CN203650518U - Multi-core control system of facial expression robot - Google Patents
Multi-core control system of facial expression robot Download PDFInfo
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- CN203650518U CN203650518U CN201420017380.5U CN201420017380U CN203650518U CN 203650518 U CN203650518 U CN 203650518U CN 201420017380 U CN201420017380 U CN 201420017380U CN 203650518 U CN203650518 U CN 203650518U
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Abstract
The utility model discloses a multi-core control system of a facial expression robot. The multi-core control system comprises a voltage converter module, a robot controller, an upper computer and a robot execution module, wherein the voltage converter converts alternating-current power into direct current for supplying power to the robot controller, the robot controller is in mutual communication with the upper computer by virtue of a serial port, and the robot controller transmits data to the robot execution module and receives the feedback data of the robot execution module. The multi-core control system of the facial expression robot solves the problem of difficult cooperative work of the expression movements of the existing facial expression robot due to that the upper computer is incapable of realizing synchronous real-time control on bottom drive; the system is composed of a plurality of core processors and thus capable of realizing control on a plurality of drivers stably; due to asynchronous serial port communication, the upper computer realizes real-time control on an embedded control system; the working environment is simple, and the development cost of the facial expression robot is reduced.
Description
Technical field
The utility model relates to robot application field, particularly relates to a kind of multinuclear control system of controlling that drives for facial expression robot.
Background technology
First-generation industrial robot does not have expression of feeling, lacks the high-grade intelligents such as machine vision, machine hearing, and the quality of whether having worked, having completed cannot perception, is difficult to carry out man-machine interaction with operating personnel.Facial expression robot has anthropomorphic profile by appropriate design, can realize the expression identical with true man and limb action, obtains in recent years great development.
Domestic facial expression robot is subject to technical limitations, and more stiff on expression realizes, practical application is less, represents that achievement has the Sun Yat-sen robot of Harbin Institute of Technology, SHFR_1, the Li Yong 2 of Xi'an superman company etc. of Shanghai University.External facial expression robot is affected by material and driver, and current research also runs into bottleneck, represents that achievement has the WE-4R of the Waseda University of the Artificial Intelligence Laboratory's of Massachusetts Institute Technology (MIT) Kismet, Japan.
The existing facial expression robot of present stage controls the synchronous of bottom layer driving in real time owing to cannot realizing host computer, and the expression motion of robot is difficult to collaborative work, lacks a kind of synchronous real-time control system of multiple driver that can realize facial expression robot.
Mainly there is following shortcoming in existing facial expression robot control system: the control of monolithic processor, processor cannot complete the Synchronization Control of multiple drivers simultaneously, by host computer, driver is carried out implementation and the flow process more complicated controlled in real time, realize poor effect, strengthened the development cost of facial expression robot.
Utility model content
For above deficiency, the utility model proposes a kind of facial expression robot multinuclear control system, owing to cannot realizing host computer, the synchronous of bottom layer driving controlled in real time the expression of the robot problem that is difficult to collaborative work of moving to solve existing facial expression robot.This system is made up of polylith core processor, and stable realization multiple driver control, realizes host computer by asynchronous serial communication embedded control system is controlled in real time, and working environment is simple and easy, has reduced the development cost of facial expression robot.
The technical solution of the utility model is: a kind of facial expression robot multinuclear control system, comprises and turn die block, robot controller, host computer, robot Executive Module; It is robot controller power supply that alternating current is converted into direct current by described electric pressure converter, and described robot controller intercoms by serial ports mutually with host computer, and robot controller is to robot Executive Module transmission data and receive robot Executive Module feedback data.
In technique scheme, described robot controller comprises main control processor, analogue data processor, data exchange module, multinuclear data processing module; Described main control processor carries out data interaction by serial ports and multinuclear data processing module and data exchange module; Main control processor is connected with analogue data processor, and main control processor sends data to analogue data processor.
In technique scheme, between described main control processor and multinuclear data processing module and data exchange module, adopt asynchronous serial communication mode swap data, or adopt I2C, CAN bus communication mode swap data.
In technique scheme, between described robot controller and host computer, adopt asynchronous serial communication mode swap data, or adopt I2C, CAN bus communication mode swap data.
In technique scheme, comprise motion state display module and human-computer interaction module, described human-computer interaction module and host computer interconnect; Described motion state display module is connected with robot controller, and motion state display module is accepted and shown the data from robot controller.
In technique scheme, described robot Executive Module comprises detecting sensor and motion actuators.
The utility model has the advantage of: be different from prior art, the utlity model has working environment simple and easy, the advantage that development cost is low, can stablize and realize multiple driver Synchronization Control, completes host computer embedded control system is controlled in real time.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present utility model.
The specific embodiment
As shown in Figure 1, the utility model comprises: turn die block, robot controller, host computer, robot Executive Module, motion state display module and human-computer interaction module.Turn die block for whole system provides power supply input, alternating current is converted to direct current and outputs to robot controller; Robot controller comprises main control processor, analogue data processor, data exchange module, multinuclear data processing module, and main control processor carries out data interaction by serial ports and multinuclear data processing module and data exchange module; Main control processor is connected with analogue data processor, and main control processor sends data to analogue data processor; Robot controller is connected with host computer by outlet mode, and host computer is connecting a personal-machine interactive module, so that data input; Robot controller is connected with robot Executive Module, sending action order and gather receiving status information.
Robot Executive Module in the utility model comprises detecting sensor and motion actuators, detecting sensor comprises miniature video camera head unit, motor code-disc speed measuring device and recording module, be used for gathering outside various information, and motion actuators comprises steering wheel, stepper motor, brushless electric machine, brush motor and voice output module, in the time receiving corresponding control command, just start working.
Groundwork flow process of the present utility model is: when human-computer interaction module is inputted data to host computer, carry out data interaction through data interaction module and main control processor, main control processor is carried out designated movement through multinuclear data processing module controlled motion actuator.Described detecting sensor gathers current motion state and feeds back to robot controller.Described main control processor carries out data processing by current motion state transfer of data to analogue data processor, in motion state display module, shows.The implementation status data of described robot Executive Module are transferred to host computer by main control processor through data interaction module, and finally on human-computer interaction module, show.
Disclosed all features in this description, except mutually exclusive feature, all can combine by any way.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (6)
1. a facial expression robot multinuclear control system, is characterized in that comprising turning die block, robot controller, host computer, robot Executive Module; It is robot controller power supply that AC power is converted into direct current by described electric pressure converter, described robot controller intercoms by serial ports mutually with host computer, and robot controller is to robot Executive Module transmission data and receive robot Executive Module feedback data.
2. a kind of facial expression according to claim 1 robot multinuclear control system, is characterized in that described robot controller comprises main control processor, analogue data processor, data exchange module, multinuclear data processing module; Described main control processor carries out data interaction by serial ports and multinuclear data processing module and data exchange module; Main control processor is connected with analogue data processor, and main control processor sends data to analogue data processor.
3. a kind of facial expression according to claim 2 robot multinuclear control system, it is characterized by and between described main control processor and multinuclear data processing module and data exchange module, adopt asynchronous serial communication mode swap data, or adopt I2C, CAN bus communication mode swap data.
4. a kind of facial expression according to claim 1 robot multinuclear control system, is characterized by and between described robot controller and host computer, adopt asynchronous serial communication mode swap data, or adopt I2C, CAN bus communication mode swap data.
5. a kind of facial expression according to claim 1 robot multinuclear control system, is characterized by and comprise motion state display module and human-computer interaction module, and described human-computer interaction module and host computer interconnect; Described motion state display module is connected with robot controller, and motion state display module is accepted and shown the data from robot controller.
6. a kind of facial expression according to claim 1 robot multinuclear control system, is characterized by described robot Executive Module and comprises detecting sensor and motion actuators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420017380.5U CN203650518U (en) | 2014-01-13 | 2014-01-13 | Multi-core control system of facial expression robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420017380.5U CN203650518U (en) | 2014-01-13 | 2014-01-13 | Multi-core control system of facial expression robot |
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| Publication Number | Publication Date |
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| CN203650518U true CN203650518U (en) | 2014-06-18 |
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| CN201420017380.5U Expired - Fee Related CN203650518U (en) | 2014-01-13 | 2014-01-13 | Multi-core control system of facial expression robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818165A (en) * | 2015-01-05 | 2016-08-03 | 沈阳新松机器人自动化股份有限公司 | Facial expression modular system of robot |
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2014
- 2014-01-13 CN CN201420017380.5U patent/CN203650518U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818165A (en) * | 2015-01-05 | 2016-08-03 | 沈阳新松机器人自动化股份有限公司 | Facial expression modular system of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140618 Termination date: 20160113 |