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CN101036838A - Intelligent robot friend for study and entertainment - Google Patents

  • ️Wed Sep 19 2007

CN101036838A - Intelligent robot friend for study and entertainment - Google Patents

Intelligent robot friend for study and entertainment Download PDF

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Publication number
CN101036838A
CN101036838A CN 200710039652 CN200710039652A CN101036838A CN 101036838 A CN101036838 A CN 101036838A CN 200710039652 CN200710039652 CN 200710039652 CN 200710039652 A CN200710039652 A CN 200710039652A CN 101036838 A CN101036838 A CN 101036838A Authority
CN
China
Prior art keywords
robot
learning
module
motor
movement
Prior art date
2007-04-19
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Pending
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CN 200710039652
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Chinese (zh)
Inventor
张文强
薛向阳
翁巨扬
冯瑞
张睿
唐志强
白建松
包春雷
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Fudan University
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Fudan University
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2007-04-19
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2007-04-19
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2007-09-19
2007-04-19 Application filed by Fudan University filed Critical Fudan University
2007-04-19 Priority to CN 200710039652 priority Critical patent/CN101036838A/en
2007-09-19 Publication of CN101036838A publication Critical patent/CN101036838A/en
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Abstract

本发明属于机器人技术领域,具体涉及一种具备丰富的运动自由度、并能智能控制的机器人,是一种与智能机器人紧密结合的新型学习、娱乐平台。机器人本体结构包括头颈、手臂、躯体、底座等结构,具备9个独立的运动自由度。系统采用PID反馈控制,能够精确控制伺服电机的速度,从而控制各关节的速度、方向和位置。这是一个标准的机器人学习和游戏操作交互平台,能够运行多种不同的、能和这个控制台的标准接口相兼容的应用程序,主要包括学习、游戏程序和机器人本身的学习程序。本发明将移动式的拟人机器人与学习、娱乐等相结合,用户可以通过视频、音频等信息与机器人进行交互,在学习和娱乐的过程中,机器人可以进行肢体动作和语音交流。

Figure 200710039652

The invention belongs to the technical field of robots, and specifically relates to a robot with rich freedom of movement and capable of intelligent control, and is a new learning and entertainment platform closely combined with an intelligent robot. The robot body structure includes head and neck, arms, body, base and other structures, with 9 independent degrees of freedom of movement. The system adopts PID feedback control, which can precisely control the speed of the servo motor, thereby controlling the speed, direction and position of each joint. This is a standard interactive platform for robot learning and game operation, capable of running a variety of different application programs compatible with the standard interface of the console, mainly including learning, game programs and learning programs of the robot itself. The invention combines mobile anthropomorphic robots with learning and entertainment. Users can interact with the robot through video, audio and other information. During the learning and entertainment process, the robot can perform body movements and voice communication.

Figure 200710039652

Description

Intelligence learning, amusement robot playfellow

Technical field

The invention belongs to the Robotics field, be specifically related to a kind of possess abundant freedom of motion, and robot that can Based Intelligent Control, is a kind of novel study, amusement platform of combining closely with intelligent robot.Can be applicable to robot research and education playfellow, venue guide, home entertaining etc.

Background technology

At present, the anthropomorphic robot with its conventional machines people the humanoid outward appearance that can not compare and the dynamic behavior very big concern that caused people.Rely on the raising of core technology and the expansion of consumption market, the anthropomorphic robot has obtained significant progress in recent years, and the market price is also constantly descending.

For example, the present price of Robosapien V1 robot that Wow Wee company produces has only about 60 dollars, and by summer time in 2004, about 1,500,000 covers were sold.And its subsequent product, Robosapien V2 has 12 freedoms of motion, can finish abundant hommization action, since two thousand five, with the unit price that the is lower than 200 dollars market of selling well rapidly, the product of other companies such as the robot dog of Sony have been caused great pressure.The CosmoBot that AnthroTronix company produces is a kind of robot that integrates study and amusement, and it can be made a response to user's body action, language variation and remote signal etc.But present robot does not all have and computer platform combines, and its action all is based on the design objective in early stage and finishes through programming, and brightness still is not fully up to expectations.The reflection of head of a family's door, child has just lost interest after playing in a few days, and they think that it is a toy all the time, can't bring lasting recreation feeling of freshness and sense of accomplishment to them.

In addition, in education and the games system field based on the consumption market, the TheLearning Company (TLC) that has been purchased by Riverdeep September calendar year 2001 is the main publisher with satisfying the needs of consumers of being the theme of interactive mode and school eduaction software.Its product comprises hare browser, super mathematics, the strange toll bar etc. of stealing.LeapFrog is the main producer of educational toy, and it is the electronic teaching system of big child's design in 6 months to 36 months that its LittleTouch LeapPad learning system is one.The main production line of electronic game platform comprises the Game Cube and the portable Game Boy of Nintendo, the gaming platform of Sony and the Xbox of Microsoft etc.Domestic common have Bubukao's learning machine, Noah continent learning machine etc.But these study, games system do not have a and robot combines.

Progress and development at correlation techniques such as present anthropomorphic robot and study, Games Softwares, the present invention integrated anthropomorphic robot system and PC system, melting study and functions such as amusement in one, is a kind of portable interaction platform that collects Robotics and computer technology for the whole body.Its sporty three-dimensional contouring can not turned off the back at power supply again and be disappeared as the game role of two dimension.Thereby some reaction that it can perceive the user allows the user learn in recreation and amusement, thereby increases work efficiency.The user can come and robot carries out alternately by seeing, listen, touching, but this be a kind of with exchange similar but incomplete same impression with the people.The vision physically that this anthropomorphic robot brings, sense of touch and action impression be with screen on the virtual robot role diverse.This new-type platform has been complied with robot toy and learning machine in development in future trend.

Summary of the invention

The object of the present invention is to provide a kind of portable interaction platform that integrates dynamic moulding and amusement, game function, also claim the intelligence learning robot friend.

Intelligence learning, amusement robot playfellow that the present invention proposes, system is made up of anthropomorphic robot's body construction, environment sensing module, behavior control module, main control module, communication module and system's display interface, wherein:

1, anthropomorphic robot's body construction has a plurality of freedoms of motion, and it comprises neck, body, arm and portable movable base etc.

2, behavior control module, mainly form by LED display board, neck, elbow joint, shoulder joint, waist joint and driving wheel etc., its function is that the brain decision-making is outputed on motor or the loudspeaker, react to external world, robot can be finished advance, retreat, motor function such as turning, have abundant limb action.All actions are carried out transmission by motor and decelerator, and sound sends by loudspeaker.

3, environment sensing module comprises visually-perceptible module (camera), sense of hearing sensing module (microphone), Multifunction Sensor module (as infrared sensor, sonar sensor, temperature sensor etc.).

4, main control module mainly comprises embedded type CPU, RTOS real time operating system, internal memory, external memory etc.Mutual by with external environment condition realized the related of sensor senses information and robot limb action, thus the intelligent behavior of realization robot.

5, communication module adopts GPRS or wireless ethernet etc., realizes and the terminal two-way communication by wireless communication mode, and can surf the Net and remote control, can surf the Net and download software and lastest imformation, also can visit other equipment etc.

6, the display interface of system is the LCD of widescreen, and has sensitive touch panel, and the user can be undertaken by touch panel with robot alternately.

This is the robot learning and the game operation interaction platform of a standard, can move multiple application program different, can be compatible mutually with the standard interface of this console.Summary is got up, and mainly comprises the learning program of study, games and robot, and the simplest situation is the state output equipment of robot as just study, Games Software.The learning program of robot obtains information by intelligent sensing module and expresses on display screen or by robot itself.The present invention combines the anthropomorphic robot of movable type with study, amusement etc., the user can be undertaken alternately by information such as video, audio frequency and robot, and in the process of study and amusement, robot can carry out limb action and speech exchange.

Interaction platform of the present invention can be played the part of multiple role: such as the private teacher, and study, play fellow and learner etc.

One, private teacher

Under this pattern, private teacher role will play the part of in robot, and as a genuine private tutor, robot should have following function:

1,, can award according to child's present level and performance as award person and foster.Obtained a slight progress such as child, robot can be by dancing or singing and award.Progress in various degree can give award in various degree.

2, help the study of head of a family's managing children and allow it pick up good habits of study.By the performance that allocating task is reminded their operation, this function can be provided with in advance.

3, carry out the purpose test of all kinds of sections by video or audible feedback, the help child obtains progress in study.

Two, study, play fellow

Under this pattern, user's playfellow will play the part of in robot, have with child and adult to carry out good mutual ability:

1, as a kind of partner of stimulable type, it is identical that consanguinity is taught situation, can award to child's progress, and such award meeting is more interesting more naturally, and a lot of award methods can be arranged.

2, play games with child, can play the part of different roles respectively.Such recreation can be simple or complicated, for example a musical composition or a musical combinations recreation etc.

Three, learner

Under this pattern, a learner's role plays the part of in robot, and the user then plays the part of teacher's role.Educating other people is the most effective a kind of learning method in fact.Perform some actions by the professor robot, the user can learn and grasp method how to control robot.Under this pattern, robot should have following learning ability:

1, finish the performance of limbs according to user's input, such as dancing, singing, or recitation of poems etc.;

2, understand user's instruction style and can carry out some correlation functions thus.For example, the user teaches robot and how to carry out arithmetical operation, finishes the work as requested then, can put question to it later etc.

As the extention of study, converter tools, the present invention has remarkable advantages.It allows the same concrete object with human characteristics of child exchange, and can allow child acquire a lot of abundant, attractive knowledge.Real interchange can be tempered child's enthusiasm better, and child will come the corresponding actions that their notice is transferred to robot from fluorescent screen, thereby avoid watching attentively for a long time the consequence that fluorescent screen brings.

This invention makes the user cultivate a kind of interpersonal relation with robot because robot is a necessary being, just with child can and pet between to set up a kind of close relationship the same.Set up a kind of intimate and relation of trusting, it is better that child will learn.

Description of drawings

Fig. 1 system functional block diagram of the present invention.

Fig. 2 robot architecture's schematic diagram of the present invention (forward sight).

Fig. 3 robot architecture's schematic diagram of the present invention (side-looking)

Fig. 4 control principle figure of the present invention.

Number in the figure: the 1LED display board, 2 is the neck cradle head, 3 is robot arm, 4 is liquid crystal widescreen display screen, and 5 is camera, and 6 is infrared sensor, 7 is the robot chassis, and 8 is the robot chest, and 9 is the robot elbow joint, 10 is robot shoulder joint, and 11 is sonar sensor, and 12 is robot head, 13 is the robot computing unit, 14 is joint of robot waist, and 15 is another joint of robot waist, and 16 is the robot driving wheel, 17 is the robot supporting roller, 18 is the CAN interface card, and 19 is master control borad, and 20 is the motor closed-loop control, 21 is DC servo motor, 22 is encoder, and 23 is driver, and 24 is controller, 31 is the environment sensing module, 32 is main control module, and 33 are the behavior control module, and 34 is communication module.

The specific embodiment

Further describe the present invention below in conjunction with accompanying drawing and enforcement.

As shown in Figure 1, whole system is made up of several sections such as environment sensing module, main control module, behavior control module and communication modules:

1. environment sensing module

Mainly form by vision, the sense of hearing, infrared sensor, sonar sensor etc.

Obtain dynamic image by camera, carry out real-time analysis and handle, as automatic extraction low-level visual features, visual scene is analyzed, understood and discerns, realize the growth of basic visual performance.

Obtain acoustic information and finish the sound preliminary treatment by microphone etc., realize basic auditory function, for example auditory localization, speech quality strengthen, extract elementary audio frequency characteristics automatically, sound are carried out real-time analysis, understanding and identification, and the result is submitted to brain.

Survey the movement of objects of different distance by sensors such as infrared, sonars, and make different decision-makings according to the distance of distance.

2. main control module

Mainly form by embedded type CPU, RTOS, internal memory, external memory, network, communication etc.By with the online interaction of internal and external environment study, realize the related of behavior acts such as sensor senses information and motor, thereby realize the growth of high-rise knowledge.

3. behavior control module

Mainly synthesized by motor, encoder, sound and loudspeaker etc. formed.Major function is that the brain decision-making is outputed on motor or the loudspeaker, and environment is reacted to external world.For example, control motor action rotatable head, movable arm and keep away the barrier walking, the exportable sound waveform of control pronunciation mechanism arrives sound horn etc.

4. communication module

Adopt GPRS or wireless ethernet etc., realize two-way communication with terminal, can surf the Net and remote control etc. by wireless communication mode.

Body construction of the present invention mainly comprises part-structures such as

head

12,

neck

2,

chest

8, two

arms

3 and chassis 7 as shown in Figures 2 and 3.At

head

12 places,

LED display board

1 is housed, possess different expressions and show.Neck 2 has 1 freedom of motion, and the

LCD

4 of 15 inches widescreens is equipped with in the front portion of

chest

8, and

computing units

13 such as the cpu motherboard of double-core, internal memory, external memory are equipped with at the rear portion of chest 8.The waist of robot is two

movable joints

14 and 15, can realize functions such as the leaning forward of body, layback.The base 7 of robot is the differential driving and the changement of a two-

wheel

16, has 2 to support supporting

roller

17 at the rear portion on chassis.Each

arm

3 of robot has

elbow joint

9 and 10 two freedoms of motion of shoulder joint.Among the present invention, have 9 freedoms of motion: neck rotates (1), waist (2), the left and right wheels (2) of base, the elbow joint and the shoulder joint (4) of left and right sides arm, and is corresponding to 9 servomotor controls.

Control system requires to be decomposed into to 9 servomotors transmission control commands according to entire machine people's freedom of motion.Fig. 4 is the control principle figure of servomotor.Control system realizes being connected with the communication of PC

master control borad

19 by CAN

interface card

18, and the motion of 9 servomotors of Synchronization Control.Independently PID closed

loop control

20 is all adopted in 9 servomotor controls, at the front end of

servomotor

21,

photoelectric encoder

22 is housed, and it is a kind of sensor that the geometry of machinery displacement on the motor output shaft is converted to pulse or digital quantity by opto-electronic conversion.Just can reflect current rotating speed of motor by the number of calculating per second photoelectric encoder output pulse.

Photoelectric encoder

22 sends to controller 24 in real time with the speed or the positional information of motor; control the voltage that is added on the motor together by pulsewidth modulation (PWM) technology and microprocessor; relevant information is flowed to driver 23 with overcurrent protection function; the final speed and convenient together operation of

servomotor

21 to require that drives is to reach desirable position.

Claims (4)

1、一个智能学习、娱乐机器人玩伴,是一个标准的机器人学习和游戏操作交互平台,能够运行多种不同的、能和这个控制台的标准接口相兼容的应用程序,这些应用程序主要学习、游戏程序和机器人本身的学习程序,其特征在于系统由拟人机器人本体结构、环境感知模块、主控模块、行为控制模块、通讯模块和显示界面组成,其中:1. An intelligent learning and entertainment robot playmate is a standard interactive platform for robot learning and game operation. It can run a variety of different applications compatible with the standard interface of the console. These applications mainly learn, The learning program of the game program and the robot itself is characterized in that the system is composed of an anthropomorphic robot body structure, an environment perception module, a main control module, a behavior control module, a communication module and a display interface, wherein: (1)拟人机器人本体结构具有多个运动自由度,它包括头颈、躯体、手臂以及移动式的移动底座;(1) The body structure of the anthropomorphic robot has multiple degrees of freedom of movement, including the head and neck, body, arms and mobile base; (2)行为控制模块,由LED显示板、脖子、肘关节、肩关节、腰关节和驱动轮组成,其功能是将大脑决策输出到电机或喇叭上,对外界作出反应,使机器人能够完成前进、后退、转弯运动功能;所有的动作通过电动机和减速器来进行传动,声音通过扬声器发出;(2) Behavior control module, which is composed of LED display board, neck, elbow joint, shoulder joint, waist joint and driving wheel. Its function is to output brain decision-making to the motor or horn, and respond to the outside world, so that the robot can complete the forward movement , backward, turning movement functions; all actions are transmitted through the motor and reducer, and the sound is emitted through the speaker; (3)环境感知模块,包括视觉感知模块、听觉感知模块和多功能传感器模块;(3) Environmental perception module, including visual perception module, auditory perception module and multifunctional sensor module; (4)主控模块,主要包括嵌入式CPU、RTOS实时操作系统、内存、外存;通过与外部环境的交互,实现环境感知模块感知信息与机器人肢体动作的关联,从而实现机器人的智能行为;(4) The main control module mainly includes embedded CPU, RTOS real-time operating system, internal memory, and external storage; through the interaction with the external environment, the association between the sensory information of the environmental perception module and the robot's limb movements is realized, thereby realizing the intelligent behavior of the robot; (5)通讯模块,采用GPRS或无线以太网,通过无线通讯方式实现与终端双向通信,并可上网和遥控;(5) The communication module adopts GPRS or wireless Ethernet to realize two-way communication with the terminal through wireless communication, and can access the Internet and remote control; (6)系统的显示界面为宽屏的液晶显示器,并带有灵敏的触摸面板,用户和机器人通过触摸面板来进行交互。(6) The display interface of the system is a wide-screen liquid crystal display with a sensitive touch panel, and the user and the robot interact through the touch panel. 2、根据权利要求1所述的机器人玩伴,其特征在于所述视觉感知模块是由摄像头组成,所述听觉感知模块由麦克风组成,所述功能传感器由红外传感器、声纳传感器和温度传感器组成。2. The robot playmate according to claim 1, wherein the visual perception module is composed of a camera, the auditory perception module is composed of a microphone, and the functional sensor is composed of an infrared sensor, a sonar sensor and a temperature sensor . 3、根据权利要求2所述的机器人玩伴,其特征在于在头部(12)处,装有LED显示板(1),脖子(2)具有1个运动自由度,胸部(8)的前部装有15英寸宽屏的液晶显示器(4),胸部(8)的后部装有双核的CPU主板、内存、外存的计算单元(13),机器人的腰部是两个运动关节(14和15),机器人的底座(7)是一个双轮(16)的差动驱动和换向机构,在底盘的后部有2个支撑随动轮(17),机器人的每个手臂(3)具有肘关节(9)和肩关节(10)两个运动自由度。3. The robot playmate according to claim 2, characterized in that an LED display panel (1) is installed at the head (12), the neck (2) has one degree of freedom of movement, and the front of the chest (8) The liquid crystal display (4) of 15 inches of wide screens is equipped with at the top, the computing unit (13) of dual-core CPU motherboard, internal memory, external memory is equipped with in the rear portion of the chest (8), and the waist of robot is two kinematic joints (14 and 15 ), the base (7) of the robot is a differential drive and reversing mechanism with two wheels (16), and there are 2 supporting follower wheels (17) at the rear of the chassis, and each arm (3) of the robot has an elbow joint (9) and shoulder joint (10) two degrees of freedom of motion. 4、根据权利要求3所述的机器人玩伴,其特征在于控制系统通过CAN接口卡(18)实现与PC主控板(19)的通讯连接,并同步控制9个伺服电机的运动,9个伺服电机控制均采用独立的PID闭环回路控制(20),在伺服电机(21)的前端,装有光电编码器(22),它是一种通过光电转换将电机输出轴上的机械几何位移量转换成脉冲或数字量的传感器,光电编码器(22)将电机的速度或位置信息实时地发送给控制器(24),通过脉宽调制技术和微处理器一起控制加在电机上的电压,将相关信息输送给具有过流保护功能的驱动器(23),最终驱动伺服电机(21)以要求的速度和方便同运行,以达到理想的位置。4. The robot playmate according to claim 3, characterized in that the control system realizes the communication connection with the PC main control board (19) through the CAN interface card (18), and synchronously controls the movement of 9 servo motors, 9 The servo motor control adopts independent PID closed-loop control (20), and the front end of the servo motor (21) is equipped with a photoelectric encoder (22), which is a mechanical geometric displacement on the motor output shaft through photoelectric conversion. Converted into a pulse or digital sensor, the photoelectric encoder (22) sends the speed or position information of the motor to the controller (24) in real time, and controls the voltage applied to the motor through pulse width modulation technology and the microprocessor. The relevant information is sent to the driver (23) with overcurrent protection function, and finally the servo motor (21) is driven to run at the required speed and conveniently to reach the ideal position.

CN 200710039652 2007-04-19 2007-04-19 Intelligent robot friend for study and entertainment Pending CN101036838A (en)

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