CN106383521A - Motion processing module based on robot development platform - Google Patents
Motion processing module based on robot development platform Download PDFInfo
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- CN106383521A CN106383521A CN201610970635.3A CN201610970635A CN106383521A CN 106383521 A CN106383521 A CN 106383521A CN 201610970635 A CN201610970635 A CN 201610970635A CN 106383521 A CN106383521 A CN 106383521A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
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Abstract
The invention provides a motion processing module based on a robot development platform. The motion processing module comprises a motion actuating unit, a processing unit and a sensing unit. The motion actuating unit and the sensing unit are connected with the processing unit bidirectionally. The processing unit transmits a motion instruction. The motion actuating unit actuates the motion instruction and performs feedback of a motion instruction actuating condition to the processing unit. The processing unit transmits a searching instruction. The sensing unit detects a parameter in the searching instruction and performs feedback of the detected parameter to the processing unit. The processing unit determines an action instruction finishing condition according to the detected parameter and the motion instruction actuating condition. The motion processing module has advantages of high flexibility in motion control, high control precision, and great improvement of robot action simulation degree.
Description
Technical field
The present invention relates to robot development's motion module is and in particular to a kind of motion process based on robot developing platform
Module.
Background technology
It it is within 2016 artificial intelligence's first year, the AlphaGo of Google makes a stir all over the world.Machine is the carrier of artificial intelligence technology,
Thus, institute all over the world or company also release Duo Kuan robot, and from humanoid robot, service robot arrives the military
War preparedness robot is it may be said that machine People's Bank of China vigorously intimately develops as mobile Internet then.Robot on the market
How based on industrial robot and service robot, these robots are usually according to specific customizing functions, such as weld
Robot, sweeping robot etc., it is just extremely difficult to make modification upgrading further in these robots, substantially will be again
Design.And general robot developing platform introduction is relatively higher, and it is substantially major company's monopolization, expensive, some
Little enterprise or individual are essentially without consideration.Those little robot developing platforms often provide only some development boards or exploitation
Module, is only suitable for for learning or making easy toy.At present, it is badly in need of a kind of robot that exploitation is easy, the degree of modularity is high
Development platform.In robot developing platform, motion process is the core of robot motion, how from single repeated action
To intelligent high simulated actions, it is all the blank of current research field.
Content of the invention
It is an object of the invention to the problem above overcoming prior art to exist, one kind is provided to be based on robot developing platform
Motion process module, flexibly, action simulation of robot degree is high for motor control of the present invention.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions：
A kind of motion process module based on robot developing platform, single including action execution unit, processing unit, sensing
Unit, described action execution unit, sensing unit are bi-directionally connected with processing unit respectively；Described processing unit sends action and refers to
Order；The described action command of described action execution unit execution, and feedback action condition execution instruction is to processing unit；Described
Processing unit send query statement；Parameter in described sensing unit detection query statement, and parameter feedback will be detected to place
Reason unit；Described processing unit combines detection parameter and judges that described action command completes feelings with action command implementation status
Condition.
Further, described processing unit includes user instruction process, and described user instruction is processed to be used for response
The instruction that family end sends.
Further, described processing unit also includes free action process, and described free action is processed for responding
User side instructs the stochastic instruction under idle condition.
Further, described action execution unit includes direction steering wheel, power steering wheel；At described direction steering wheel response
The direction instruction that reason unit sends；Described power steering wheel responds the advancement commands that processing unit sends.
Further, described action execution unit also includes assisting steering wheel；Described auxiliary steering wheel includes direction auxiliary
Steering wheel, power-assisted steering wheel；Described direction assists steering wheel to respond the direction house-keeping instruction that processing unit sends；Described power
Auxiliary steering wheel responds the advance house-keeping instruction that processing unit sends.
Further, described action execution unit also includes action customization units；Described action customization units include
Sink-float motor unit, reverse power motor unit；Described sink-float motor unit responds floating or the sinking that processing unit sends
Instruction；Described reverse power motor unit responds the retrogressing instruction that processing unit sends.
Further, described sensing unit includes gyro sensor, acceleration transducer, range sensor, angle
Sensor, humidity sensor, temperature sensor, hydraulic pressure sensor, current sensor, Hall element；Described gyroscope passes
Sensor sensing robot posture information feeds back to processing unit；Described acceleration transducer sensing robot acceleration of motion letter
Breath feeds back to processing unit；Described range sensor includes infrared distance sensor, ultrasonic distance-measuring sensor, sonar range finding
Sensor；Described range sensor senses robot and feeds back to processing unit with the range information of external environment；Described angle
Degree sensor sensing steering wheel rotation angle information feeds back to processing unit；Humidity information in described humidity sensor sensing steering wheel
Feed back to processing unit；Described temperature sensor senses rudder built-in temperature feedback of the information is to processing unit；Described hydraulic pressure passes
In sensor sensing sink-float motor unit, hydraulic pressure feedback of the information is to processing unit；Phase current in described current sensor sensing steering wheel
Feedback of the information is to processing unit；In described Hall element sensing steering wheel, motor rotor position feedback of the information is to processing unit.
Further, described user instruction processes and comprises the steps of：Initialization of variable, parsing action command (action
Type judgement, operating state judgement, sending action instruct, execute action command, action synchronization judgement, the overtime judgement of action, move
Make cycle criterion), update robotary, false judgment, delete action command.
Further, described free action processes and comprises the steps of：Initialization of variable, delay adjustmentses, idle condition
Judge, judge user configuring, set contextual model, contextual model judgement (execution contextual model), free state mode decision, keep away
Barrier judges (execution avoidance), generates random number judgement execution probability, execution random action.
The invention has the beneficial effects as follows:The present invention provides a kind of motion process module based on robot developing platform, bag
Include action execution unit, processing unit, sensing unit, described action execution unit, sensing unit are double with processing unit respectively
To connection；Described processing unit sends action command；The described action command of described action execution unit execution, and feed back
Action command implementation status is to processing unit；Described processing unit sends query statement；Described sensing unit detection inquiry
Parameter in instruction, and parameter feedback will be detected to processing unit；Described processing unit is combined detection parameter and is held with action command
Market condition judges described action command performance.Motor control of the present invention flexibly, controls precision high, greatly improves
The emulator of robot motion.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The specific embodiment of the present invention is shown in detail in by following examples and its accompanying drawing.
Brief description
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this
Bright schematic description and description is used for explaining the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of motion process module frame schematic diagram based on robot developing platform of the present invention；
Fig. 2 is the user instruction process chart of the present invention；
Fig. 3 is the free action process chart of the present invention；
Fig. 4 is a kind of decomposition texture schematic diagram of robot of the present invention；
Fig. 5 is a kind of robot interior structural representation of the present invention；
Fig. 6 is that a kind of robot of the present invention turns to schematic diagram；
In figure label：Robot 1, head 2, afterbody 3, Biomimetic Fish Fin 4, skeleton 5, direction steering wheel 6, auxiliary steering wheel 7, lower jaw
21st, fin skeleton 41, power steering wheel 60.
Specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, to describe the present invention in detail.
Shown in reference picture 1-6, a kind of motion process module based on robot developing platform, as shown in figure 1, inclusion action
Performance element, processing unit, sensing unit, described action execution unit, sensing unit are bi-directionally connected with processing unit respectively；
Described processing unit sends action command；Described action execution unit executes described action command, and feedback action refers to
Make implementation status to processing unit；Described processing unit sends query statement；In described sensing unit detection query statement
Parameter, and parameter feedback will be detected to processing unit；Described processing unit combines detection parameter and action command implementation status
Judge described action command performance.
As shown in Fig. 2 described processing unit includes user instruction processing, described user instruction is processed to be used for response
The instruction that family end sends.User instruction processes and comprises the steps of：Initialization of variable, parsing action command (type of action judgement,
Operating state judges, sending action instructs, execute action command, synchronously judgement, action time-out judgement, actuation cycle are sentenced for action
Disconnected) judge whether it is real-time testing action, according to classification, give different pointer values to movement structure body pointer to be resolved.Connect
Get off parsing action step by step, according to type of action, time-out, action number of repetition, the sync bit of each operating state, action control
Molding formula etc., sets steering wheel angle, steering wheel speed etc., after having executed one-off parsing, it will judge type of action, release letter
Number amount, tells that processing unit can start to continue to run with, updates robotary, false judgment simultaneously deletes action command.
As shown in figure 3, described processing unit also includes free action processing, described free action is processed for responding
User side instructs the stochastic instruction under idle condition.Free action handling process is as follows：First, in priority, contextual model this
Plant special circumstances highest priority, detect sensing unit data, comprehensive descision, if meeting a certain contextual model, directly held
The action command of row this contextual model setting, when the contextual model not met, first goes to judge sensing unit value, carries out avoidance
Operation, if not needing avoidance, judges current robot state, the corresponding action of execution, if free state, then first
Generate the random number in action command quantitative range, calculate random number execution probability to decide whether to execute this action simultaneously,
After reaching occurrence number, the order of the corresponding random number of execution.
As shown in figure 4, being robot 1 structural decomposition diagram in a specific embodiment, robot 1 includes head 2, afterbody
3rd, Biomimetic Fish Fin 4, skeleton 5, as shown in figure 5, skeleton 5 upper forepart is provided with direction steering wheel 6, skeleton 5 middle part is respectively installed with afterbody
There is a power steering wheel 60；Described direction steering wheel responds the direction instruction that processing unit sends；At described power steering wheel response
The advancement commands that reason unit sends.Skeleton 5 is also equipped with 4 auxiliary steering wheels 7；4 auxiliary steering wheels 7 are in each pair Biomimetic Fish in front and back
Fin 4 is arranged symmetrically；Described auxiliary steering wheel 7 connects Biomimetic Fish Fin 4；As shown in fig. 6, when robot 1 turns to, unilateral auxiliary steering wheel
7 motions drive unilateral Biomimetic Fish Fin 4 to move, and when such as robot 1 turns to the right, left side auxiliary steering wheel 7 motion drives left side bionical
Fin 4 moves, and completes auxiliary and turns to the right；Steering principle is ibid to the left.Meanwhile, Biomimetic Fish Fin 4 is also as auxiliary power steering wheel,
When robot 1 does not execute divertical motion, both sides auxiliary steering wheel 7 drives both sides Biomimetic Fish Fin 4 to move, and motion mode is synchronous trip
Dynamic and asynchronous travelling.
Preferably, described action execution unit also includes action customization units；Described action customization units include sinking
Floating motor unit, reverse power motor unit；The floating that described sink-float motor unit response processing unit sends or sinking refer to
Order；Described reverse power motor unit responds the retrogressing instruction that processing unit sends.Sink-float motor unit response float or
Sink instruction when, Biomimetic Fish Fin 4 assists steering wheel 7 to drive both sides Biomimetic Fish Fin 4 to move in both sides, motion mode be synchronous travelling with
Asynchronous travelling, play simulating sports and auxiliary floating, sinking effect.
Preferably, described direction steering wheel 6, auxiliary steering wheel 7, power steering wheel 60 are designed with servo drive system, described
Servo drive system includes moving communication, and described moving communication includes data is activation, data receiver, and moving communication is referred to action
Packet is made to transmit, as shown in table 1, action command data packet format is frame head+machine code name+instruction type+data length+son
Order+subcommand data+verification frame+postamble.
Table 1
Action command data packet format explanation：
(1) frame head, with two byte representations, is 0xfe, 0xef respectively；
(2) machine code name, different equipment, define different code names to distinguish；
(3) instruction type, for representing this packet function to be performed by, can be with self-defining；
(4) data length, removes frame head, the data length after four bytes of postamble；
(5) subcommand, the subcommand class below instruction type, i.e. secondary command；
(6) subdata, user's end data of transmission；
(7) verify frame, using CRC check, after frame head, arrive end value after CRC calculating for the data before CRC check value.
(8) postamble, with two byte representations, is 0xfd, 0xdf respectively.
Preferably, data is activation is asked according to the transmission of user side, according to action command data form, data is formed one
String data bag, and this string data bag is gone out by wireless transmission, wait answer logo to receive, the time-out to be answered meter such as unlatching
Number.If time-out count completes the answer logo mistake not receiving answer logo or receiving, resend data, if receive should
Answer mark correct, and have not timed out, then terminate this transmission.
Data receiver judges after receiving first character section whether this byte is 0xfe, if it is continues to second
Individual byte, judges that second byte is 0xef, and frame head is correct, starts to preserve the valid data receiving below, and records reception
Data length.When the data receiving is 0xfd, and when the data that receives of the next one is 0xdf, represent and receive postamble, this data
End-of-packet, compares length value in packet and whether the length value of receiving record is equal, if unequal, illustrates that data is being sent out
Have loss during sending, the data of this packet wrong it is impossible to use.If both equal lengths, show data packet length just
Really, then by CRC calculate check value, the CRC check value contrast in the check value data bag calculating, if equal, number is described
According to correct, if, illustrate data in transmission process because other reasonses malfunction, this packet is unavailable, and request is sent out again
Send.If the data receiving is correct through inspection, return correct answer logo, otherwise return the answer logo of mistake, request is sent out
Sending end resends data it is ensured that the data communicating each time is all correct.
It is instruction type in table 2.
Table 2
| Instruction class offset | Definition |
| 0x01 | User side 1 (mobile phone pad) sends reading order |
| 0x02 | User side 2 (action simulation device) sends reading order |
| 0x03 | User side 3 (Pc configuration software) sends reading order |
| 0x04 | User side 1 (mobile phone pad) sends writing commands |
| 0x05 | User side 2 (action simulation device) sends writing commands |
| 0x06 | User side 3 (PC configuration software) sends writing commands |
| 0x07 | User side 1 (mobile phone pad) sends control command |
| 0x11 | Terminal feeds back read command result to user side 1 (mobile phone pad) |
| 0x12 | Terminal feeds back read command result to user side 2 (action simulation device) |
| 0x13 | Terminal feeds back read command result to user side 3 (PC configuration software) |
| 0x14 | Terminal feeds back write order result to user side 1 (mobile phone pad) |
| 0x15 | Terminal feeds back write order result to user side 2 (action simulation device) |
| 0x16 | Terminal feeds back write order result to user side 3 (PC configuration software) |
| 0x17 | Terminal is to user side 1 (mobile phone pad) feedback control command result 1 |
| 0x18 | Terminal is to user side 1 (mobile phone pad) feedback control command result 2 |
| 0x19 | Terminal is to user side 1 (mobile phone pad) feedback control command result 3 |
It is subcommand type in table 3.
Table 3
Preferably, a data structure struct { data1 defined in action data bag；data2；data3；data4；
data5；data6；data7；data8}；The data respectively action executing numerical value A+ having 8 bytes inside data structure moves
Make the execution preferential power and position+fault bit+instruction of numerical value B+ action executing numerical value C++action executing reserved place A+ action executing reserved place
B, in different action execution unit, the meaning represented by each byte is also different：
(1) steering wheel performing module：Data1 represents the angle of steering wheel；Data2 represents the speed of steering wheel；Data3 represents steering wheel
Electric current；Data4 represents the ID of steering wheel module；Data5 represents order, and data6 represents the fault message of steering wheel, data7,
Data8 reserves.
(2) servomotor performing module：Data1 represents the angle of servomotor；Data2 represents the speed of servomotor；
Data3 represents the electric current of servomotor；Data4 represents servomotor module I D；Data5 represents order, and data6 represents servo electricity
The fault message of machine, data7, data8 reserve.
(3) motor module：Data1 represents the angle of motor；Data2 represents the speed of motor；data3
Represent the electric current of motor；Data4 represents the ID of motor module；Data5 represents order, and data6 represents motor
Fault message, data7, data8 reserve.
Preferably, described sensing unit includes gyro sensor, acceleration transducer, range sensor, angle biography
Sensor, humidity sensor, temperature sensor, hydraulic pressure sensor, current sensor, Hall element；Described gyro sensors
Device sensing robot posture information feeds back to processing unit；Described acceleration transducer sensing robot movement acceleration information
Feed back to processing unit；Described range sensor includes infrared distance sensor, ultrasonic distance-measuring sensor, sonar range finding biography
Sensor；Described range sensor senses robot and feeds back to processing unit with the range information of external environment；Described angle
Sensor sensing steering wheel rotation angle information feeds back to processing unit；In described humidity sensor sensing steering wheel, humidity information is anti-
It is fed to processing unit；Described temperature sensor senses rudder built-in temperature feedback of the information is to processing unit；Described hydraulic pressure sensing
In device sensing sink-float motor unit, hydraulic pressure feedback of the information is to processing unit；Phase current letter in described current sensor sensing steering wheel
Breath feeds back to processing unit；In described Hall element sensing steering wheel, motor rotor position feedback of the information is to processing unit.Sound
Sensor is a kind of sensor in subaqueous ranging for specialized application, and Sonar Signal is not easy to decay in water transmission, signal
Good stability.In the application two sonar sensors are arranged on the lower section of fish head, about 20 degree of the angle of two sonars, difference
It is used for detecting the distance change of left front and right front.During machine fish swimming, processing unit batch (-type) controls sonar sensor to send out
Penetrate Sonar Signal, and the return signal of real-time reception sonar, the time difference receiving after calculating sonar transmitting and sonar are in water
In transmission speed, you can calculate the distance between machine fish and barrier, sonar from be transmitted into receive this section of reflected signal when
Between be exactly one time back and forth of sonar, the result of product of this time and sonar transmission speed in water is exactly reality divided by 2
Distance value.The change of processing unit real-time judge distance, controls left-hand rotation or the right-hand rotation of robot 1 in advance, realizes avoiding hindering
Hinder the function of thing.Gyro sensor, acceleration transducer, hydraulic pressure sensor, cooperation both direction sonar ranging (front and
Lower section), can be with real-time detection robot 1 athletic posture and programming movement path.Effusion meter is used for measuring the inflow of water tank
And water yield, for detecting depth in pond for the robot, hydraulic pressure sensor is used for detecting the water-retention in water tank liquidometer
Amount.Several visible optical inductors are respectively installed in body both sides by robot 1, and induction apparatuss can detect intensity of illumination, and robot passes through
Contrast both sides light intensity, controls direction of advance, realizes light or photophobotaxis.The machine person installs laser pickoff, is used for connecing
Receive the laser beam through particular modulation, user can trigger robot using the different receptors of laser pen irradiation and make corresponding moving
Make；Some motive position of robot 1 are likely to contact or hurt people and other animals, add pressure at these positions and pass
Sensor and microswitch, can prevent the generation of contingency；Current sensor detects the phase current of brushless electric machine in steering wheel, suddenly
The position of brushless electric motor rotor in your sensor steering wheel, temperature sensor detects motor module temperature, and humidity sensor detects rudder
In machine, whether motor intakes, the motor anglec of rotation in magnetic degree sensor detection steering wheel.
The present invention provides a kind of motion process module based on robot developing platform, including action execution unit, process
Unit, sensing unit, described action execution unit, sensing unit are bi-directionally connected with processing unit respectively；Described process list
Unit sends action command；The described action command of described action execution unit execution, and feedback action condition execution instruction is extremely
Processing unit；Described processing unit sends query statement；Parameter in described sensing unit detection query statement, and will detect
Parameter feedback is to processing unit；Described processing unit combines detection parameter and judges described action with action command implementation status
Instruction performance.Motor control of the present invention flexibly, controls precision high, greatly improves the emulation journey of robot motion
Degree.
The above, only presently preferred embodiments of the present invention, not the present invention is made with any pro forma restriction；All
The those of ordinary skill of the industry all can shown in by specification accompanying drawing and the above and swimmingly implement the present invention；But, all
Those skilled in the art, in the range of without departing from technical solution of the present invention, are done using disclosed above technology contents
The a little change going out, the equivalent variations modified and develop, are the Equivalent embodiments of the present invention；Meanwhile, all according to the present invention
The change of any equivalent variations, modification and differentiation that substantial technological is made to above example etc., all still fall within the skill of the present invention
Within the protection domain of art scheme.
Claims (9)
1. a kind of motion process module based on robot developing platform, single including action execution unit, processing unit, sensing
Unit it is characterised in that：Described action execution unit, sensing unit are bi-directionally connected with processing unit respectively；Described process list
Unit sends action command；The described action command of described action execution unit execution, and feedback action condition execution instruction is extremely
Processing unit；Described processing unit sends query statement；Parameter in described sensing unit detection query statement, and will detect
Parameter feedback is to processing unit；Described processing unit combines detection parameter and judges described action with action command implementation status
Instruction performance.
2. a kind of motion process module based on robot developing platform according to claim 1 it is characterised in that：Described
Processing unit include user instruction and process, described user instruction processes for responding the instruction that user side sends.
3. a kind of motion process module based on robot developing platform according to claim 1 it is characterised in that：Described
Processing unit also include free action and process, described free action is processed for responding under user side instruction idle condition
Stochastic instruction.
4. a kind of motion process module based on robot developing platform according to claim 1 it is characterised in that：Described
Action execution unit include direction steering wheel, power steering wheel；Described direction steering wheel responds the direction instruction that processing unit sends；
Described power steering wheel responds the advancement commands that processing unit sends.
5. a kind of motion process module based on robot developing platform according to claim 1 it is characterised in that：Described
Action execution unit also include assist steering wheel；Described auxiliary steering wheel includes direction auxiliary steering wheel, power-assisted steering wheel；Described
Direction assist steering wheel to respond the direction house-keeping instruction that sends of processing unit；Described power-assisted steering wheel response processing unit is sent out
The advance house-keeping instruction going out.
6. a kind of motion process module based on robot developing platform according to claim 1 it is characterised in that：Described
Action execution unit also include action customization units；Described action customization units include rise and fall motor unit, reverse power
Motor unit；Described sink-float motor unit responds floating or the instruction of sinking that processing unit sends；Described reverse power is moved
Make unit and respond the retrogressing instruction that processing unit sends.
7. a kind of motion process module based on robot developing platform according to claim 1 it is characterised in that：Described
Sensing unit include gyro sensor, acceleration transducer, range sensor, angular transducer, humidity sensor, temperature
Sensor, hydraulic pressure sensor, current sensor, Hall element；Described gyro sensor sensing robot posture information
Feed back to processing unit；Described acceleration transducer sensing robot movement acceleration information feeds back to processing unit；Described
Range sensor include infrared distance sensor, ultrasonic distance-measuring sensor, sonar distance measuring sensor；Described Distance-sensing
Device senses robot and feeds back to processing unit with the range information of external environment；The described angular transducer sensing steering wheel anglec of rotation
Degree feedback of the information is to processing unit；In described humidity sensor sensing steering wheel, humidity feedback of the information is to processing unit；Described
Temperature sensor senses rudder built-in temperature feedback of the information is to processing unit；In described hydraulic pressure sensor sensing sink-float motor unit
Hydraulic pressure feedback of the information is to processing unit；In described current sensor sensing steering wheel, phase current feedback of the information is to processing unit；Institute
In the Hall element sensing steering wheel stated, motor rotor position feedback of the information is to processing unit.
8. a kind of motion process module based on robot developing platform according to claim 2 is it is characterised in that described
User instruction process comprise the steps of：Initialization of variable, parsing action command (type of action judge, operating state judge,
Sending action instruction, execution action command, action synchronously judges, action time-out judges, actuation cycle judges), update robot
State, false judgment, deletion action command.
9. a kind of motion process module based on robot developing platform according to claim 3 is it is characterised in that described
Free action process and comprise the steps of：Initialization of variable, delay adjustmentses, idle condition judge, judge user configuring, setting
Contextual model, contextual model judge that (execution contextual model), free state mode decision, avoidance judge (execution avoidance), generate
Random number judges execution probability, execution random action.
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| CN111405250A (en) * | 2020-03-24 | 2020-07-10 | 北京海益同展信息科技有限公司 | Video stream data processing method, device, robot and storage medium |
| CN113168178A (en) * | 2019-02-01 | 2021-07-23 | 苏州宝时得电动工具有限公司 | Self-moving devices and magnetic boundary systems |
| CN114326495A (en) * | 2021-12-24 | 2022-04-12 | 中电海康集团有限公司 | Robot control system architecture and voice instruction processing method |
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