CN110076769A - A kind of acoustic control patrol navigation robot system and its control method based on the movement of magnetic suspension sphere - Google Patents
A kind of acoustic control patrol navigation robot system and its control method based on the movement of magnetic suspension sphere Download PDFInfo
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- CN110076769A CN110076769A CN201910213959.6A CN201910213959A CN110076769A CN 110076769 A CN110076769 A CN 110076769A CN 201910213959 A CN201910213959 A CN 201910213959A CN 110076769 A CN110076769 A CN 110076769A
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention discloses a kind of acoustic controls based on the movement of magnetic suspension sphere to go on patrol navigation robot system, including controller, alignment sensor, magnetic levitation ball body device, acoustic control processing unit, imaging sensor, multi-medium data memory module, wireless communication system and host computer；The invention also discloses a kind of control methods.The present invention is based on the direct interactions that intelligent sound identification module and technology realize people and robot.Such as the market that People are hurrying to and fro, it solves the problems, such as that pedestrian asks the way, instead of a large amount of, repeated and content customization manual service and action, brings great convenience for people's lives, the cost of labor investment for reducing market, improves people's lives level and working efficiency.
Description
Technical field
The present invention relates to a kind of robot system and its control method, refer in particular to a kind of based on the movement of magnetic suspension sphere
Navigation robot system and its control method are gone on patrol in acoustic control.
Background technique
In recent years, the development that Robot industry and intelligence manufacture field have obtained unprecedented concern and advanced by leaps and bounds.
It is mature at first and obtain maximum-norm application is industrial robot in terms of machine man-based development course, but industrial machine
Function achieved by people is relatively simple, substantially for completing a repeated task.Hereafter Robot industry is rapid
It is used widely into industrialized development, and in the industrial production.Nowadays, with sensor, artificial intelligence, magnetic suspension etc.
The progress of technology, the high performance service robot with people-oriented interaction ability step into market.
Magnetic levitation technology be using electromagnetic force, it is no mechanical contiguously magnetic conduction object to suspend a kind of skyborne novel high-tech
Skill, due to avoiding the contact between object, to effectively reduce the friction with ground, extend equipment uses the longevity
Life.Wherein, magnetic suspension train and magnetic suspension bearing are the allusion quotation example for applying magnetic levitation technology in practice, magnetic suspension train skill
Art has been achieved for important development at present, has been in the application stage, magnetic suspension bearing have been widely used for gas turbine,
Many fields such as high-speed motor.And the traditional driving method of jiggle robot is to pass through biography as driver using servo motor
The movement of servo motor is transmitted to the end of robot by motivation structure.Because there is friction in movement transmittance process in mechanical structure
The factors such as lag, Mechanism Clearance will realize high-precision, the positioning operation of high speed and micro- power control electrode using this driving method
It is difficult, and is difficult to realize the miniaturization of robot.Currently, magnetic levitation technology, which is applied to robot field, causes extensive
The research of person and the support of enterpriser.
Existing market requires to be equipped with many waiters and monitoring device.When customer is problematic to be needed to ask, can look in time
It is inquired to waiter.And monitoring device is video recording in order to be realized to market and checks, to ensure market and customer
Safety.But the cost of labor and equipment cost of this management mode investment are big, and labor efficiency is low, greatly aggravate
The operated pressure in market.
Summary of the invention
It is an object of the invention in view of the above-mentioned problems, provide it is a kind of it is intelligent high, in real time go on patrol and monitoring based on magnetic
The acoustic control patrol navigation robot system and its control method of floating sphere movement.
Following technical scheme can be used to reach in the purpose of the present invention:
It is a kind of based on magnetic suspension sphere movement acoustic control go on patrol navigation robot system, including controller, alignment sensor,
Magnetic levitation ball body device, acoustic control processing unit, imaging sensor, multi-medium data memory module, wireless communication system and upper
Machine；
Controller controls robot according to the control magnetic levitation ball body device work of preset route and goes on patrol in market；
The voice messaging of acoustic control processing unit acquisition customer is simultaneously sent to controller, and controller is by voice data and multimedia
The preset data of data memory module are matched, and export voice feedback to client by loudspeaker, realize interactive voice；
When robot is gone on patrol in market, the alignment sensor obtains the present bit confidence where robot in real time
Breath, and location information is sent to controller and system is sent to host computer by wireless communication；Described image sensor simultaneously
Current image and obstacle information are obtained in real time and are sent to controller and system is sent to host computer by wireless communication, control
Device processed control magnetic levitation ball body device work and avoiding obstacles simultaneously move forward, host computer by wireless communication system with
Controller wireless communication connection.
Further, the magnetic levitation ball body device includes magnetic suspension sphere and magnetic suspension bracket, and magnetic suspension sphere passes through
Rotation generates magnetic field and generates buoyancy and motive force with the magnet interaction in magnetic suspension bracket.
Further, the acoustic control processing unit includes sound collecting sensor and loudspeaker, and sound collecting sensor is used
In the voice messaging for acquiring user and it is sent in controller；Sound collecting sensor is used by the identification of intelligent sound identification module
Vocabulary content in the voice at family is simultaneously converted into the readable input signal of processor, and processor passes through the signal data received
It matches preset data in multi-medium data memory module and customer is fed back to by speaker sound.
Further, when the light intensity in market is lower than setting value, system controls market to controller by wireless communication
Lighting system open, otherwise, controller by wireless communication system control market lighting system close.
Further, the multi-medium data memory module is for storing intelligent sound identification data resource and map letter
Breath.
Further, the alignment sensor is GPS positioning sensor.
Further, the sound collecting sensor is TZ-2KA noise transducer.
Further, described image sensor is binocular camera.
Further, the processor is single-chip microcontroller.
A kind of control method of the acoustic control patrol navigation robot system based on the movement of magnetic suspension sphere, feature includes control
Device processed, alignment sensor, magnetic levitation ball body device, acoustic control processing unit, imaging sensor, multi-medium data memory module, nothing
Line communication system and host computer；
Robot is initialized, location information is obtained by alignment sensor, is retrieved as the route that robot is planned；
Magnetic levitation ball body device is activated, starts to do shuttling movement along programme path, while carrying out in fact using imaging sensor
When supervise；
Controller controls robot according to the control magnetic levitation ball body device work of preset route and goes on patrol in market；
When robot is gone on patrol in market, the alignment sensor obtains the present bit confidence where robot in real time
Breath, and location information is sent to controller and system is sent to host computer by wireless communication；Described image sensor simultaneously
Current image and obstacle information are obtained in real time and are sent to controller and system is sent to host computer by wireless communication, control
Device processed control magnetic levitation ball body device work and avoiding obstacles simultaneously move forward, host computer by wireless communication system with
Controller wireless communication connection；
The voice messaging of acoustic control processing unit acquisition customer is simultaneously sent to controller, and controller is by voice data and multimedia
The preset data of data memory module are matched, and export voice feedback to client by loudspeaker, realize interactive voice；If
It encounters pedestrian and inquires problem, robot is exchanged with pedestrian by intelligent sound identification module, pointed the direction for pedestrian；If not encountering
Pedestrian inquires problem, and robot continues along programme path shuttling movement.
The invention has the following beneficial effects:
1, present invention is mainly applied to market, have the function of to solve the problems, such as to ask the way for customer and monitor patrol.Its Working mould
Formula is divided into patrol mode on daytime and night patrol mode.When enabling patrol mode on daytime, mobile robot is according to being planned
Route shuttling movement.In face of the customer for needing to ask the way, by the intelligent sound identification module of acoustic control processing unit, customer can be direct
Talk with robot.The artificial customer of machine points the direction, to solve the problems, such as.Robot has function for monitoring simultaneously, passes through figure
As the lower video of real-time record is sent in host computer by sensor, convenient for staff's observation and check.When enabling night patrol
When mode, mobile robot is according to the route shuttling movement planned and is monitored in real time, by taken image information
Be sent in host computer, at the same can intelligent recognition local environment whether there is unusual condition, such as steal.If being abnormal shape
Condition notifies background work personnel, at the first time then so that staff makes respective handling in time.
2, in the use of the present invention, mobile robot is initialized, the location information of robot is obtained by alignment sensor,
The controller of robot is sent it to again, while location information is sent in host computer by system by wireless communication.Control
Device makes to rotate the magnet generated in magnetic field and magnetic suspension bracket based on magnetic suspension sphere by control magnetic levitation ball body device work
Interaction generates buoyancy and motive force, and then makes robot setting in motion and do shuttling movement according to the route planned, together
When by imaging sensor obtain image information, and be sent in host computer facilitate staff observe and check.If machine
Device people's local environment is the market that People are hurrying to and fro, during robot is mobile, passes through imaging sensor intelligent recognition image
Information courtesy can give way when pedestrian passes through, be further continued for moving after pedestrian passes by, pedestrian will not be interfered to walk, meanwhile, it is right
In the pedestrian that needs are asked the way, pedestrian can pass through the intelligent sound identification module of acoustic control processing unit, machine with direct access inquiry robot
Device people is talked with using loudspeaker and pedestrian, illustrates specific location for pedestrian.
3, the present invention is based on magnetic levitation ball body device and magnetic levitation technology make robot without mechanical contiguously stable suspersion in
On ground, while robot motion is driven using Electromagnetic Drive Technology, machine is made by DSP digital processing unit and pid control algorithm
Device people realize stable suspersion, have many advantages, such as without friction, without wear, move it is active and intelligent, extension working life, additionally it is possible to realize
360 degree rotate freely, and achieve the effect that no dead angle monitoring.
4, the present invention is based on the direct interactions that intelligent sound identification module and technology realize people and robot.As people comes
The past market of people, solves the problems, such as that pedestrian asks the way, instead of a large amount of, repeated and content customization manual service and work
Content brings great convenience for people's lives, reduces the cost of labor investment in market, improves people's lives water
Gentle working efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural block diagram of the acoustic control patrol navigation robot system the present invention is based on the movement of magnetic suspension sphere；
Fig. 2 is the control of the control method of the acoustic control patrol navigation robot system the present invention is based on the movement of magnetic suspension sphere
Flow diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
Referring to Fig.1, navigation robot system, including control are gone on patrol in the acoustic control that the present embodiment is related to moving based on magnetic suspension sphere
Device processed, alignment sensor, magnetic levitation ball body device, acoustic control processing unit, imaging sensor, multi-medium data memory module, nothing
Line communication system and host computer；
Controller controls robot according to the control magnetic levitation ball body device work of preset route and goes on patrol in market；
The voice messaging of acoustic control processing unit acquisition customer is simultaneously sent to controller, and controller is by voice data and multimedia
The preset data of data memory module are matched, and export voice feedback to client by loudspeaker, realize interactive voice；
When robot is gone on patrol in market, the alignment sensor obtains the present bit confidence where robot in real time
Breath, and location information is sent to controller and system is sent to host computer by wireless communication；Described image sensor simultaneously
Current image and obstacle information are obtained in real time and are sent to controller and system is sent to host computer by wireless communication, control
Device processed control magnetic levitation ball body device work and avoiding obstacles simultaneously move forward, host computer by wireless communication system with
Controller wireless communication connection.Described image sensor is binocular camera.
Present invention is mainly applied to market, has the function of to solve the problems, such as to ask the way for customer and monitor patrol.Its operating mode
It is divided into patrol mode on daytime and night patrol mode.Wherein, in 8. -20 periods, robot, which enables, goes on patrol mode daytime.
When enabling patrol mode on daytime, mobile robot is according to the route shuttling movement planned.In face of the customer for needing to ask the way, lead to
The intelligent sound identification module of acoustic control processing unit is crossed, customer can directly talk with robot.The artificial customer of machine points the direction,
To solve the problems, such as.Robot has function for monitoring simultaneously, is sent to the video under real-time record by imaging sensor upper
In machine, observes and check convenient for staff.In 20. -8 periods, robot enables night patrol mode, when enabling night
Between go on patrol mode when, mobile robot is according to the route shuttling movement planned and is monitored in real time, by taken figure
As information is sent in host computer, at the same can intelligent recognition local environment whether there is unusual condition, such as steal.If occurring different
Normal situation notifies background work personnel, at the first time then so that staff makes respective handling in time.
The magnetic levitation ball body device includes magnetic suspension sphere and magnetic suspension bracket, and magnetic suspension sphere generates magnetic by rotation
Field simultaneously generates buoyancy and motive force with the magnet interaction in magnetic suspension bracket, so that robot can be moved arbitrarily, and
It can be rotated freely, can be moved freely with 360 degree, it is active and intelligent.The magnetic levitation ball body device includes a magnetic suspension profile
Bracket and four magnetic suspension spheres.
The acoustic control processing unit includes sound collecting sensor and loudspeaker, and sound collecting sensor is for acquiring user
Voice messaging and be sent in controller；In the voice that sound collecting sensor passes through intelligent sound identification module discriminating user
Vocabulary content and be converted into the readable input signal of processor, processor by the signal data received by matching multimedia
Preset data and customer is fed back to by speaker sound in data memory module, by the number of multi-medium data memory module
It according to resource, allows robot that voice signal is changed into corresponding text or order by identification and understanding process, that is, allows machine
The language that device understands the mankind realizes intelligent sound identification function.
Market light intensity be lower than setting value when, controller by wireless communication system control market lighting system
It opens, otherwise, the controller lighting system that system controls market by wireless communication is closed.
The multi-medium data memory module is for storing intelligent sound identification data resource and cartographic information.By current
Location information and the map data information being stored in multi-medium data memory module, by the algorithm process system pair in controller
It carries out path planning, allows robot to enter patrol navigation mode, while current location information being sent in host computer, convenient
Background work personnel observation and tracking.
The alignment sensor is GPS positioning sensor.The processor is single-chip microcontroller or computer processor, built-in calculation
Method processing system and computer readable storage medium.Wherein algorithm process system is made of DSP digital signal processor, by obtaining
Location information, environmental information, the obstacle information taken is adjusted on the basis of institute's programme path for robot, makes robot
It can be with avoiding obstacles, safety moving；It can store computer program, the computer program in computer readable storage medium
The step of moveable robot movement any one of as described above is realized when being executed by a controller.
Specifically, avoidance and collision avoidance problem are the most basic intelligent behavior in mobile robot traveling process.Certainly, institute
The barrier stated in avoidance problem is static-obstacle thing, belongs to static-obstacle thing problem；And collision avoidance problem is then to avoid robot
With the collision problem of pedestrian, dynamic barrier problem can be considered.Therefore, during mobile robot is advanced, the ring of surrounding
Border dynamic change is a nonlinear control system, it is difficult to accurate mathematical model is established, so using fuzzy logic control
Algorithm, carries out more stable and intelligent control to robot rate to realize at such issues that can solve sensitive and accurately.
The sound collecting sensor is TZ-2KA noise transducer.Specifically, it is obtained first by sound collecting sensor
User voice signal is taken, then sound is handled in algorithm process system and is sent in controller, voice is converted
Keyword comparison search is carried out in multi-medium data memory module for text, so that obtaining target information passes through loudspeaker feedback
To user.
The present embodiment additionally provides a kind of control of acoustic control patrol navigation robot system based on the movement of magnetic suspension sphere
Method, feature include controller, alignment sensor, magnetic levitation ball body device, acoustic control processing unit, imaging sensor, more matchmakers
Volume data memory module, wireless communication system and host computer；
Robot is initialized, location information is obtained by alignment sensor, is retrieved as the route that robot is planned；
Magnetic levitation ball body device is activated, starts to do shuttling movement along programme path, while carrying out in fact using imaging sensor
When supervise；
Controller controls robot according to the control magnetic levitation ball body device work of preset route and goes on patrol in market；
When robot is gone on patrol in market, the alignment sensor obtains the present bit confidence where robot in real time
Breath, and location information is sent to controller and system is sent to host computer by wireless communication；Described image sensor simultaneously
Current image and obstacle information are obtained in real time and are sent to controller and system is sent to host computer by wireless communication, control
Device processed control magnetic levitation ball body device work and avoiding obstacles simultaneously move forward, host computer by wireless communication system with
Controller wireless communication connection；
The voice messaging of acoustic control processing unit acquisition customer is simultaneously sent to controller, and controller is by voice data and multimedia
The preset data of data memory module are matched, and export voice feedback to client by loudspeaker, realize interactive voice；If
It encounters pedestrian and inquires problem, robot is exchanged with pedestrian by intelligent sound identification module, pointed the direction for pedestrian；If not encountering
Pedestrian inquires problem, and robot continues along programme path shuttling movement.
As shown in Fig. 2, when in use, mobile robot is initialized, believed by the position that alignment sensor obtains robot
Breath, then the controller of robot is sent it to, while location information is sent in host computer by system by wireless communication.Control
Device processed makes to rotate the magnetic generated in magnetic field and magnetic suspension bracket based on magnetic suspension sphere by control magnetic levitation ball body device work
Iron phase interaction generates buoyancy and motive force, and then makes robot setting in motion and do shuttling movement according to the route planned,
Image information is obtained by imaging sensor simultaneously, and is sent in host computer and staff is facilitated to observe and check.If
Robot local environment is the market that People are hurrying to and fro, during robot is mobile, passes through imaging sensor intelligent recognition figure
As information, it courtesy can give way when pedestrian passes through, be further continued for moving after pedestrian passes by, pedestrian will not be interfered to walk, meanwhile,
For the pedestrian that asks the way of needs, pedestrian can with direct access inquiry robot, by the intelligent sound identification module of acoustic control processing unit,
Robot is talked with using loudspeaker and pedestrian, illustrates specific location for pedestrian.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (10)
1. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere, which is characterized in that including controller, determine
Level sensor, magnetic levitation ball body device, acoustic control processing unit, imaging sensor, multi-medium data memory module, wireless communication system
System and host computer；
Controller controls robot according to the control magnetic levitation ball body device work of preset route and goes on patrol in market；
The voice messaging of acoustic control processing unit acquisition customer is simultaneously sent to controller, and controller is by voice data and multi-medium data
The preset data of memory module are matched, and export voice feedback to client by loudspeaker, realize interactive voice；
When robot is gone on patrol in market, the alignment sensor obtains the current location information where robot in real time, and
Location information is sent to controller and system is sent to host computer by wireless communication；Described image sensor obtains in real time simultaneously
It takes current image and obstacle information and is sent to controller and system is sent to host computer, controller control by wireless communication
Magnetic levitation ball body device processed work and avoiding obstacles simultaneously move forward, host computer system and controller by wireless communication
Wireless communication connection.
2. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 1, special
Sign is that the magnetic levitation ball body device includes magnetic suspension sphere and magnetic suspension bracket, and magnetic suspension sphere generates magnetic by rotation
Field simultaneously generates buoyancy and motive force with the magnet interaction in magnetic suspension bracket.
3. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 1, special
Sign is that the acoustic control processing unit includes sound collecting sensor and loudspeaker, and sound collecting sensor is for acquiring user
Voice messaging and be sent in controller；In the voice that sound collecting sensor passes through intelligent sound identification module discriminating user
Vocabulary content and be converted into the readable input signal of processor, processor by the signal data received by matching multimedia
Preset data and customer is fed back to by speaker sound in data memory module.
4. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 1, special
Sign is, when the light intensity in market is lower than setting value, the lighting system in controller system control market by wireless communication
It opens, otherwise, the controller lighting system that system controls market by wireless communication is closed.
5. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 1, special
Sign is that the multi-medium data memory module is for storing intelligent sound identification data resource and cartographic information.
6. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 1, special
Sign is that the alignment sensor is GPS positioning sensor.
7. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 3, special
Sign is that the sound collecting sensor is TZ-2KA noise transducer.
8. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 1, special
Sign is that described image sensor is binocular camera.
9. navigation robot system is gone on patrol in a kind of acoustic control based on the movement of magnetic suspension sphere according to claim 1, special
Sign is that the processor is single-chip microcontroller.
10. a kind of control method of the acoustic control patrol navigation robot system based on the movement of magnetic suspension sphere, which is characterized in that packet
Include controller, alignment sensor, magnetic levitation ball body device, acoustic control processing unit, imaging sensor, multi-medium data storage mould
Block, wireless communication system and host computer；
Robot is initialized, location information is obtained by alignment sensor, is retrieved as the route that robot is planned；
Magnetic levitation ball body device is activated, starts to do shuttling movement along programme path, while being supervised in real time using imaging sensor
System；
Controller controls robot according to the control magnetic levitation ball body device work of preset route and goes on patrol in market；
When robot is gone on patrol in market, the alignment sensor obtains the current location information where robot in real time, and
Location information is sent to controller and system is sent to host computer by wireless communication；Described image sensor obtains in real time simultaneously
It takes current image and obstacle information and is sent to controller and system is sent to host computer, controller control by wireless communication
Magnetic levitation ball body device processed work and avoiding obstacles simultaneously move forward, host computer system and controller by wireless communication
Wireless communication connection；
The voice messaging of acoustic control processing unit acquisition customer is simultaneously sent to controller, and controller is by voice data and multi-medium data
The preset data of memory module are matched, and export voice feedback to client by loudspeaker, realize interactive voice；If encountering
Pedestrian inquires problem, and robot is exchanged with pedestrian by intelligent sound identification module, pointed the direction for pedestrian；If not encountering pedestrian
Inquiry problem, robot continue along programme path shuttling movement.
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| CN110707966A (en) * | 2019-10-21 | 2020-01-17 | 河海大学常州校区 | Intelligent spherical magnetic suspension motor |
| CN110910887A (en) * | 2019-12-30 | 2020-03-24 | 苏州思必驰信息科技有限公司 | Voice wake-up method and device |
| CN110989573A (en) * | 2019-11-05 | 2020-04-10 | 珠海格力电器股份有限公司 | Object movement control method, device, server and storage medium |
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| CN110480637A (en) * | 2019-08-12 | 2019-11-22 | 浙江大学 | A kind of mechanical arm part image identification grasping means based on Kinect sensor |
| CN110707966A (en) * | 2019-10-21 | 2020-01-17 | 河海大学常州校区 | Intelligent spherical magnetic suspension motor |
| CN110989573A (en) * | 2019-11-05 | 2020-04-10 | 珠海格力电器股份有限公司 | Object movement control method, device, server and storage medium |
| CN110910887A (en) * | 2019-12-30 | 2020-03-24 | 苏州思必驰信息科技有限公司 | Voice wake-up method and device |
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