Control system for service robot

[0023] Example 1

[0024] Reference attached Figure 1-2 This embodiment provides a control system for a service robot, which includes an upper control module 1, a middle control module 2, a bottom control module 3, and a motion module for driving the robot to move. The motion module includes a head drive mechanism. 6. Waist driving mechanism 7, arm driving mechanism 8 and foot driving mechanism 11; the upper control module 1 is an existing STM32F205 single-chip microcomputer, the middle control module 2 is an existing STM32F427 single-chip microcomputer, and the bottom control module 3 is an existing STM32F205 single-chip microcomputer .

[0025] Wherein, the head drive mechanism 6 and the waist drive mechanism 7 are electrically connected to the upper control module 1 through the RS485 interface, and the arm drive mechanism 8 is electrically connected to the middle control module 2 through the RS485 interface. The foot drive mechanism 11 is electrically connected to the bottom control module 3 through the RS485 interface. The upper control module 1 controls the waist and head of the robot to move, and the middle control module 2 controls the robot's arms and fingers. To perform activities, the bottom control module 3 controls the robot to move; the upper control module 1 is electrically connected to the middle control module 2 through a Universal Asynchronous Receiver Transmitter (UART), and the middle The control module 2 is electrically connected with the bottom control module 3 through UART.

[0026] In addition, the upper control module 1, the middle control module 2 and the bottom control module 3 are all electrically connected to the built-in tablet computer 5 through a Universal Serial Bus (USB) interface, so as to facilitate the manipulation of the control modules.

[0027] Specifically, the upper control module 1 is also electrically connected with an Organic Light-Emitting Diode (OLED) and a storage module 15 through a serial peripheral interface (Serial Peripheral Interface, SPI), and the storage module 15 can The externally expanded Flash memory in the prior art is used to store data; the OLED can be used to display the expressions of the robot's eyes.

[0028] In addition, the upper control module 1 is electrically connected to RGB light emitting diodes (Light Emitting Diode, LED) through pulse width modulation (Pulse Width Modulation, PWM) or general purpose input/output ports (General Purpose Input Output, GPIO). To control the lights on both sides of the robot’s ears. The upper control module 1 is also electrically connected to the touch sensor module 14, the lighting module 17, and the heat dissipation module 18 through GPIO. The touch sensor module 14 is used to detect the high and low levels of IO; the lighting module 17 is used for lighting; and the heat dissipation module 18 is a cooling fan, used to dissipate the robot. The upper control module 1 is also electrically connected to a voice module 19 through a UART. The voice module 19 is an Xunfei six-microphone module in the prior art, which is used to collect voice information and forward it to the built-in tablet computer 5 through the UART. The upper control module 1 is also electrically connected to the gyroscope 16 through an I2C bus (Inter-Integrated Circuit), and is used to determine whether the robot is in a horizontal state and to assist in adjusting the horizontal angle of the body above the waist of the robot.

[0029] Example 2

[0030] Reference attached image 3 This embodiment provides a specific control structure of the central control module 2 on the basis of the first embodiment. Specifically, the central control module 2 communicates with the PIR module 9, the touch sensor module 14, and the heat sink respectively through GPIO. The module 18, the wired controller 20, the inverter module 21, the power amplifier module 22, the electronic lock 23 and the RGB LED are electrically connected; the PIR module 9 is a passive infrared detector (PIR) in the prior art, Through the high and low level changes generated by the PIR module 9, it is judged whether there are people and other creatures in front of the robot; the wired controller 20 is used to connect the keyboard and other equipment to control the robot to perform front, back, left, right, and stop operations; inverter The module 21 includes a DIP switch. There are two DIP switches. The input pins of the DIP switch are electrically connected to the central control module 2. One of the DIP switches is used to turn on/off the inverter, and the other is reserved for backup; The power amplifier module 22 is used to output audio, and it is initialized to a silent mode to prevent the speaker from making a broken sound when the robot is turned on. There are two electronic locks 23, one is used to lock the back cover of the robot, and the other is used to lock the password box outside the robot. The central control module 2 can detect the current state of the electronic lock 23 so as to perform corresponding unlocking operations according to the received instructions.

[0031] In addition, the middle control module 2 is also electrically connected to the distance measuring module 13, the load cell 24, and the wireless MIC module 25 through the I2C bus. The load cell 24 is used to weigh the current load weight of the robot bracket to kg is the unit; the wireless MIC module 25 is an existing wireless microphone (Microphone, MIC) for receiving voice information. The middle control module 2 is also electrically connected to the storage module 15 through SPI, and is electrically connected to the arm microcontroller 26 through UART. The arm microcontroller 26 can be used to collect signals from the touch sensor module 14 and the distance measurement module 13 to collect signals. Data and control RGB LED. The distance measuring module 13 includes an infrared distance measuring sensor and an ultrasonic distance measuring device in the prior art, which can be used to measure the distance between the robot and the target.

[0032] Example 3

[0033] Reference attached Figure 4 This embodiment provides a specific control structure of the bottom control module 3 on the basis of the embodiment 1-2. Specifically, the bottom control module 3 is also connected to the button module 27 and the heat dissipation module 18 through GPIO. , The inverter module 21, the reset module 28, the power module 29 and the vision camera module 10 are electrically connected; the button module 27 includes five buttons on the back of the robot to realize the front, back, left, right, and stop of the robot Operation; the inverter module 21 includes an output pin, which controls the on/off of the inverter through high and low levels, and is initialized to a shutdown state after booting. The bottom control module 3 queries the middle control module 2 for the dial code of the inverter Switch status, perform corresponding switch operations according to the checked status; reset module 28 can reset the network switch according to receiving a related reset request; vision camera module 10 includes a head 3D vision camera and a chassis 3D vision camera to facilitate images Information collection.

[0034] Further, the bottom control module 3 is also electrically connected with the distance measuring module 13, the gyroscope 16, the magnetic navigation sensor 31 and the RFID card reader 32 through the I2C bus; the current posture of the robot can be detected through the gyroscope 16, According to the detected data, it is judged whether the current robot is in a horizontal state, so as to facilitate the dynamic adjustment 7 and the foot drive mechanism 11 to prevent the robot from falling or sliding; the magnetic navigation sensor 31 can read the magnetic rail offset data for assistance The robot moves along the magnetic rail; the RFID card reader 32 can detect radio frequency identification (RFID) electronic tag information on the robot body, so as to obtain real-time position information of the robot.

[0035] In addition, the bottom control module 3 is also electrically connected to the storage module 15 through SPI, and electrically connected to the industrial control main board 12 and the remote control communication module 30 through UART. Specifically, the industrial control main board 12 is a common X86 type industrial control main board in the prior art, which can be used to transmit related data and control the walking of the robot; the remote control communication module 30 is an RF-CC1310 model host in the prior art, which is used for Detect, receive and respond to control commands issued by the remote control.

[0036] In summary, in the embodiment of the present invention, multiple control modules such as the upper control module 1, the middle control module 2, and the bottom control module 3 are provided in the control system of the service robot to communicate with each other. The components are controlled so that the upper control module 1, the middle control module 2 and the bottom control module 3 can work independently and communicate with each other, so as to reduce the requirements on the performance and stability of a single control module. It is convenient for the design and production of the service robot, and reduces the production cost, and can also improve the stability of the robot.