CN206066468U - A kind of anthropomorphic robot control device - Google Patents
A kind of anthropomorphic robot control device Download PDFInfo
- Publication number
- CN206066468U CN206066468U CN201621023194.8U CN201621023194U CN206066468U CN 206066468 U CN206066468 U CN 206066468U CN 201621023194 U CN201621023194 U CN 201621023194U CN 206066468 U CN206066468 U CN 206066468U
- Authority
- CN
- China
- Prior art keywords
- robot
- host computer
- audio frequency
- control device
- slave computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model discloses a kind of anthropomorphic robot control device，Including the robot controller for being arranged at robot interior，Robot controller includes host computer and the slave computer with host computer communication connection，Slave computer is connected with each moving component of robot，It is additionally provided with signal picker，Signal picker is communicated to connect with host computer，The motor control that delivering signal is to slave computer and then realization is to each moving component of robot that host computer is collected according to signal picker，This passes through host computer、The setting of signal picker and slave computer，The position that host computer is collected based on signal picker、Audio frequency and image information comprehensive analysis simultaneously send control signal to slave computer，Motion control signal is sent to each moving component of robot to realize the desired movement of each moving component of robot by slave computer again，The anthropomorphic robot control device circuit is simple、It is with low cost，This utility model is used for bio-robot field.
Description
Technical field
This utility model is related to bio-robot field, more particularly to a kind of anthropomorphic robot control device.
Background technology
With the continuous improvement of people's educational level, fewer and feweri people is ready to be engaged in low technical, low value-added service trade,
The such as work such as welcome, consulting, reception；Meanwhile, it is increasingly mature with roboticses, especially transport in anthropomorphic robot field
The development and application of the technologies such as dynamic control, voice semantics recognition, image recognition, gradually highlight the future that apery services humanoid robot
Development prospect, because of the aggravation of population in the world aging, services the extensive market of humanoid robot, and anthropomorphic robot also progressively becomes and grinds
Study carefully a focus of application.The movement control technology of robot is one of core technology of robot development, but current machine
Device people control circuit is complicated, with high costs.
Utility model content
To solve the above problems, this utility model provides a kind of circuit simple, with low cost anthropomorphic robot control dress
Put.
This utility model solves the technical scheme adopted by its technical problem：
A kind of anthropomorphic robot control device, including the robot controller for being arranged at robot interior, robot control
Device includes host computer and the slave computer with host computer communication connection, and slave computer is connected with each moving component of robot, is also set
Signal picker is equipped with, signal picker is communicated to connect with host computer, host computer is sent out according to the information that signal picker is collected
Go out signal to slave computer and then realize the motor control to each moving component of robot.
Used as the further improvement of above-mentioned technical proposal, signal picker includes station acquisition device, audio collection device and figure
As harvester, station acquisition device, audio collection device and image acquisition device are communicated to connect with host computer.
Used as the further improvement of above-mentioned technical proposal, host computer also communication link is connected to audio frequency isolator, audio frequency isolator
Also communication link is connected to audio frequency amplifier, and audio frequency amplifier is connected with the microphone for carrying out voice output.
As the further improvement of above-mentioned technical proposal, be additionally provided with head panel with slave computer communication connection,
Arm panel, waist driver and driving eyelid realize the eyelid driver of blink action.
Used as the further improvement of above-mentioned technical proposal, host computer is host computer speech chip, and station acquisition device is position
Sensor, audio collection device are mike, and image acquisition device is photographic head, and slave computer is STM32 panels, head panel and
Arm panel is servos control plate, and waist driver is M542 drivers, and eyelid driver is high level relay, audio frequency
Isolator is audio frequency isolation module, and audio frequency amplifier is audio frequency power amplifier plate.
As the further improvement of above-mentioned technical proposal, on each moving component of robot, exercise data acquisition is additionally provided with
Device, each motion data collection element are communicated to connect with host computer.
The beneficial effects of the utility model：This anthropomorphic robot control device passes through host computer, signal picker and bottom
The setting of machine, position, audio frequency and the image information comprehensive analysis that host computer is collected based on signal picker simultaneously send control letter
Number slave computer is given, motion control signal is sent to each moving component of robot to realize each moving component of robot by slave computer again
Desired movement, the anthropomorphic robot control device circuit is simple, with low cost.
Description of the drawings
The utility model is described in further detail below in conjunction with the accompanying drawings：
Fig. 1 is robot control framework figure；
Fig. 2 is robot overall structure figure.
Specific embodiment
With reference to Fig. 1～Fig. 2, this utility model is a kind of anthropomorphic robot control device, including being arranged at robot interior
Robot controller 4, robot controller 4 includes host computer 41 and the slave computer 42 with the communication connection of host computer 41, the next
Machine 42 is connected with each moving component of robot, is additionally provided with signal picker, signal picker and 41 communication link of host computer
Connect, host computer 41 is further realized to each motion of robot to slave computer 42 according to the delivering signal that signal picker is collected
The motor control of part.
By the setting of host computer 41, signal picker and slave computer 42, host computer 41 is collected based on signal picker
Position, audio frequency and image information comprehensive analysis send control signal to slave computer 42, motor control is believed by slave computer 42 again
Number each moving component of robot is sent to realize the desired movement of each moving component of robot, the anthropomorphic robot control device
Circuit is simple, with low cost.
Used as preferred embodiment, signal picker includes that station acquisition device 401, audio collection device 402 and image are adopted
Storage 403, station acquisition device 401, audio collection device 402 and image acquisition device 403 are communicated to connect with host computer 41.
Used as preferred embodiment, the also communication link of host computer 41 is connected to audio frequency isolator 43, and audio frequency isolator 43 also leads to
Letter is connected with audio frequency amplifier 431, and audio frequency amplifier 431 is connected with the microphone for carrying out voice output.
As the head panel 421, arm control that preferred embodiment, are additionally provided with the communication connection of slave computer 42
Making sheet 422, waist driver 423 and driving eyelid realize the eyelid driver 424 of blink action.
Used as preferred embodiment, host computer 41 is host computer speech chip, and station acquisition device 401 is position sensing
Device, audio collection device 402 be mike, image acquisition device 403 be photographic head, slave computer 42 be STM32 panels, head control
Plate 421 and arm panel 422 are servos control plate, and waist driver 423 is M542 drivers, and eyelid driver 424 is
High level relay, audio frequency isolator 43 are audio frequency isolation module, and audio frequency amplifier 431 is audio frequency power amplifier plate.
As preferred embodiment, on each moving component of robot, motion data collection element is additionally provided with, it is each to move
Data acquisition unit is communicated to connect with host computer 41.
Used as preferred embodiment, anthropomorphic robot includes robot head 1, robot arm 2 and robot waist
3, robot controller 4 is arranged on the waist mechanism of robot, robot controller 4 include host computer 41 and with host computer 41
The slave computer 42 of communication connection.Robot head is provided with the image acquisition device 403 of collection external image data；Robot head
1st, station acquisition device 401 is provided with robot arm 2, robot waist 3, which mainly gathers the anthropomorphic robot self-position
With the information such as the position relationship of communication object, with the further contact between realization and communication object；While the handss of robot arm 3
Some touch sensors are additionally provided with finger, positional information and attitude information etc. are passed to into host computer by these sensors
41；Audio collection device 402 is provided with robot head 1, robot arm 2, robot waist 3, which mainly gathers outside
Phonetic entry or the voice messaging of surrounding enviroment.Host computer 41 is based on these image informations, the positional information and voice letter for receiving
Breath sends control signal, and sends control signals to slave computer 42, and while is sent to audio frequency isolator 43.Slave computer 42 is received
Make a response to after the signal of host computer 41, and by control signal be sent respectively to head panel 421, arm panel 422,
Waist driver 423 and eyelid driver 424.Head panel 421 will control each steering wheel of head after receiving control signal
Carry out Rotation of eyeball, mouth opening and closing, nod and the action such as rotary head；Arm panel 422 will be control left after receiving control signal
Each steering wheel on right two arms carries out shoulder swing, the inside and outside swing of upper arm, upper arm is rotated, front arm swing and palm are transported
It is dynamic；Control is driven the motor of waist movement to carry out action of bending over, eyelid after receiving control signal by waist driver 423
Driver 424 make after receiving control signal driving eyelid rotate with the copper coil for realizing blink action carry out break-make it is electrically operated with
Carry out blink action.In addition, motion data collection element is additionally provided with each moving component of robot, these exercise data acquisitions
Device is communicated to connect with host computer 41, and the real time data in motor process is sent to host computer 41 to carry out the motion of next step.
The control method of the anthropomorphic robot is mainly included the following steps that：1）, the position of robot periphery is gathered by signal picker
Positional information, audio-frequency information and image information are simultaneously aggregated into host computer 41 by information, audio-frequency information and image information；2）, it is upper
Machine 41 is made according to the positional information, audio-frequency information and image information that collect and analyzes and be signaled to slave computer 42；3）, it is the next
Machine 42 sends control information according to the signal that host computer 41 sends and drives to head panel 421, arm panel 422, waist
Device 423 and eyelid driver 424；4）, each moving component of robot is based on the head panel 421, arm panel for receiving
422nd, the control signal of waist driver 423 and eyelid driver 424 realizes the predetermined motion of each moving component of robot.So
The benefit of control is that circuit is simple, and greatly reduces line cost and control cost.
Certainly, this utility model is not limited to above-mentioned embodiment, and those of ordinary skill in the art are without prejudice to this
Equivalent variations or replacement can also be made on the premise of utility model spirit, the deformation or replacement of these equivalents are all contained in the application
In claim limited range.
Claims (6)
1. a kind of anthropomorphic robot control device, it is characterised in that：Including the robot controller for being arranged at robot interior
（4）, the robot controller（4）Including host computer（41）And with host computer（41）The slave computer of communication connection（42）, it is described
Slave computer（42）Be connected with each moving component of robot, be additionally provided with signal picker, the signal picker with it is upper
Machine（41）Communication connection, the host computer（41）The delivering signal collected according to signal picker is to slave computer（42）Enter
And realize the motor control to each moving component of robot.
2. anthropomorphic robot control device according to claim 1, it is characterised in that：The signal picker includes position
Harvester（401）, audio collection device（402）And image acquisition device（403）, the station acquisition device（401）, audio collection device
（402）And image acquisition device（403）And host computer（41）Communication connection.
3. anthropomorphic robot control device according to claim 2, it is characterised in that：The host computer（41）Also communication link
It is connected to audio frequency isolator（43）, the audio frequency isolator（43）Also communication link is connected to audio frequency amplifier（431）, the audio frequency amplification
Device（431）Being connected with carries out the microphone of voice output.
4. anthropomorphic robot control device according to claim 3, it is characterised in that：Be additionally provided with the slave computer
（42）The head panel of communication connection（421）, arm panel（422）, waist driver（423）Realize blinking with driving eyelid
The eyelid driver of eye action（424）.
5. anthropomorphic robot control device according to claim 4, it is characterised in that：The host computer（41）For host computer
Speech chip, the station acquisition device（401）For position sensor, the audio collection device（402）For mike, described image
Harvester（403）For photographic head, the slave computer（42）For STM32 panels, the head panel（421）With arm control
Plate（422）It is servos control plate, the waist driver（423）For M542 drivers, the eyelid driver（424）For height
Level relay, the audio frequency isolator（43）For audio frequency isolation module, the audio frequency amplifier（431）For audio frequency power amplifier plate.
6. anthropomorphic robot control device according to claims 1 to 5, it is characterised in that：Each motion of the robot
It is additionally provided with motion data collection element on part, each motion data collection element is and host computer（41）Communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621023194.8U CN206066468U (en) | 2016-08-31 | 2016-08-31 | A kind of anthropomorphic robot control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621023194.8U CN206066468U (en) | 2016-08-31 | 2016-08-31 | A kind of anthropomorphic robot control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066468U true CN206066468U (en) | 2017-04-05 |
Family
ID=58435592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621023194.8U Expired - Fee Related CN206066468U (en) | 2016-08-31 | 2016-08-31 | A kind of anthropomorphic robot control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066468U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426195A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Control device and method for humanoid robot |
| CN108333974A (en) * | 2018-03-15 | 2018-07-27 | 珠海金萝卜智动科技有限公司 | A kind of all-purpose robot control system and method based on ROS |
| CN108814714A (en) * | 2018-04-17 | 2018-11-16 | 成都博恩思医学机器人有限公司 | A kind of more mechanical arm motion control methods of laparoscopic surgery robot |
-
2016
- 2016-08-31 CN CN201621023194.8U patent/CN206066468U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426195A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Control device and method for humanoid robot |
| CN108333974A (en) * | 2018-03-15 | 2018-07-27 | 珠海金萝卜智动科技有限公司 | A kind of all-purpose robot control system and method based on ROS |
| CN108814714A (en) * | 2018-04-17 | 2018-11-16 | 成都博恩思医学机器人有限公司 | A kind of more mechanical arm motion control methods of laparoscopic surgery robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206066468U (en) | A kind of anthropomorphic robot control device | |
| CN201242685Y (en) | Guidance robot | |
| CN202315292U (en) | Comprehensive greeting robot based on smart phone interaction | |
| CN110405789B (en) | Chart-checking accompanying robot, robot ward-checking accompanying system and method | |
| CN106426195A (en) | Control device and method for humanoid robot | |
| CN205516491U (en) | Mutual children's toys of intelligence | |
| CN102500113A (en) | Comprehensive greeting robot based on smart phone interaction | |
| CN202622810U (en) | Head and neck design of intelligent robot | |
| CN106737760A (en) | A kind of human-like intelligent robot and man-machine communication's system | |
| CN204856222U (en) | Omnidirectional movement platform control system based on internet of things | |
| CN107174828A (en) | A kind of intelligent-induction toy for children robot based on ARM | |
| CN206152348U (en) | Intelligent toys control system based on gesture detects | |
| CN207087877U (en) | A kind of programmable education robot system | |
| CN106236554A (en) | Child massage crux data detection device | |
| CN106920552A (en) | Intelligent robot with high in clouds interactive function | |
| CN101973034A (en) | Robot controlled circuit | |
| CN106354129A (en) | Kinect based gesture recognition control system and method for smart car | |
| CN206292585U (en) | Robot and its control system | |
| CN209240038U (en) | A kind of Intelligent teaching robot | |
| CN205572435U (en) | Emulation usher robot | |
| CN206672636U (en) | Intelligent robot with high in clouds interactive function | |
| WO2018157355A1 (en) | Humanoid intelligent robot and human-machine communication system | |
| CN113319869B (en) | Welcome robot system with emotion interaction function | |
| CN105798929A (en) | Accompanying and emergency salvation type robot oriented to elderly people living alone | |
| CN206085055U (en) | Intelligence control system of model robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20210831 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |