CN206292585U - Robot and its control system - Google Patents
Robot and its control system Download PDFInfo
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- CN206292585U CN206292585U CN201621381526.XU CN201621381526U CN206292585U CN 206292585 U CN206292585 U CN 206292585U CN 201621381526 U CN201621381526 U CN 201621381526U CN 206292585 U CN206292585 U CN 206292585U
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Abstract
The utility model discloses a kind of robot and its control system.The control system includes：The different parts positioned at the machine person are included, the first sensor set of the multiple sensors for gathering multinomial robot data；It is connected with first sensor set, for carrying out merging the data fusion unit for obtaining fused data to multinomial robot data；The different parts positioned at the machine person are included, the second sensor set of the multiple sensors for gathering multi-medium data；It is connected with data fusion unit and second sensor set, for carrying out processing the data processing unit for obtaining processing data to fused data and multi-medium data；It is connected with data processing unit, for the transport module to the server transport processing data being controlled to robot according to processing data.By the utility model, the effect of the function of abundant control system has been reached.
Description
Technical field
The utility model is related to robot field, in particular to a kind of robot and its control system.
Background technology
At present, machine man-based development is with manual labor or the service mankind as developing goal.Such as, artificial intelligent machine
People, it is necessary to possess the body and outward appearance of class people, the consciousness of class people and sensory function, the human thinking of class people and control ability, and
And should also have perception, decision-making, behavior and interaction capabilities of class people etc..
Although the anthropomorphic robot with interactive function has emerged, the Functional Design of most of control system is more
Simply, kind of sensor is less, the reliability of data and the less stable of system, and control system wiring is complicated, control
System upgrade processed is more difficult, and apery effect is poor, so as to be difficult to embody the attribute of life, it is impossible to brought well in generation to user
Interactive experience.
For the function simple question of the control system of robot in the prior art, effective solution is not yet proposed at present
Scheme.
Utility model content
Main purpose of the present utility model is to provide a kind of robot and its control system, to solve the work(of control system
Can simple question.
To achieve these goals, according to one side of the present utility model, there is provided a kind of control system of robot.
The control system of the robot includes：The different parts positioned at the machine person are included, for gathering multinomial robot data
Multiple sensors first sensor set；It is connected with first sensor set, for being carried out to multinomial robot data
Fusion obtains the data fusion unit of fused data；The different parts positioned at the machine person are included, for gathering multimedia
The second sensor set of multiple sensors of data；It is connected with data fusion unit and second sensor set, for right
Fused data and multi-medium data carry out processing the data processing unit for obtaining processing data；It is connected with data processing unit,
For the transport module to the server transport processing data being controlled to robot according to processing data.
Further, the control system also includes：It is connected with server, for being carried out to robot to server transport
The locating module of the positioning result of positioning.
Further, the second sensor set includes at least one of：IMAQ for gathering view data
Module；Voice acquisition module for being input into from the first speech data to data processing unit；For receiving data processing unit hair
The voice output module of the second speech data for sending.
Further, the image capture module is located at the eyes of robot；Voice acquisition module is located at robot
Ears position.
Further, the first sensor set includes at least one of：Battery electric quantity for gathering electric quantity data
Detection module；Auditory localization sensor for gathering sound source data；Pressure sensing for gathering the pressure data of robot
Device；Touch sensor for detecting the haptic data of robot；Attitude transducer for gathering the attitude data of robot；
Ultrasonic sensor for gathering the distance between robot and barrier data.
Further, the auditory localization sensor includes the sound collection sensor positioned at the front of robot and back；
Pressure sensor is located at the double-legged bottom of robot；Touch sensor is located at the crown, both shoulders and the arm of robot；Attitude is sensed
Device is located at the thoracic cavity of robot；Ultrasonic sensor is located at front and the both feet of robot.
Further, the control system also includes：For receive data fusion unit transmission for the body to robot
The motion drive control module of the first control instruction that body is controlled, motion drive control module is additionally operable to control half-duplex
UART buses；For receiving the second control instruction being controlled for the face to robot that data fusion unit sends
Facial expression control module, facial expression control module is additionally operable to control IIC and turns multi-channel PWM output bus.
Further, the motion drive control module includes at least one of：Positioned at the left foot of robot first is pre-
If the digital rudder controller of number；Positioned at the digital rudder controller of the second right sufficient predetermined number of robot；Positioned at the left hand of robot
The digital rudder controller of the 3rd predetermined number；Positioned at the digital rudder controller of the 4th predetermined number of the right hand of robot；Positioned at robot
The digital rudder controller of the 5th predetermined number at waist and top；Facial expression control module includes at least one of：For driving
The digital rudder controller of the 6th predetermined number of the eyebrow activity of robot；For the 7th default of the eye activity of driven machine people
Several digital rudder controllers；For the digital rudder controller of the 8th predetermined number of the face activity of driven machine people；For driven machine people
Cheek activity the 9th predetermined number digital rudder；Digital rudder controller is that PWM controls digital rudder controller.
Further, the data processing unit includes rising robot for the upgrading data issued according to server
The upgraded module of level.
To achieve these goals, according to one side of the present utility model, there is provided a kind of robot.The robot bag
Include control system of the present utility model.
In the utility model, the different parts positioned at the machine person are included, for gathering multinomial robot data
Multiple sensors first sensor set；It is connected with first sensor set, for being carried out to multinomial robot data
Fusion obtains the data fusion unit of fused data；The different parts positioned at the machine person are included, for gathering multimedia
The second sensor set of multiple sensors of data；It is connected with data fusion unit and second sensor set, for right
Fused data and multi-medium data carry out processing the data processing unit for obtaining processing data；It is connected with data processing unit,
For the transport module to the server transport processing data being controlled to robot according to processing data, by data fusion
Unit and data processing unit Collaborative Control are so as to process more tasks, and the function of solving the control system of robot is simple
Problem, and then reached the effect of the function of the control system of abundant robot.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing being further understood to of the present utility model, of the present utility model
Schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model.In accompanying drawing
In：
Fig. 1 is according to a kind of control system of robot of the present utility model；And
Fig. 2 is the schematic diagram of the control system of another robot according to the utility model embodiment.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order that those skilled in the art more fully understand application scheme, below in conjunction with the embodiment of the present application
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present application, it is clear that described embodiment is only
The embodiment of the application part, rather than whole embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model of the application protection
Enclose.
It should be noted that term " first ", " in the description and claims of this application and above-mentioned accompanying drawing
Two " it is etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so as to embodiments herein described herein.Additionally, term " including " and " tool
Have " and their any deformation, it is intended that covering is non-exclusive to be included, for example, containing a series of system of units, producing
Product or equipment are not necessarily limited to those units clearly listed, but may include not list clearly or for these products
Or other intrinsic units of equipment.
The utility model provides a kind of control system of robot.
Fig. 1 is according to a kind of control system of robot of the present utility model.As shown in figure 1, the control system of the robot
System includes：First sensor set 10, data fusion unit 20, second sensor set 30, data processing unit 40 and transmission
Module 50.
Including the different parts positioned at the machine person, the multiple sensors for gathering multinomial robot data
In first sensor set 10, multinomial robot data namely sensing data.Wherein, robot data is relevant with robot
The need for robot participate in and produce data, such as, and the electric quantity data of each module in robot, the position of sound source opposed robots
Put data, the pressure data that robot bears, the haptic data of robot, the attitude data of robot, barrier and robot
The distance between data.
Multiple sensors are respectively used to gather above-mentioned robot data.Such as, first sensor set 10 can include electricity
Pond electric power detection module, battery electric quantity detection module, when battery electric quantity is abnormal, can send alarm with real-time detection battery electric quantity
Information such as, when battery electric quantity is less than a certain threshold value, sends warning information to carry to point out staff to take O＆M measure
Show staff in time for robot charges, reach the effect of the function of the control system of abundant robot.
First sensor set 10 can also include auditory localization module.The auditory localization module is used to detect that sound source is reached
The time difference of each sensor, and then the orientation of sound source is followed the trail of according to the time difference, so as to reach the effect for listening sound to distinguish position, reach
The effect of the function of the control system of abundant robot.
First sensor set 10 can also include pressure sensor, detect that robot is being moved through by pressure sensor
The pressure born in journey, so as to realize controlling the motion state of stabilization in robot kinematics or quiescing process, reaches
The effect of the function of the control system of abundant robot.
First sensor set 10 can also include touch sensor module.The touch sensor module can be used for detection
The size of external touch force and the position for producing, so as to assign tactile sensing device of robot attribute, have reached the control system of abundant robot
The effect of the function of system.
First sensor set 10 also includes that attitude transducer module can be included.The attitude transducer module can pass through
Gather the acceleration information of robot, angular velocity data and magnetometer data, and by acceleration information, angular velocity data and magnetic force
Count and processed, determine the orientation of current robot, improve the attitude detection precision of robot, reached abundant robot
Control system function effect.
First sensor set 10 can also include ultrasonic sensor.The ultrasonic sensor is used for robot and barrier
Hinder the distance between thing to measure, so as to realize the detection of barrier and evade, reach the control system of abundant robot
Function effect.
It is connected with first sensor set 10, for carrying out merging the number for obtaining fused data to multinomial robot data
According to integrated unit 20, after first sensor set 10 gathers multinomial robot data, for entering to multinomial robot data
Row fusion treatment, the data fusion unit 20 is association's controller module of robot controller system.The data fusion unit 20
Can be made up of chip and peripheral circuit, alternatively, the data fusion unit 20 is with ARM Cortex-M4 kernels as core
STM32F407ZGT6 chips and its peripheral circuit are constituted, it is possible to achieve the multiple sensors data in first sensor set 10
Collection, fusion.The data fusion unit 20 can also send motor control instruction, according to motor control instruction controlled motor
Operation.
The different parts positioned at the machine person are being included, second of the multiple sensors for gathering multi-medium data
In set of sensors 30, multi-medium data can be the data such as view data, sound.Wherein, view data is included but is not limited to
Human face data, expression data, gesture data etc..Voice data includes but is not limited to voice collecting data and phonetic order data
Deng having reached the effect of the function of the control system of abundant robot.
Second sensor set 30 includes IMAQ and processing module.The IMAQ can be by figure with processing module
As Processing Algorithm is processed the view data for collecting, the effect of the function of the control system of abundant robot has been reached.
Second sensor set 30 can also include voice acquisition module.The voice acquisition module can be used for realizing voice
With the identification of instruction, the effect of the function of the control system of abundant robot has been reached.
Second sensor set 30 can also include voice output module.It is various that the voice output module can be used for output
Default phonetic order under interaction scenarios, has reached the effect of the function of the control system of abundant robot.
It is connected with data fusion unit 20 and second sensor set 30, for entering to fused data and multi-medium data
The data processing unit 40 that row treatment obtains processing data is the main controller module of robot control system, with data fusion list
Unit 20 communicates, and receives data fusion unit 20 through to multinomial robot data merge the fused data for obtaining, and the second biography
The multi-medium data that sensor set 10 is obtained, is processed fused data and multi-medium data, obtains processing data.The data
Processing unit 40 includes chip and peripheral circuit.Alternatively, the data processing unit 40 is used with ARM Cortex-A17 kernels
For the Master control chip RK3288 and its peripheral circuit of core are constituted, it is possible to achieve the control algolithm of various compound movements, image
Collection and treatment, speech recognition and voice output etc., can also with Wireless Fidelity (Wireless Fidelity, referred to as
WIFI) control module communication, the various kinds of sensors data that processing data integrated unit 20 is uploaded have reached the control of abundant robot
The effect of the function of system processed.
It is connected with data processing unit, to the server transport being controlled to robot according to processing data
The transport module 50 for managing data can be used between robot body and cloud platform control system carrying out the biography of high speed wireless data
Defeated, can combine cloud platform control system carries out the computing of complexity, and alternatively, server is by transport module 50 to robot
Control system carries out the updating operation of remote operation and software systems, so that the control to robot is realized, transport module 50, with
Data processing unit 40 is connected, for server transport processing data, server to be carried out according to processing data to robot
Control, has reached the effect of the function of the control system of abundant robot.
First sensor set 10, data fusion unit 20, second sensor set 30, data processing unit 40 and transmission
Module 50 is powered by energy module.Alternatively, the energy module includes lithium polymer battery module and multichannel DC-DC voltages
Conversion module, wherein, lithium polymer battery voltage conversion is other DC voltages by DC-DC power source conversion module, so as to be machine
Each circuit module in the control system of device people provides the energy.
The embodiment is located at the different parts of the machine person by the multiple sensors in first sensor set 10, uses
In multinomial robot data is gathered, it is connected with first sensor set 10 by data fusion unit 20, to multinomial robot
Data are merged, and obtain fused data, and the machine person is located at by the multiple sensors in second sensor set 30
Different parts, for gathering multi-medium data, by data processing unit 40 and data fusion unit 20 and second sensor 30
Set is connected, and fused data and multi-medium data are processed, and obtains processing data, transport module 50, with data processing
Unit 40 is connected, and for the data transfer between robot body and server, server is according to processing data to robot
It is controlled, solves the function simple question of the control system of robot, and then has reached the control system of abundant robot
The effect of the function of system.
Alternatively, it is connected with server, for determining for positioning result from robot to server transport that positioned to
Position module can be positioned using ultra wide band positioning (Ultra Wideband, referred to as UWB) technology to robot, can be adopted
Robot is precisely located out by setting up UWB alignment systems in space with the UWB location technologies of 20cm positioning precisions
Position in space, so as to realize planning the path of robot and barrier is evaded.The locating module and transmission mould
Block is engaged, and access cloud platform control system by transport module is controlled to multirobot, can assign multirobot race
The attribute of group, so as to realize being accurately positioned and controlling to every robot.
Alternatively, second sensor set includes at least one of：Image capture module for gathering view data；
Voice acquisition module for being input into from the first speech data to data processing unit；For receiving data processing unit transmission the
The voice output module of two speech datas.
Image capture module, for gathering view data, can use USB (Universal Serial
Bus, referred to as USB) coordinate image processing algorithm to be realized, the data acquisition of including but not limited to recognition of face, expression are known
Other data acquisition, the data acquisition of gesture identification, the data acquisition of thing block identification.
Voice acquisition module, for being input into the first speech data to data processing unit, can gather for high-quality voice
Sensor, and coordinate sound identification module so as to realize the identification to speech data and instruction.
Voice output module, the second speech data for receiving data processing unit transmission, can be raised using high-quality
Sound device and audio power amplifier circuit export default phonetic order of the storage in data processing unit, or by data processing list
Unit receives the default phonetic order from server, wherein, default phonetic order is the usual instructions under current interaction scenarios.
Alternatively, image capture module is located at the eyes of robot；Voice acquisition module is located at the ears of robot
Position.
Image capture module is located at the eyes of robot, can be the shooting head mould of the eyes positioned at robot
Block, the camera module uses USB camera, and image processing algorithm can be coordinated to realize including but is not limited to recognition of face work(
Energy, expression identification function, gesture identification function, thing block identification function etc..
Voice acquisition module is located at the ears position of robot, and the voice acquisition module can be to be arranged in robot ears
High-quality voice collection sensor, and coordinate sound identification module so as to realize to voice and instruction identification.
Alternatively, first sensor set includes at least one of：Battery electric quantity for gathering electric quantity data is detected
Module；Auditory localization sensor for gathering sound source data；Pressure sensor for gathering the pressure data of robot；With
In the touch sensor of the haptic data of detection robot；Attitude transducer for gathering the attitude data of robot；For
The ultrasonic sensor of collection the distance between robot and barrier data.
Battery electric quantity detection module, for gathering electric quantity data, can be using the electricity being integrated in inside lithium polymer battery
Amount detects circuit and sensor to realize the real-time detection of battery electric quantity, and is carried out when battery electric quantity is less than a certain threshold value pre-
It is alert, so as to point out charging in time.
Auditory localization sensor, for gathering sound source data, using filter circuit, amplifying circuit and can be installed on machine
Sound collection sensor on the device person is realized.Sound is followed the trail of by detecting that sound source reaches time difference of each sensor
Source, so as to reach the effect for listening sound to distinguish position, makes robot tend to the auditory function of true people, and direction is produced with identification sound
Function.
Pressure sensor, the pressure data for gathering robot can detect the pressure of machine pressure sensor output
Value, with realize robot in motion process or quiescing process to the detection of the position of centre of gravity of robot, so as to control machine
The motion gait of people's stabilization in motion process.
Touch sensor, the haptic data for detecting robot can be sampled electric by the ADC in data fusion unit
The size and location of external touch force is detected on road, so as to assign tactile sensing device of robot attribute.
Attitude transducer, the attitude data for gathering robot can be by merging the acceleration of three axis accelerometer
Data, the angular velocity data of three-axis gyroscope, the magnetometer data of three axle magnetometer determine the attitude of robot, by reading three
Axle gyroscope attitude angle, calculates the attitude after correction, and then obtain the orientation of current robot.Utilized when robot is static
Magnetometer is corrected to gyroscope, and the precision of robot pose detection is improved so as to reach, further, it is also possible to by accelerating
Degrees of data integration obtains the speed of robot.
Ultrasonic sensor, for gathering the distance between robot and barrier data, realizes robot and barrier
Between distance detection, reach detection of obstacles with the purpose evaded.
Alternatively, auditory localization sensor includes the sound collection sensor positioned at the front of robot and back；Pressure
Sensor is located at the double-legged bottom of robot；Touch sensor is located at the crown, both shoulders and the arm of robot；Attitude transducer position
In the thoracic cavity of robot；Ultrasonic sensor is located at front and the both feet of robot.
Auditory localization sensor, using filter circuit, amplifying circuit and can be installed on robot front and back
Each 2 sound collection sensors are realized.
Pressure sensor, can detect the pressure value of each 4 pressure sensors output in robot both feet bottom, to realize machine
Device people is in motion process or quiescing process to the detection of the position of centre of gravity of robot.
Touch sensor, can be gathered by ADC sample circuits in data fusion unit be installed on the robot crown and
The sensing data of the touch sensor at both shoulders and arm detects the size and location of external touch force, so as to assign machine
Device people's tactile properties.
Attitude transducer, can be by obtaining three axis accelerometer, three-axis gyroscope, three axle magnetometer data, by reading
Three-axis gyroscope attitude angle is taken, the orientation that the attitude after correction obtains current robot can be calculated；When robot is static
Gyroscope is corrected using magnetometer, improves attitude detection precision；Robot is obtained using to acceleration information integration
Speed.
Ultrasonic sensor, range measurement is carried out using the ultrasonic wave module being installed on robot body, so as to realize
Detection of obstacles with evade.
Alternatively, control system also includes：For receiving entering for the body to robot for data fusion unit transmission
The motion drive control module of the first control instruction of row control, it is total that motion drive control module is additionally operable to control half-duplex UART
Line；Facial table for receiving second control instruction being controlled for the face to robot of data fusion unit transmission
Feelings control module, facial expression control module is additionally operable to control IIC and turns multi-channel PWM output bus.
In drive control module is moved, the first control instruction can include left foot, right foot, left hand, the right side to robot
The control instruction of hand, waist and neck etc..Drive control module can also realize that full duplex UART turns half-duplex by latch
UART modular circuits, so as to realize that each motion drives digital rudder controller to use monobus or star-like connected mode serial communication one by one
And control, and then reduce control and connecting wiring complexity.
In facial expression control module, the second control instruction includes the eyebrow to robot face, eyes, face and face
The control instruction of cheek etc..The facial expression control module is also the multi-channel PWM output circuit mould controlled by IIC communication interfaces
Block, communicates and controls to simplify the complexity of robot wiring by monobus mode.
Alternatively, motion drive control module includes：Motion drive control module includes at least one of：Positioned at machine
The digital rudder controller of the first predetermined number of the left foot of people；Positioned at the digital rudder controller of the second right sufficient predetermined number of robot；Position
In the digital rudder controller of the 3rd predetermined number of the left hand of robot；Positioned at the digital rudder of the 4th predetermined number of the right hand of robot
Machine；Positioned at the digital rudder controller of the 5th predetermined number of the waist and top of robot；Facial expression control module include it is following extremely
It is one of few：For the digital rudder controller of the 6th predetermined number of the eyebrow activity of driven machine people；For the eyes of driven machine people
The digital rudder controller of the 7th predetermined number of activity；For the digital rudder of the 8th predetermined number of the face activity of driven machine people
Machine；For the digital rudder of the 9th predetermined number of the cheek activity of driven machine people；Digital rudder controller is that PWM controls digital rudder controller.
The digital rudder controller of the first predetermined number uses serial communication mode, and first predetermined number can be 6.Second presets
The digital rudder controller of number uses serial communication mode, and second predetermined number can be 6.The digital rudder controller of the 3rd predetermined number is adopted
Serial communication mode is used, the 3rd predetermined number can be 4.The digital rudder controller of the 4th predetermined number uses serial communication mode,
4th predetermined number can be 4.The digital rudder controller of the 5th predetermined number uses serial communication mode, and the 5th predetermined number can
Think 5.The eyebrow activity of the digital rudder controller driven machine people that the embodiment passes through the 6th predetermined number, by the 7th predetermined number
Digital rudder controller driven machine people eye activity, lived by the face of the digital rudder controller driven machine people of the 8th predetermined number
It is dynamic, by the cheek activity of the digital rudder controller driven machine people of the 9th predetermined number so as to realize that it is various that driving face epidermis is realized
Complicated expression.Alternatively, the 6th predetermined number, the 7th predetermined number, the 8th predetermined number and the 9th predetermined number are total up to
10。
Above-mentioned digital rudder controller can control digital rudder controller for PWM.
Alternatively, data processing unit includes robot is upgraded for the upgrading data issued according to server
Upgraded module.After server issues upgrading data, transmitted by transport module, upgraded module receives upgrading data and to machine
The software of device people is upgraded.
The WIFI controller module of the embodiment mainly realizes that robot body carries out high speed nothing with cloud platform control system
The transmission of line number evidence, can cooperate with cloud system to carry out complex calculation, and can by cloud system carry out remote control and by WIFI without
Line communication mode is to robot software's system upgrade, it is to avoid need to power off and tear open the problem of machine upgrading, so as to improve machine
The simplicity of the function upgrading of people and the scalability of later stage function, have reached the effect of the function of abundant control system.
The utility model is illustrated with reference to a kind of preferred embodiment.
Fig. 2 is the schematic diagram of the control system of another robot according to the utility model embodiment.As shown in Fig. 2
The control system of the robot includes：Image capture module, voice input module, voice output module, battery electric quantity detection mould
Block, auditory localization sensor, pressure sensor, touch sensor, attitude transducer, ultrasonic sensor modules, WIFI controls
Device, primary processor device module, co-processor module, locating module, motion drive control module, facial expression control module, energy
Source module.
WIFI controller module is mainly realized carrying out the transmission of high speed wireless data between robot body and cloud platform, can
Collaboration cloud system carries out complex calculation, and can carry out remote control and software system updating by cloud system, coordinates robot to determine
Position system can assign the attribute of multirobot group, it is not necessary to machine upgrading be powered off and tear open, so as to improve robot function upgrading
Simplicity and later stage function expansibility.
Locating module can by the UWB alignment systems for setting up in space using the UWB location technologies of 20cm positioning precisions
So that robot position in space is precisely located out, so as to realize that robot path planning and barrier evade.
Main processor modules are connected with WIFI controller, can use the master with ARM Cortex-A17 kernels as core
Control chip RK3288 and its peripheral circuit realize various compound movement control algolithms, IMAQ and treatment, speech recognition and
Voice output, and communicated with WIFI controller, process various kinds of sensors data that association's controller is uploaded etc..
Co-processor module is connected with main processor modules, can be core by ARM Cortex-M4 kernels
STM32F407ZGT6 chips and its peripheral circuit are constituted, and realize collection, fusion and the motor control of multiple sensors data
The transmission of instruction, and communicated with main processor modules, realize processing more tasks using multiprocessor Collaborative Control.
Image capture module, is connected with primary processor, can be IMAQ and processing module, using USB camera
Module cooperation image processing algorithm can realize including but not limited to face identification functions, expression identification function, gesture identification work(
Energy, thing block identification function.
Voice input module, is connected with primary processor, can be used for speech recognition, using being arranged in robot ears
High-quality voice gathers sensor, and coordinates speech recognition software module to be recognized so as to realize voice and instruction.
Voice output module, is connected with primary processor, can be exported using high-quality loudspeaker and audio power amplifier circuit
Storage in main processor modules system, or suitable current interaction scenarios of the storage in cloud platform system more than 500
Conventional phonetic order.
Battery electric quantity detection module, is connected with coprocessor, can be using the electricity being integrated in inside lithium polymer battery
Amount detection circuit and sensor realize the real-time detection of battery electric quantity, and early warning is carried out when battery electric quantity is less than a certain threshold value, and
Prompting is charged in time.
Auditory localization module, is connected with coprocessor, can include filter circuit and amplifying circuit and be installed on machine
People front and each 2 sound collection sensors of back, sound is followed the trail of by detecting that sound source reaches time difference of each sensor
Source, so as to reach the effect for listening sound to distinguish position, makes robot tend to the auditory function of true people, can recognize the side that sound is produced
To.
Pressure sensor module, is connected with coprocessor, can be placed in each 4 pressures in robot both feet bottom by detection
The pressure value of force snesor output is realizing robot in motion process or in quiescing process to robot position of centre of gravity
Detection, to realize the motion gait of robot stabilization in motion process.
Touch sensor module, is connected with coprocessor, can be realized by pressure film sensor, by coprocessor
The collection of ADC sample circuits is installed on the sensor at the robot crown and both shoulders and arm to detect external touch force in module
Size and location, so as to assign tactile sensing device of robot attribute.
Attitude transducer module, is connected with coprocessor, and the attitude transducer module can obtain three axis accelerometer
Acceleration information, the angular velocity data of three-axis gyroscope, three axle magnetometer data, by reading three-axis gyroscope attitude angle, can
To calculate the attitude data after correction so as to obtain the orientation of current robot；When robot is static using magnetometer to top
Spiral shell instrument is corrected, so as to improve attitude detection precision；The attitude transducer can also be utilized to integrate acceleration information and obtained
The speed of robot.
Ultrasonic sensor modules, are connected with coprocessor, it is possible to use install and the ultrasonic wave on robot body
Module carries out range measurement, realizes detection of obstacles and evades.
Alternatively, the embodiment uses and is arranged in the camera module of robot eyes, is arranged in ears, front and back
Each 2 sound collection sensors, the touch sensor for being arranged in the crown and both shoulders and arm, loudspeaker, the cloth for being arranged in front
The ultrasonic sensor of front and both feet is placed in, the attitude transducer in thoracic cavity is arranged in and is arranged in each 4 pressure at double-legged bottom
Sensor, be arranged in robot eyes camera module, be arranged in ears, front and each 2 sound collection sensors of back,
The touch sensor of the crown and both shoulders and arm is arranged in, the loudspeaker of front is arranged in, is arranged in the ultrasound of front and both feet
Wave sensor, the attitude transducer for being arranged in thoracic cavity and each 4 pressure sensors at double-legged bottom are arranged in, realize above-mentioned image
Acquisition module, above-mentioned voice input module, above-mentioned voice output module, above-mentioned battery electric quantity detection module, above-mentioned auditory localization
Module, above-mentioned pressure sensor module, above-mentioned touch sensor module, above-mentioned attitude transducer module, above-mentioned supersonic sensing
The combination integration program and rational deployment of device module, improve the accuracy and the stability of a system of robot data.
Motion drive control module is connected with coprocessor and be connected with 5 groups of digital rudder controllers, is realized by latch complete
Duplexing UART turns half-duplex UART modular circuits, so as to realize that each motion drives digital rudder controller to use monobus or star-like connection
Mode serial communication and control one by one, reduces control and connecting wiring complexity.5 groups of digital rudder controllers are all serial communication side
Formula, including 6 digital rudder controllers of robot left foot, 6 digital rudder controllers of right foot, 4 digital rudder controllers of left hand, 4 digital rudder controllers of the right hand,
3 digital rudder controllers of waist and neck.
Facial expression control module is connected with coprocessor and be connected with 4 groups of digital rudder controllers, is the control of IIC communication interfaces
The multi-channel PWM output circuit module of generation, communicates and controls to simplify robot wiring complexity by monobus mode.This 4 groups
Digital rudder controller be PWM control digital rudder controller, including for drive eyebrow, eyes, face, cheek totally 10 digital rudder controllers to drive
Face's epidermis is moved to realize the expressions of various complexity.
Energy module includes lithium polymer battery module and multichannel DC-DC voltage transformation modules, DC-DC power source conversion module
By lithium polymer battery voltage conversion for other DC voltages for each circuit module provides the energy.
The embodiment adds association's controller module, main controller module mainly to realize number by a main controller module
Realized according to treatment and complicated algorithm etc., association's controller mainly realizes that each sensor data acquisition and fusion and motor control are realized
More tasks are processed using multiprocessor Collaborative Control, by be arranged in robot eyes camera module, be arranged in it is double
Ear, front and each 2 sound collection sensors of back, the touch sensor for being arranged in the crown and both shoulders and arm, it is arranged in chest
Preceding loudspeaker, the ultrasonic sensor for being arranged in front and both feet, it is arranged in the attitude transducer in thoracic cavity and is arranged in both feet
Each 4 pressure sensors at bottom are realized and combine integration program and rational placement scheme raising robot using multiple sensors
The accuracy and the stability of a system of data, half-duplex UART buses and the facial expression control of digital servos control are driven by moving
The IIC of system turns multi-channel PWM output bus, motion and drives what the half-duplex UART buses and facial expression of digital servos control were controlled
IIC turns multi-channel PWM output bus and simplifies robot wiring complexity, by using high-precision UWB location technologies to every
Robot be accurately positioned and by high speed WIFI communication access cloud platform control systems to multirobot control realization using high
Precision positioning method and high-speed radiocommunication mode assign group of robot attribute and simplify software system updating complexity, pass through
Cloud platform system, to robot software's system upgrade, is not required to power off and tear open machine upgrading with WIFI communications, improves machine
People's function upgrading simplicity and later stage function expansibility, so as to enrich the function of robot control system.
It should be noted that it is above-mentioned unit module and its annexation that the utility model is required for protection, and
It is not related to the innovation to internal software.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of control system of robot, it is characterised in that including：
The different parts positioned at the machine person are included, the first biography of the multiple sensors for gathering multinomial robot data
Sensor set；
It is connected with the first sensor set, for merge obtaining fused data to the multinomial robot data
Data fusion unit；
The different parts positioned at the machine person are included, the second biography of the multiple sensors for gathering multi-medium data
Sensor set；
It is connected with the data fusion unit and the second sensor set, for the fused data and many matchmakers
Volume data carries out processing the data processing unit for obtaining processing data；
It is connected with the data processing unit, for the service being controlled to the robot according to the processing data
Device transmits the transport module of the processing data.
2. control system according to claim 1, it is characterised in that the control system also includes：With the server
It is connected, the locating module of the positioning result for being positioned to the robot to the server transport.
3. control system according to claim 1, it is characterised in that the second sensor set include it is following at least it
One：
Image capture module for gathering view data；
Voice acquisition module for being input into from the first speech data to the data processing unit；
Voice output module for receiving the second speech data that the data processing unit sends.
4. control system according to claim 3, it is characterised in that
Described image acquisition module is located at the eyes of the robot；
The voice acquisition module is located at the ears position of the robot.
5. control system according to claim 1, it is characterised in that the first sensor set include it is following at least it
One：
Battery electric quantity detection module for gathering electric quantity data；
Auditory localization sensor for gathering sound source data；
Pressure sensor for gathering the pressure data of the robot；
Touch sensor for detecting the haptic data of the robot；
Attitude transducer for gathering the attitude data of the robot；
Ultrasonic sensor for gathering the distance between the robot and barrier data.
6. control system according to claim 5, it is characterised in that
The auditory localization sensor includes the sound collection sensor positioned at the front of the robot and back；
The pressure sensor is located at the double-legged bottom of the robot；
The touch sensor is located at the crown, both shoulders and the arm of the robot；
The attitude transducer is located at the thoracic cavity of the robot；
The ultrasonic sensor is located at front and the both feet of the robot.
7. control system according to claim 1, it is characterised in that the control system also includes：
For receiving referring to for the first control that the body to the robot is controlled for the data fusion unit transmission
The motion drive control module of order, the motion drive control module is additionally operable to control half-duplex UART buses；
For receiving referring to for the second control that the face to the robot is controlled for the data fusion unit transmission
The facial expression control module of order, the facial expression control module is additionally operable to control IIC and turns multi-channel PWM output bus.
8. control system according to claim 7, it is characterised in that
The motion drive control module includes at least one of：
Positioned at the digital rudder controller of the first predetermined number of the left foot of the robot；
Positioned at the digital rudder controller of the second right sufficient predetermined number of the robot；
Positioned at the digital rudder controller of the 3rd predetermined number of the left hand of the robot；
Positioned at the digital rudder controller of the 4th predetermined number of the right hand of the robot；
Positioned at the digital rudder controller of the 5th predetermined number of the waist and top of the robot；
The facial expression control module includes at least one of：
Digital rudder controller for driving the 6th predetermined number of the eyebrow activity of the robot；
The digital rudder controller for driving the 7th predetermined number of the eye activity of the robot；
The digital rudder controller for driving the 8th predetermined number of the face activity of the robot；
Described digital rudder for driving the 9th predetermined number of the cheek activity of the robot；
The digital rudder controller is that PWM controls digital rudder controller.
9. control system according to claim 1, it is characterised in that the data processing unit is included for according to described
The upgraded module that the upgrading data that server is issued are upgraded to the robot.
10. a kind of robot, it is characterised in that including the control system described in any one in claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621381526.XU CN206292585U (en) | 2016-12-14 | 2016-12-14 | Robot and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621381526.XU CN206292585U (en) | 2016-12-14 | 2016-12-14 | Robot and its control system |
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| CN206292585U true CN206292585U (en) | 2017-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621381526.XU Expired - Fee Related CN206292585U (en) | 2016-12-14 | 2016-12-14 | Robot and its control system |
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| Country | Link |
|---|---|
| CN (1) | CN206292585U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109408456A (en) * | 2018-12-07 | 2019-03-01 | 中国地质大学（武汉） | One kind is based on S905D chip and STM32 chip collaborative work hardware circuit |
| CN109613875A (en) * | 2019-01-24 | 2019-04-12 | 上海思岚科技有限公司 | A kind of robot chassis control system |
| TWI665658B (en) * | 2017-08-28 | 2019-07-11 | 鴻海精密工業股份有限公司 | Smart robot |
-
2016
- 2016-12-14 CN CN201621381526.XU patent/CN206292585U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI665658B (en) * | 2017-08-28 | 2019-07-11 | 鴻海精密工業股份有限公司 | Smart robot |
| CN109408456A (en) * | 2018-12-07 | 2019-03-01 | 中国地质大学（武汉） | One kind is based on S905D chip and STM32 chip collaborative work hardware circuit |
| CN109408456B (en) * | 2018-12-07 | 2023-08-29 | 中国地质大学（武汉） | S905D chip and STM32 chip based cooperative hardware circuit |
| CN109613875A (en) * | 2019-01-24 | 2019-04-12 | 上海思岚科技有限公司 | A kind of robot chassis control system |
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Granted publication date: 20170630 Termination date: 20201214 |