continuous " 0 " or " 1 ",
From left to right indicate that the state of 0~optoelectronic switch of optoelectronic switch 15, " 0 " indicate that optoelectronic switch is not blocked respectively, " 1 " indicates light
Electric switch is blocked.Wherein, 0~optoelectronic switch of optoelectronic switch 7 is valid data, and 8~optoelectronic switch of optoelectronic switch, 15 data are temporary
Shi Wuxiao is retained for extension in the future.
Table 2
As shown in table 3, the data type of IMU data is " imu ", and data value is 12 groups of data with comma () segmentation,
In first 9 groups be floating number, retain decimal point after 3 data, last three groups be integer.Data sense is as shown in the table.Wherein, add
Speed unit be g (acceleration of gravity), angular speed unit be °/s, Euler's angular unit be °, magnetic field be original AD data, no list
Position.
In practical applications, magnetic field data can be used or yaw the direction that angular data determines robot.Yaw is preferred
Angle determines that robot direction, yaw angle direct north are 0 °, and angle increases in the direction of the clock, and due east direction is 90 °, until due south
Orientation angle is 180 °, becomes -180 ° later, hereafter continues to increase in the direction of the clock, until due west direction is -90 °, is finally returned
To 0 °.
Table 3
As shown in table 4, the data type of RGB light bar current status data is " rgb ", and data value is 3 groups and is divided with comma ()
The data cut, respectively red, green, blue luminences percentage, value range 0-100.The data reflect RGB light bar
Current state.
Table 4
As shown in table 5, the data type of steering engine current status data is " servo ", and data value is 3 groups and is divided with comma ()
The data cut, the respectively angle of steering engine 1, steering engine 2, steering engine 3, value range are 0-180 °.The data reflect that steering engine is current
State.Wherein, steering engine 1, steering engine 2 are valid data, and 3 data temporary disablement of steering engine is retained for extension in the future.Steering engine 3
For spare interface connection is not necessarily to for the Function Extension design being likely to occur from now on.
Table 5
Master controller is subjected to the order that host computer sends over, and can pass through PC control steering engine angle and RGB light bar
Brightness, and request slave computer sequence number.Order is sent in the form of character string, and every a kind of order is all opened with character ' # '
Head is later command type:Order data value, finally with newline (' n ') ending.As shown in table 6.
Table 6
Such as：
@rgb:20,40,60
@servo:90,0,180
@uid:
Wherein, similar with upstream data communication agreement, all letters are small letter in the above agreement, and without sky between data
Lattice.The either order of same type or different types of order, only transmittable 1 order every time, and between 2 orders extremely
It need to be spaced 100ms less, otherwise very likely cause slave computer to stop receiving all orders, and do not design fault tolerance at present, it is wrong
Order accidentally may make slave computer stopping take orders.
As shown in table 7, steering engine angle control command is similar with steering engine current status data, the life of steering engine angle control command
It is " servo " to enable type, and order data value is 3 groups of data with comma () segmentation, controls steering engine 1, steering engine 2, steering engine 3 respectively
Angle, value range be 0-180 ° between integer.Wherein, steering engine 3 temporarily retains, and can insert any angle, but can not be empty
It lacks.
Table 7
As shown in table 8, RGB light bar control command is similar with RGB light bar current status datas, RGB light bar control commands
Command type is " rgb ", and order data value is 3 groups of data with comma () segmentation, respectively control red, green, blue luminences
Percentage, integer of the value range between 0-100.
Table 8
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of intellect service robot control system, which is characterized in that including：
Host computer；
Turn the master controller that USB interface chip is connected with host computer by serial ports TTL, the master controller is assisted by UART serial ports
View carries out data exchange with host computer；
The microphone array being connected with host computer, the voice signal of the host computer acquisition microphone array measurement simultaneously carry out it
Processing calculates the angle of Sounnd source direction and horizontal and vertical directions immediately ahead of robot, and host computer believes the two angles
Breath is transferred to master controller；
8 optoelectronic switches being connected with master controller, the master controller are opened according to 8 photoelectricity of order timing acquiring of host computer
The data of pass, and be uploaded in host computer by master controller, whether there is barrier in each direction by host computer judgement；
2 steering engines being connected with master controller, the master controller control 2 steering engines according to the angle information that receives and go to pair
The angle answered；
The Inertial Measurement Unit being connected with master controller, acceleration that the master controller measures Inertial Measurement Unit, angle speed
Degree, earth magnetic field, Eulerian angles carry out attitude algorithm, and the data after resolving are uploaded to host computer；
The movable motor and Hall sensor being connected with master controller, master controller control movable motor by Hall sensor
Speed；
The chassis control system being connected with master controller and the laser radar being connected with chassis control system, laser radar for pair
Environment carries out sweeping figure, and the graphical data transmission scanned is stored to chassis control system.
2. a kind of intellect service robot control system according to claim 1, which is characterized in that further include：With master control
Device processed connected temperature sensor and humidity sensor；The temperature data of the master controller collecting temperature sensor measurement and wet
The humidity data of degree sensor measurement is transferred to host computer and is shown.
3. a kind of intellect service robot control system according to claim 1, which is characterized in that further include：With master control
The connected RGB light bar of device processed；Host computer issues RGB light bar to master controller and lights order, and order includes colouring information, RGB
Light bar shows corresponding color according to the colouring information given in instruction；Host computer issues light bar to master controller and extinguishes order,
Then RGB light bar is extinguished.
4. a kind of intellect service robot control system according to claim 1, which is characterized in that the master controller is adopted
With STM32F407VGT6 microcontrollers.
5. a kind of intellect service robot control system according to claim 1, which is characterized in that further include entirely to control
The lithium battery of system power supply processed, the lithium battery and master controller, serial ports TTL turn USB interface chip, 8 optoelectronic switches, 2
Steering engine, RGB light bar, Inertial Measurement Unit, movable motor, Hall sensor, chassis control system, laser radar, microphone array
Row, temperature sensor are connected with humidity sensor.
6. a kind of intellect service robot control system according to claim 1, which is characterized in that outside the master controller
It encloses and is provided with communication serial ports and IIC interfaces, realize serial communication function by communicating serial ports, pass through IIC interfaces and various differences
Sensor chip communicated, realize IIC communication functions.
7. a kind of intellect service robot control system according to claim 1, which is characterized in that the optoelectronic switch is adopted
With the E18-D80NK type optoelectronic switches of Mai Dehao companies, detecting distance 3-80cm.
8. a kind of intellect service robot control system according to claim 1, which is characterized in that the steering engine uses pole
The big torsion steering engines of PDI-6221MG types 20KG of electronics scientific technology co are limited, control range is 0-180 °.
9. a kind of intellect service robot control system according to claim 3, which is characterized in that the RGB light bar is adopted
With 5050 patch RGB light bar, supply voltage 12V, common-anode connection.
10. a kind of intellect service robot control system according to claim 1, which is characterized in that the inertia measurement
Unit uses the JY901 type Inertial Measurement Units of Wei Te intelligence, for measuring acceleration, angular speed, earth magnetic field, Eulerian angles.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110619767A (en) * | 2019-09-05 | 2019-12-27 | 顾柳泉 | Intelligent education robot and computer readable medium |
| CN111070213A (en) * | 2020-01-08 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot control system |
| CN111208837A (en) * | 2020-03-20 | 2020-05-29 | 重庆德新机器人检测中心有限公司 | Autonomous navigation robot and autonomous navigation robot interaction method |
| CN112099743A (en) * | 2020-08-17 | 2020-12-18 | 数智医疗(深圳)有限公司 | Interactive system, interactive device and interactive method |
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Application publication date: 20181002 |