CN206869894U - A kind of Dancing Robot control system - Google Patents
A kind of Dancing Robot control system Download PDFInfo
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- CN206869894U CN206869894U CN201720392827.0U CN201720392827U CN206869894U CN 206869894 U CN206869894 U CN 206869894U CN 201720392827 U CN201720392827 U CN 201720392827U CN 206869894 U CN206869894 U CN 206869894U
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- master controller
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- robot control
- laser radar
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Abstract
The utility model provides a kind of Dancing Robot control system, including master controller and laser radar module, six-dimension force sensor module, touch modules, servo module, power supply module, the laser radar module includes laser radar range device, the laser radar range device connects master controller, the six-dimension force sensor module connects master controller, the touch modules include multiple pressure sensors, the pressure sensor all connects master controller, the servo module includes multiple servomotors, the servomotor connects master controller by servo-driver.When Dancing Robot described in the utility model is danced, robot makes different motion, prevents from making one injured by judgement and human contact position and robot 6 DOF Impact direction and size.
Description
Technical field
The utility model belongs to intelligent robot technology field, more particularly, to a kind of Dancing Robot control system.
Background technology
With the continuous progress of scientific and technological level, service class robot species gradually increases, such as consulting class robot, amusement
Robot, the function of robot also gradually increase.
But existing dance robot, it is big multi-functional more single, simple swing can only be realized, is completed by a small margin
Action is waved, intelligentized degree is relatively low.
The content of the invention
In view of this, the utility model is directed to a kind of Dancing Robot control system, to solve current dancing machine
People's function is single, the relatively low situation of intelligence degree.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of Dancing Robot control system, including master controller and laser radar module, six-dimension force sensor module, touch
Touch module, servo module, power supply module；The laser radar module includes laser radar range device, and the laser radar is surveyed
Master controller is connected away from device；The six-dimension force sensor module connects master controller；The touch modules include multiple pressure
Sensor, the pressure sensor all connect master controller；The servo module includes multiple servomotors, the servomotor
Master controller is connected by servo-driver.
Further, the power supply module is lithium battery, and the power supply module is control system by DC/DC power modules
Power supply.
Further, the touch modules include be separately mounted to head, left arm, right arm, left shoulder, right shoulder, shirtfront,
Back, Attacking Midfielder, low back, front leg portions and No. 11 pressure sensors of rear leg.
Further, the model FSR406 of the pressure sensor.
Further, the servo module includes 3 servomotors, and each servomotor connects an omni-directional wheel, described
Omni-directional wheel is arranged on robot bottom.
Further, the master controller is ARM controller.
Relative to prior art, Dancing Robot control system described in the utility model has the advantage that：
Dancing Robot described in the utility model can realize and be cooperated with people, judge people and robot location's relation, connect
Position, robot stressing conditions itself are touched, and make motion, can be with automatic dodging barrier；During dancing, robot passes through judgement
With human contact position and robot 6 DOF Impact direction and size, driving robot is run along the power thrusts of people, and
The speed of the speed of service according to the firmly size of people, can be adjusted, prevents from making one injured.
Brief description of the drawings
Form a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new
The schematic description and description of type is used to explain the utility model, does not form to improper restriction of the present utility model.
In accompanying drawing：
Fig. 1 is the Dancing Robot control system principle schematic described in the utility model embodiment；
Fig. 2 is the Dancing Robot control system electric supply installation schematic diagram described in the utility model embodiment；
Fig. 3 is the Dancing Robot touch modules schematic diagram described in the utility model embodiment；
Fig. 4 is two kinds of dancing model process figures of Dancing Robot described in the utility model embodiment.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1 to Figure 3, a kind of Dancing Robot control system, including master controller and laser radar module, 6 DOF
Force snesor module, touch modules, servo module, power supply module；The laser radar module includes laser radar range device,
The laser radar range device connects master controller, prevents that machine person to person or object collide when teaching people to dance,
It is effectively protected the safety of machine person to person；The six-dimension force sensor module connects master controller, and the touch modules include
Multiple pressure sensors, the pressure sensor all connect master controller, and the servo module includes multiple servomotors, described
Servomotor connects master controller by servo-driver.
Wherein, the power supply module is lithium battery, and the power supply module is supplied by DC/DC power modules for control system
Electricity.
Wherein, the touch modules include be separately mounted to head, left arm, right arm, left shoulder, right shoulder, shirtfront, after
The back of the body, Attacking Midfielder, low back, front leg portions and No. 11 pressure sensors of rear leg.Multiple pressure sensors are installed, can be with comprehensive inspection
The stressing conditions of robot are surveyed, stress blind spot is prevented, preferably serves people.
Wherein, the model FSR406 of the pressure sensor.
Wherein, the servo module includes 3 servomotors installed in robot bottom.By control servomotor and
Omni-directional wheel the traffic direction of robot, can avoid exertin from contacting with the distance of control machine person to person, reach religion people and dance, with
The interactive purpose of people.
Wherein, the master controller is ARM controller.
As shown in Figures 1 to 4, Dancing Robot control method, including the detection of laser radar module and peripheral obstacle
Distance, according to the distance with peripheral obstacle, controller constantly judges；Six-dimension force sensor module and touch modules detection
The stressing conditions of robot, controller judge adjustment machine person to person's Impact direction in time, prevent that people is injured.
The Dancing Robot includes two kinds of dance modes, and one kind is individually to dance, and another kind is that religion people dances；Individually jump
During dance, it is only necessary to judge the distance between peripheral obstacle；Teach people dance when, both need judge with peripheral obstacle and with
The distance of people, it is also desirable to the stressing conditions detected with basis, adjust the traffic direction of robot.
Wherein, the execution method of the laser radar module and the control method of master controller, it is specific as follows：
After S101, robot operation, the detection of laser radar module the distance between robot and peripheral obstacle information, and
Send information to master controller；
S102, master controller calculate the distance between robot and peripheral obstacle by processing, computing；
S103, when master controller measurement robot and peripheral obstacle distance be less than 0.5 meter when, main controller controls
Servo module drives robot away from barrier；
S104, when master controller measurement robot and peripheral obstacle distance more than 0.5 meter when, return perform step
Rapid S101.
Wherein, the six-dimension force sensor module is interactive with human body, and human body is firmly larger, and shape integrally occurs for robot
Information just is sent to master controller during change, the execution method of six-dimension force sensor and the control of master controller perform method, specifically
It is as follows：
S201, when machine person to person it is interactive, when firmly larger, robot can deform upon to some direction；
S202, six-dimension force sensor calculate three force components and three moment components information according to deformation, and by information
Send to master controller；
S203, master controller are according to the direction of stress, control servo module driving Robot Impact direction operation, and
Deformation is bigger, and operation is faster.
Wherein, the touch modules include multiple pressure sensors, the execution method and master controller of the touch modules
Control method, it is specific as follows：
S301, when machine person to person's interaction, machine person to person contact, the pressure sensor of contact site is to master controller
Send information；
S302, master controller processing pressure sensor feedback pressure size, directional information；
S303, master controller send control instruction, control servo module driving Robot Impact direction to servo module
Operation, and the bigger operation of stress is faster.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (6)
- A kind of 1. Dancing Robot control system, it is characterised in that：Including master controller and laser radar module, six-dimensional force sensing Device module, touch modules, servo module, power supply module；The laser radar module includes laser radar range device, described to swash Optical radar range unit connects master controller；The six-dimension force sensor module connects master controller；The touch modules include Multiple pressure sensors, the pressure sensor all connect master controller；The servo module includes multiple servomotors, described Servomotor connects master controller by servo-driver.
- 2. Dancing Robot control system according to claim 1, it is characterised in that：The power supply module is lithium battery, The power supply module is powered by DC/DC power modules for control system.
- 3. Dancing Robot control system according to claim 1, it is characterised in that：The touch modules include pacifying respectively The 11 tunnel pressure mounted in head, left arm, right arm, left shoulder, right shoulder, shirtfront, back, Attacking Midfielder, low back, front leg portions and rear leg Sensor.
- 4. Dancing Robot control system according to claim 3, it is characterised in that：The model of the pressure sensor FSR406。
- 5. Dancing Robot control system according to claim 1, it is characterised in that：The servo module is watched including 3 Motor is taken, each servomotor connects an omni-directional wheel, and the omni-directional wheel is arranged on robot bottom.
- 6. Dancing Robot control system according to claim 1, it is characterised in that：The master controller controls for ARM Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720392827.0U CN206869894U (en) | 2017-04-14 | 2017-04-14 | A kind of Dancing Robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720392827.0U CN206869894U (en) | 2017-04-14 | 2017-04-14 | A kind of Dancing Robot control system |
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| Publication Number | Publication Date |
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| CN206869894U true CN206869894U (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720392827.0U Active CN206869894U (en) | 2017-04-14 | 2017-04-14 | A kind of Dancing Robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826872A (en) * | 2017-04-14 | 2017-06-13 | 清研华宇智能机器人（天津）有限责任公司 | A kind of Dancing Robot control method and system |
-
2017
- 2017-04-14 CN CN201720392827.0U patent/CN206869894U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826872A (en) * | 2017-04-14 | 2017-06-13 | 清研华宇智能机器人（天津）有限责任公司 | A kind of Dancing Robot control method and system |
| CN106826872B (en) * | 2017-04-14 | 2023-07-18 | 清研华宇智能机器人（天津）有限责任公司 | Dance robot control method and system |
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