CN205750377U - A kind of multi-joint small scale robot electric-control system - Google Patents
A kind of multi-joint small scale robot electric-control system Download PDFInfo
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Abstract
The utility model discloses a kind of multi-joint small scale robot electric-control system, described system includes that be integrated on main frame interactively enters collecting unit and interactive data processing unit and the action processing unit being integrated in from machine, multiple electric-motor drive unit and multiple joints servos control unit.Multi-joint small scale robot can be driven simply and easily, it is achieved the man-machine interaction that robot is multi-modal with user according to system of the present utility model；Compared to prior art, having higher dexterity of action and operation precision according to the robot of system of the present utility model, the range of application of robot is expanded significantly, and Consumer's Experience is greatly improved.
Description
Technical field
This utility model relates to robot field, in particulars relate to a kind of multi-joint small scale robot electric-control system.
Background technology
Development and the continuous progress of artificial intelligence technology along with computer technology.At domestic environments small intelligent
The application of robot is more extensive, towards the small intelligent robot of domestic just in fast development.
The existing small scale robot towards domestic, is only capable of realizing button opening and closing or interactive voice, still can not pass through other
Mode realizes the polynary communication of user and small scale robot.The most existing robot can not use body language to hand over user
Mutually or stiff simple motion can only be realized.In order to realize the action of complexity, it is necessary for the diarthrosis of robot to be increased,
But being as the increase of diarthrosis, the limb control difficulty of robot is consequently increased.
In the prior art, the action electric-control system of robot can not well mate multiarticulate robot limb system
System, this results in the limb action underaction of robot.This not only limit the range of application of robot, and is substantially reduced
The Consumer's Experience of robot.
Therefore, in order to improve the Consumer's Experience of robot, expand the range of application of robot, need a kind of multi-joint badly small-sized
Robot electric-control system.
Utility model content
In order to improve the Consumer's Experience of robot, expanding the range of application of robot, it is many that this utility model provides one
Joint small scale robot electric-control system, described system includes that be integrated on main frame interactively enters at collecting unit and interaction data
Reason unit and the action processing unit being integrated in from machine, multiple electric-motor drive unit and multiple joints servos control unit,
Wherein:
Described interactively enter collecting unit be configured to gather the external world interactively enter information, described in interactively enter collecting unit bag
Containing voice collection device and image collecting device；
Described interactive data processing unit is configured to interactively enter information according to the described external world and judges session operational scenarios and generate
The multi-modal robot response mated with described session operational scenarios, described interactive data processing unit comprises for storing default
The answerback memory of described robot response, described answerback memory is configured to automatically obtain from high in the clouds and update described robot
Response；
The response of described robot comprises robot motion, and described action processing unit is configured to according to described robot motion
Generate and output multi-channel motor drive signal and multichannel servos control signal；
The described motor received according to described electric-motor drive unit and described joint servos control cell location drives
Dynamic signal or described servos control signal control motor or steering wheel operate.
In one embodiment, the response of described robot also comprises robot voice, described main frame integrated audio output unit
And power amplification unit, wherein:
Described interactive data processing unit is configured to interactively enter information according to the described external world and generates and export described machine
People's voice；
Described audio output unit is configured to generate and export corresponding audio-frequency information according to described robot voice；
Described power amplification unit is configured to amplify the power of described audio-frequency information output.
In one embodiment, the integrated graphics processing unit of described main frame, described graphics processing unit is configured to described figure
The external image information collected as harvester carries out preliminary treatment and result is sent to the process of described interaction data
Unit.
In one embodiment, described main frame integrated connected network communication unit, described connected network communication cell location is described for realizing
Data interaction between interactive data processing unit and external server.
In one embodiment, described voice collection device comprises mike, Mike's noise reduction unit and audio amplification unit,
Described Mike's noise reduction unit and described audio amplification unit are integrated on the host.
In one embodiment, described main frame is master control borad based on MTK6572 processor.
In one embodiment, described from the integrated attitude transducer of machine, described attitude transducer is configured to gather current machine
The attitude information of people, described action processing unit is configured to combine described attitude information and generates described motor drive signal and institute
State servos control signal.
In one embodiment, described from the integrated obstacle sensor of machine, described obstacle sensor is configured to gather currently
Obstacle information on robot motion direction, described action processing unit is configured to combine described obstacle information and generates described
Motor drive signal and described servos control signal.
In one embodiment, described from machine integrated touch sensor, described touch sensor is configured to gather current machine
The contact situation information of people's limbs and external object, described action processing unit is configured to combine described contact situation information and generates
Described motor drive signal and described servos control signal.
In one embodiment, described from machine be master control borad based on STM32 processor.
Multi-joint small scale robot can be driven simply and easily, it is achieved robot and use according to system of the present utility model
The man-machine interaction that family is multi-modal；Compared to prior art, according to the robot of system of the present utility model, there is higher action
Motility and operation precision, the range of application of robot expanded significantly, and Consumer's Experience is greatly improved.
Further feature of the present utility model or advantage will illustrate in the following description.Further, portion of the present utility model
Dtex is levied or advantage will be become apparent by description, or is appreciated that by implementing this utility model.This practicality
Novel purpose and certain advantages can be realized by step specifically noted in description, claims and accompanying drawing
Or obtain.
Accompanying drawing explanation
Accompanying drawing is used for providing being further appreciated by of the present utility model, and constitutes a part for description, with this practicality
Novel embodiment is provided commonly for explaining this utility model, is not intended that restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the system structure sketch according to this utility model one embodiment；
Fig. 2 is the system interface distribution schematic diagram according to this utility model one embodiment.
Detailed description of the invention
Embodiment of the present utility model is described in detail below with reference to drawings and Examples, the most of the present utility model
Enforcement personnel can fully understand how application technology means are to solve technical problem for this utility model, and reaches technique effect
Realize process and be embodied as this utility model according to the above-mentioned process that realizes.As long as it should be noted that not constituting conflict, this reality
Can be combined with each other by each embodiment in novel and each feature in each embodiment, the technical scheme formed all exists
Within protection domain of the present utility model.
In the prior art, the action electric-control system of robot can not well mate multiarticulate robot limb system
System, this results in the limb action underaction of robot.This not only limit the range of application of robot, and is substantially reduced
The Consumer's Experience of robot.In order to improve the Consumer's Experience of robot, expanding the range of application of robot, this utility model carries
Go out a kind of multi-joint small scale robot electric-control system.
Next the basic structure of the robot electric-control system of this utility model one embodiment described based on accompanying drawing.Such as Fig. 1
Shown in, the robot electronic control system key component of the present embodiment includes interactively entering collecting unit 110, interaction data
Processing unit 120, action processing unit 140, multiple electric-motor drive unit (161 and 162) and multiple joints servos control list
Unit (171,172 and 173).
Interactively enter collecting unit 110 be configured to gather the external world interactively enter information, interactive data processing unit 120 configures
According to extraneous interactively enter the multi-modal robot response that information judges that session operational scenarios generation are mated with session operational scenarios.For
Can the response user of accurate and flexible, in the present embodiment, robot is for external environment data (interactively entering data)
Collection is multi-modal.Interactively enter collecting unit 110 and comprise voice collection device 111 and image collecting device 112.
Voice collection device 111 is used for gathering external sound information.Concrete, in the present embodiment, voice collection device
111 comprise mike, Mike's noise reduction unit and audio amplification unit.
Image collecting device 112 is used for gathering external image information.Concrete, in the present embodiment, image collecting device
112 comprise photographic head.Higher calculation process demand is needed, in order to reduce interaction data in view of being analyzed image processing
The data processing pressure of processing unit 120, in the present embodiment, constructs graphics processing unit 173, image procossing list in system
Unit 173 is configured to external image information carries out preliminary treatment and result is sent to interactive data processing unit 120.This
Sample, not only reduces the data processing pressure of interactive data processing unit 120, but also can be by change graphics processing unit
The function of robot is defined by the concrete tupe of 113.Such as, for the robot having user to identify demand,
The functional module that in graphics processing unit 113, addition Face location and facial recognition are correlated with.
Further, in the present embodiment, interactively enter collecting unit 110 and also include touch sensor 103.Touch sensing
Device 103 is configured to gather the external touch pressure sensing information that robot receives.Thus so that robot not only exists
Audition, visually obtain the interaction demand of user, but also the interaction demand of user can be obtained from sense of touch, significantly expand
The range of application of robot, the application that improve robot is experienced.
Interactive data processing unit 120 is configured to interactively enter information according to the external world and judges session operational scenarios and generate and dialogue
The multi-modal robot response of scene matching.In the present embodiment, robot response includes robot motion.One complete
Robot motion is to be combined by multiple little tricks, the corresponding a set of concrete robot motion order of each little trick.Such as,
Every lower limb is comprised to the biped robot in three joints, its often step move a step be required to on two legs amount to six joints enter
Row manipulation.
In order to reduce the data processing amount of interactive data processing unit 120, improve the response speed of robot, in this enforcement
In example, multiple basic actss and the manipulation instruction overlapping basic motion flow of robot pre-set more, if
Robot has needed basic acts, basic acts flow process or needs to complete by multiple basic actss/basic acts flow process
The action combined, only need to call the manipulation being previously-completed and instruct.
Concrete, for different session operational scenarios, robot, according to default match pattern, analyzes and current session field
The robot motion of scape coupling, then directly invokes the manipulation instruction corresponding with robot motion.For realizing above-mentioned functions, alternately
Data processing unit 120 comprises the answerback memory 122 for storing default robot response.So, specific for some
Session operational scenarios, interactive data processing unit 120 just directly can choose default robot response from answerback memory 122
(robot motion), without the robot response that in-time generatin is new, thus greatly reduce generate robot response time
Between, improve the response speed of robot, improve the Consumer's Experience of robot.
Further, answerback memory 122 is configured to automatically obtain and update robot response from high in the clouds 100, thus
Can the response scope of continuous expanding machinery people, along with constantly expanding of robot response and continuing to optimize of answer-mode,
The application of robot is experienced and is also improved constantly.
Further, in another embodiment of this utility model, answerback memory 122 be additionally operable to store robot response with
The matched rule of session operational scenarios, it is set to automatically obtain from high in the clouds 100 and update above-mentioned matched rule, thus continues to optimize machine
The answer-mode of device people, the application improving constantly robot is experienced.
In order to realize the data interaction between interactive data processing unit 120 and high in the clouds 100, in the system of the present embodiment also
It is configured with connected network communication unit 121.Connected network communication unit 121 be arranged for carrying out interactive data processing unit 120 and high in the clouds 100 it
Between data interaction.The robot that answerback memory 122 automatically obtains renewal by connected network communication unit 121 from high in the clouds 100 moves
Make and matched rule.
Further, robot response is generated under interactive data processing unit 120 is additionally configured to the auxiliary of beyond the clouds 100.
Thus be equivalent to give high in the clouds 100 to complete the data processing operation originally needing interactive data processing unit 120 to complete,
It addition, originally need the data information being stored in interactive data processing unit 120 can also be stored in high in the clouds 100.Interaction data
The performance requirement of processing unit 120 is greatly diminished, and its volume and cost have obtained effective control.
Robot motion is sent to action processing unit 140, action processing unit 140 by interactive data processing unit 120
It is configured to generate and output multi-channel (2 tunnel) motor drive signal and multichannel (3 tunnel) servos control signal according to robot motion.
Electric-motor drive unit (161 and 162) and joint servos control unit (171,172 and 173) are configured to according to receiving
Motor drive signal servos control signal control motor or steering wheel operating.
Owing to the system of the present embodiment comprises multiple electric-motor drive unit and multiple joints servos control unit, therefore based on
The robot of the system of the present embodiment can construct multiple joint, this operation precision allowing for robot and action complexity journey
Degree is greatly improved, thus extends the range of application of robot, and the application that improve robot is experienced.
Needing exist for explanation, in the embodiment shown in fig. 1, system comprises 2 electric-motor drive units and joint rudder
Machine control unit.In other embodiments of this utility model, can construct according to the particular hardware structure (pass joint number) of robot
The electric-motor drive unit of respective number and joint servos control unit.
Along with robot motion precision and the raising of action complexity, robot motion needed with mating of external environment condition
Ask and also improve the most further.It is to say, robot has wanted a complete action, need to take into full account the different external worlds
Environment.The action that performs the most in the plane to take a step instructs the most not with the concrete operations performing to take a step needed for action on inclined-plane
With.
For the more perfect execution of auxiliary robot, in the present embodiment, system is also configured with attitude sensing
Device 151.Attitude transducer 151 is configured to gather the attitude information of current robot.Accordingly, action processing unit 140 configures
Motor drive signal and servos control signal is generated for combining attitude information.
By attitude transducer 151, robot can not only be dynamic to currently carry out for self the most different attitude
It is finely adjusted the smooth execution with safety action, and robot can be avoided to ignore self attitude current and perform by force to move
Make, thus avoid movement posture mistake or disequilibrium the generation of situation such as to fall down.
Further, during robot execution action, especially during robot displacement, its action (displacement)
May be hindered by barrier.In order to realize the automatic obstacle-avoiding of robot, in the present embodiment, system is also configured with barrier
Sensor 152.Obstacle sensor 152 is configured to gather the obstacle information in the current robot direction of motion.Accordingly, dynamic
Deal with unit 140 to be configured to combine obstacle information generation motor drive signal and servos control signal.Break the barriers
Sensor 152, robot can be automatically obtained simple avoid-obstacle behavior.
Further, during robot execution action, its part of limb may be hindered by barrier or portion
Divide extremity to external object.The barrier on robot mass motion path is mainly found due to obstacle sensor 152
(barrier in motion front).It tends not to detect that robot part's limbs are obstructed, and this results in robot in part
Still may proceed to drive this part of limb when limbs are obstructed motion, thus cause robot stuck or part of limb deformation is ruined
Bad.
For the problems referred to above, in the present embodiment, system is also configured with touch sensor 153.Touch sensor 153 is joined
It is set to gather current robot limbs and the contact situation information of external object.Corresponding, action processing unit 140 is configured to knot
Splice grafting touches situation information and generates motor drive signal and servos control signal.
Utilizing touch sensor 153, what robot can effectively detect limbs and external object contacts situation, is possible not only to
Avoid action card to wait indefinitely the generation of situation, and based on contact situation information, the action currently carried out can be finely adjusted, have
The smooth execution of effect safety action.
Further, above-mentioned attitude transducer 151, obstacle sensor 152 and touch sensor 153 are directly and action
Processing unit 140 is connected.Owing to attitude transducer 151, obstacle sensor 152 and touch sensor 153 are directly by data
It is sent to action processing unit 140, action processing unit 140 attitude that direct quick obtaining is current when driven machine people's limbs
Information, obstacle information and contact situation information, not only reduce the data processing amount of interactive data processing unit 120, and
And also improve the response speed of robot.Further, the most multiple when attitude information, obstacle information or contact situation information
Miscellaneous, when action processing unit 140 cannot automatically process, action processing unit 140 is by attitude information, obstacle information or contact feelings
Condition information is sent to interactive data processing unit 120 and processes.
In order to expand the range of application of robot, the application improving robot is experienced, in the present embodiment, and the friendship of robot
It is multi-modal for responding mutually.Concrete, the robot response in the present embodiment also comprises robot voice.As it is shown in figure 1, system
Also comprise audio output unit 130 and power amplification unit 131.Interactive data processing unit 120 is configured to hand over according to the external world
Input information generates and output device people's voice mutually；Audio output unit 130 is configured to generate according to robot voice and export
Corresponding audio-frequency information；Power amplification unit 131 is configured to amplify the power of audio-frequency information output.Robot voice and robot
Action is mutually matched, thus more lively response user's is mutual.It is greatly expanded the range of application of robot, improves machine
The application of people is experienced.
Multi-joint small scale robot can be driven simply and easily, it is achieved robot and use according to system of the present utility model
The man-machine interaction that family is multi-modal；Compared to prior art, not only have higher according to the robot of system of the present utility model
Dexterity of action and operation precision, and along with the concrete condition of external environment condition, the action of self can be finely adjusted, machine
The range of application of device people is expanded significantly, and Consumer's Experience is greatly improved.
Robot of the present utility model electric-control system is mainly used in small scale robot, in order to effectively control robot electronics
The volume of control system is to realize the miniaturization of robot, in this utility model one embodiment, have employed each function mould
Block is integrated in the mode on master control borad.In view of the power supply requirement of each functional module, data processing needs and functionally
Difference, in this utility model one embodiment, robot electronic control system is configured to main frame and from machine two parts.
Main frame and respectively comprise one piece of independent master control borad from machine, so before ensureing the integrated level that system is overall
Put and resource is had the module of conflict separately, thus ensure that the stable and high effective operation of system.
In an embodiment of the present utility model, make to analyze as follows:
First interactively enter acquisition of information interaction scenarios in view of system in analysis outside, generation is mated with interaction scenarios
Robot responds to be needed to carry out larger amount of data operation；
Secondly also output multi-channel motor drive signal and multichannel servos control letter are generated in view of according to robot motion
Number it is required to carry out larger amount of data operation；
Generate motor drive signal and servos control signal (driven machine people's limbs) needs the power supply of relatively high power to prop up
Hold.
Therefore, outside will be interactively entered the analysis system of information, generate motor drive signal and servos control signal
Processing system separate.Collecting unit will be interactively entered and interactive data processing unit will be integrated on main frame, action be processed single
Electric-motor drive units first, multiple and multiple joints servos control unit are integrated in from machine.It is the most defeated that main frame mainly realizes outside
Enter the collection analysis of information, the generation of robot response (robot motion and robot voice)；Action is responded control by main frame
Information processed is sent to, from machine, realize generation and the driving of robot limb of robot limb control signal from machine.Thus
Make to generate robot limb control signal and driven machine people's limbs obtain relatively independent data processing hardware and electricity
Source is supported.
Further, it is contemplated that the data processing amount needed for exporting corresponding audio-frequency information based on robot voice is less,
And the hardware configuration needed for the output of audio-frequency information is not required to the limbs of robot execution action and participates in.Therefore audio frequency is defeated
Go out unit and power amplification unit is integrated on main frame.
Finally relevant peripheral circuit and functional module are integrated on corresponding master control borad, as it is shown in figure 1, the most defeated
Enter acquisition module 110 (image collecting device 112, voice collection device 111 and touch sensor 103), graphics processing unit
113, interactive data processing unit 120 (answerback memory 122), connected network communication unit 121, audio output unit 130 and merit
Rate amplifying unit 131 is integrated on main frame 101.Attitude transducer 151, obstacle sensor 152, touch sensor 153 action
Processing unit 140, electric-motor drive unit 161 and 162, joint servos control unit 171,172 and 173 are integrated in from machine 102
On.
In this utility model one embodiment, main frame is master control borad based on MTK6572 processor.MTK6572 is that connection is sent out
Science and technology a new generation uses the chip product of 28 nanometer processing procedures.MTK6572 is Mobile solution processor, is mainly used in Embedded
Exploitation.As in figure 2 it is shown, be integrated with connected network communication unit 222 (WiFi communication module) on main frame 210.The interface that main frame 210 provides
Have:
Touching interface 216,217 and 218, each touch interface is three-wire interface, and line sequence is power supply (VCC) ground connection
(GND) output (OUT), it is connected respectively to touch modules 206,207 and 208, and (in the present embodiment, main frame 210 comprises 3
Touch interface, in other embodiments of this utility model, different number of touch interface can be constructed according to specifically needing),
In the present embodiment touch modules 206,207 and 208 use capacitive touch sensors (be capable of detecting when whether have hands to contact,
Return low level when having contact, time contactless, return high level)；
Serial communication interface 221, three-wire interface, line sequence is ground connection (GND) up (RX) descending (TX), and it is connected to from machine
The serial communication interface 231 of 230；
Speaker interface 213 and 214, each interface is two line interfaces, and line sequence is audio signal just (Speaker+) sound
Frequently signal is negative (Speaker-), and it is connected respectively to speaker 203 and 204 (in the present embodiment, has 2 speakers to connect
Mouthful (left and right acoustic channels), in other embodiments of this utility model, can connect according to specifically needing to construct different number of speaker
Mouthful)；
Microphone interface 211 and 212, each interface is two line interfaces, and line sequence is MICP (Mic+) mike
Signal bears (Mic-), and it is connected respectively to mike 201 and 202 and (in the present embodiment, has 2 microphone interface (to determine
Sound source direction and positional distance), in other embodiments of this utility model, can be different number of according to specifically needing to construct
Microphone interface)；
Utilizing camera interface 215, it is connected to photographic head 205；
Power interface 219, it is connected to the power management module 251 from machine 230.
It is master control borad based on STM32 processor from machine.STM32 processor be ST Microelectronics (ST) release micro-
Controller class product, 32 the Cortex-M series kernels released based on ARM company.As in figure 2 it is shown, be integrated with from machine 230:
Power management module 251 and lithium battery 254, it is for power from machine 230 and main frame 210；
Physical switch 200, whether its control system switches on power；
Sofe Switch 253, whether its control system brings into operation.
The interface provided from machine 230 has:
Charge port 252, two line interfaces, line sequence is power supply (VCC) ground connection (GND), and it is connected to power management module 251 also
Connect lithium battery 254；
Serial communication interface 231, three-wire interface, line sequence is GND RX TX, main frame 210 and between machine 230 by string
Port communications realizes data transmission；
Range finding interface 241, it is connected to Ultrasonic ranging device 257；
Attitude transducer interface 242, it is connected to attitude transducer 258, and attitude transducer 258 uses in the present embodiment
Integrated acceleration and six axle attitude transducer MPU6500 of gyroscope；
Motor drives 243 and 244, and it is connected respectively to motor 261 and 262；
Steering wheel interface 261～271 (11 steering wheel interfaces), it is connected respectively to steering wheel 281～291 (based on 11 steering wheels
And 2 motors, system shown in Figure 2 can support the joint motions of 13 degree of freedom)；
Touching interface 232,233 and 234, it is connected respectively to touch modules 263,264 and 265.
Further, understand, for the ease of user, the state of charge that robot is current.In the embodiment depicted in figure 2, system
Also comprising electricity quantity display module, electricity quantity display module is configured to show the information about power that robot is current.Show in view of electricity
The data processing amount of needs is the highest however it is necessary that certain power drives support (driven for emitting lights diode), therefore electricity display mould
Block is integrated in from machine 230, wherein:
Main frame 210 is configured to gather and send the information about power that robot is current；
The electricity that electricity quantity display module is configured to according to information about power output is corresponding shows.
Comprising electricity display interface 238 from machine 230, electricity display interface 238 is four-wire interface, and line sequence is defeated for output (IO)
Going out (IO) output (IO) ground connection (GND), (electricity display lamp is multi-color LED (LED) to be connected to electricity display lamp 255
Lamp, three I/O interface corresponding red R respectively, green G, blue B)；
Further, understand, for the ease of user, the interaction mode that robot is current.In the embodiment depicted in figure 2, system
Also comprising interactive display module, interactive display module is configured to show the interaction mode that robot is current.In view of interaction mode
The data processing amount of display needs is the highest however it is necessary that certain power drives support (driven for emitting lights diode), shows the most alternately
Show that module is integrated in from machine 230, wherein:
Main frame 210 is configured to gather and send the interaction mode that robot is current, and interaction mode includes recording state, language
Sound/action output state and semantic parsing state；
The interaction mode that interactive display module is configured to according to interaction mode output is corresponding shows.
Comprising interactive display interface 239 from machine 230, interactive display interface 239 is two line interfaces, and line sequence is pulse output
(PWM) ground connection (GND), is connected to mutual display lamp 256 (mutual display lamp is respiratory nasal lamp).
In the embodiment depicted in figure 2, system power supply voltage is 11.1V.Physical switch 200 closed-system powers on, from machine 230
By coulometer Real-time Collection battery electric quantity, and detect Sofe Switch 253 state.
Start process:
When Sofe Switch 253 action (length is pressed) being detected, system brings into operation, and main frame 210 completes networking, initializes.From machine
The mutual display lamp 256 of 230 is in breathing state and waits that main frame has initialized.
Interaction:
Main frame 210 has initialized, on from machine 210 and 230 by serial ports (221 and 231) normal delivery data.Wheat
Grams 201 and 202 gather audio signals, logical by networking through the noise reduction of audio frequency and amplification are given MTK6572, MTK6572
Voice messaging is passed to high in the clouds by letter unit 222, and voice messaging is made the speaker judged accurately by MTK6572 by high in the clouds
203 and 204 feed back to user.Simultaneously, MTK6572 will need the robot motion performed to be controlled from machine by serial ports
230 perform.From machine 230 drive steering wheel 281～291 and motor 261 and 262 realize robot motion.
Send capacity prompt instruction from the STM32 of machine 230 by serial ports and inform the electricity of custom system, from the electricity of machine 230
Amount display lamp 255 completes electricity and shows, completes to show alternately from the mutual display lamp 256 of machine 230.
Electricity display lamp 255 is represented by RGB tri coloured lantern: it is not enough that R represents electricity, and it is normal that B represents electricity, and G represents electricity
Sufficient.User's charge condition is informed by speaker 203 and 204 in MTK6572 and high in the clouds simultaneously.
Mutual display lamp 256 is the LED controlled by PWM: normal bright prompting user now robot is in recording state,
Often going out prompting user's now robot voice output, flash for prompting user robot carries out semantic parsing in networking.
To sum up, robot of the present utility model electronic control system can realize action friendship while carrying out interactive voice
Mutually, compared with the robot control system of prior art, its volume is little, simple in construction, has wider array of range of application and more
Good Consumer's Experience.
Multi-joint small scale robot can be driven simply and easily, it is achieved robot and use according to system of the present utility model
The man-machine interaction that family is multi-modal；Compared to prior art, not only have higher according to the robot of system of the present utility model
Dexterity of action and operation precision, and along with the concrete condition of external environment condition, the action of self can be finely adjusted, machine
The range of application of device people is expanded significantly, and Consumer's Experience is greatly improved.
Although embodiment disclosed in the utility model is as above, but described content is only to facilitate understand this practicality
Novel and the embodiment that uses, is not limited to this utility model.System described in the utility model also can have other many
Plant embodiment.In the case of without departing substantially from this utility model essence, those of ordinary skill in the art work as can be new according to this practicality
Type makes various corresponding change or deformation, but these change accordingly or deformation all should belong to claim of the present utility model
Protection domain.
Claims (10)
1. a multi-joint small scale robot electric-control system, described system includes that be integrated on main frame interactively enters collecting unit
The action processing unit with interactive data processing unit and being integrated in from machine, multiple electric-motor drive unit and multiple joints rudder
Machine control unit, wherein:
The described collecting unit that interactively enters is configured to gather the external world and interactively enters information, described in interactively enter collecting unit and comprise sound
Sound harvester and image collecting device；
Described interactive data processing unit is configured to interactively enter information according to the described external world and judges session operational scenarios and generate and institute
State session operational scenarios coupling multi-modal robot response, described interactive data processing unit comprise for store default described in
The answerback memory of robot response, described answerback memory is configured to automatically obtain and update described robot from high in the clouds should
Answer；
The response of described robot comprises robot motion, and described action processing unit is configured to generate according to described robot motion
And output multi-channel motor drive signal and multichannel servos control signal；
The described motor received according to described electric-motor drive unit and described joint servos control cell location drives letter
Number or described servos control signal control motor or steering wheel operating.
System the most according to claim 1, it is characterised in that the response of described robot also comprises robot voice, described
Main frame integrated audio output unit and power amplification unit, wherein:
Described interactive data processing unit is configured to interactively enter information according to the described external world and generates and export described robot language
Sound；
Described audio output unit is configured to generate and export corresponding audio-frequency information according to described robot voice；
Described power amplification unit is configured to amplify the power of described audio-frequency information output.
System the most according to claim 1, it is characterised in that the integrated graphics processing unit of described main frame, at described image
Reason cell location be to described image acquisition device to external image information carry out preliminary treatment and by result hair
Deliver to described interactive data processing unit.
System the most according to claim 1, it is characterised in that described main frame integrated connected network communication unit, described networking is led to
Letter cell location is to realize the data interaction between described interactive data processing unit and external server.
System the most according to claim 1, it is characterised in that described voice collection device comprises mike, Mike's noise reduction
Unit and audio amplification unit, described Mike's noise reduction unit and described audio amplification unit are integrated on the host.
System the most according to claim 1, it is characterised in that described main frame is master control borad based on MTK6572 processor.
System the most according to claim 1, it is characterised in that described from the integrated attitude transducer of machine, described attitude senses
Device is configured to gather the attitude information of current robot, and described action processing unit is configured to combine described attitude information and generates institute
State motor drive signal and described servos control signal.
System the most according to claim 1, it is characterised in that described from the integrated obstacle sensor of machine, described barrier
Sensor configuration is to gather the obstacle information in the current robot direction of motion, and described action processing unit is configured to combine institute
State obstacle information and generate described motor drive signal and described servos control signal.
System the most according to claim 1, it is characterised in that described from machine integrated touch sensor, described touch sensing
Device is configured to gather current robot limbs and the contact situation information of external object, and described action processing unit is configured to combine
Described contact situation information generates described motor drive signal and described servos control signal.
System the most according to claim 1, it is characterised in that described from machine be master control borad based on STM32 processor.
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| CN201620213142.0U CN205750377U (en) | 2016-03-18 | 2016-03-18 | A kind of multi-joint small scale robot electric-control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700438A (en) * | 2016-03-18 | 2016-06-22 | 北京光年无限科技有限公司 | Electronic control system for multi-joint small robot |
| CN107015561A (en) * | 2017-03-06 | 2017-08-04 | 广东高标电子科技有限公司 | A kind of electric two-wheel balance car system and electric two-wheel balance car control method |
| CN109605373A (en) * | 2018-12-21 | 2019-04-12 | 重庆大学 | Robot-based voice interaction method |
| CN110640757A (en) * | 2019-09-23 | 2020-01-03 | 浙江树人学院（浙江树人大学） | A multimodal interaction method and intelligent robot system applied to intelligent robot |
-
2016
- 2016-03-18 CN CN201620213142.0U patent/CN205750377U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700438A (en) * | 2016-03-18 | 2016-06-22 | 北京光年无限科技有限公司 | Electronic control system for multi-joint small robot |
| CN107015561A (en) * | 2017-03-06 | 2017-08-04 | 广东高标电子科技有限公司 | A kind of electric two-wheel balance car system and electric two-wheel balance car control method |
| CN109605373A (en) * | 2018-12-21 | 2019-04-12 | 重庆大学 | Robot-based voice interaction method |
| CN110640757A (en) * | 2019-09-23 | 2020-01-03 | 浙江树人学院（浙江树人大学） | A multimodal interaction method and intelligent robot system applied to intelligent robot |
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