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WO2020103247A1 - Système et procédé de commande pour un robot bionique à programmation intelligent ia, et support de stockage - Google Patents

Système et procédé de commande pour un robot bionique à programmation intelligent ia, et support de stockage

Info

Publication number
WO2020103247A1
WO2020103247A1 PCT/CN2018/121778 CN2018121778W WO2020103247A1 WO 2020103247 A1 WO2020103247 A1 WO 2020103247A1 CN 2018121778 W CN2018121778 W CN 2018121778W WO 2020103247 A1 WO2020103247 A1 WO 2020103247A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
interactive
data
bionic robot
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/121778
Other languages
English (en)
Chinese (zh)
Inventor
欧阳建军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Tbz Technology Co Ltd
Original Assignee
Shenzhen Tbz Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Tbz Technology Co Ltd filed Critical Shenzhen Tbz Technology Co Ltd
Publication of WO2020103247A1 publication Critical patent/WO2020103247A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Definitions

  • the present application relates to the technical field of intelligent robots, and in particular, to a control system, method, and computer-readable storage medium of an AI intelligent programming bionic robot.
  • the main purpose of the present application is to provide a control system, method and computer-readable storage medium for an AI intelligently programmed bionic robot, which aims to solve the technical problem that the overall interaction effect of the robot in the prior art is poor and the true bionic effect cannot be achieved.
  • the present application provides a control system for an AI intelligent programming bionic robot.
  • the control system includes: a data acquisition module, a processor module, and a reaction adaptation module.
  • the data acquisition module and reaction adaptation module are
  • the processor module is communicatively connected,
  • the data acquisition module After acquiring the external environment data, the data acquisition module generates an interactive control instruction according to the external environment data, and sends the interactive control instruction to the processor module;
  • the processor module transmits the interactive control instruction to the corresponding reaction adaptation module
  • the reaction adaptation module adapts interactive feedback data according to the interactive control instruction, and controls the AI intelligent programming bionic robot to complete corresponding feedback according to the interactive feedback data.
  • control system further includes: an application control module and a Bluetooth module, and the application control module is communicatively connected to the processor module through the Bluetooth module,
  • the application control module After obtaining the operation instructions of the user, the application control module enters the corresponding preset interaction modes according to the operation instructions, and sends the interaction control instructions in the preset interaction modes to the Bluetooth module The processor module.
  • the application control module is provided with an intelligent programming unit that generates programming interaction instructions according to text content input by the user, and the AI intelligent programming bionic robot implements corresponding logic and / or according to the programming interaction instructions Features.
  • the Bluetooth module is a dual-mode Bluetooth module
  • the Bluetooth module transmits the interaction control instruction in each of the preset interaction modes of the application control module to the processor module, and transmits audio data to the audio module of the AI intelligent programming bionic robot.
  • control system further includes: an attitude detection module, the attitude detection module is in communication connection with the processor module, and
  • the posture detection module generates posture adjustment data based on detecting the current posture of the AI intelligent programming bionic robot, and sends the preset posture adjustment data to the processor module;
  • the processor module transmits the posture adjustment data to the motion control module
  • the motion control module controls the moving parts of the AI intelligently programmed bionic robot to perform corresponding actions according to the motion data according to the posture adjustment parameters.
  • the data acquisition module includes: a voice interaction module, a touch detection module and an obstacle detection module,
  • the voice module After receiving the user voice, the voice module generates a voice interaction control instruction according to the voice feature value of the user voice, and sends the voice control instruction to the processor module;
  • the touch detection module After detecting the user's touch operation, the touch detection module generates a touch interaction control instruction according to the touch parameter of the touch operation, and sends the touch interaction control instruction to the processor module;
  • the obstacle detection module After detecting the obstacle, the obstacle detection module generates an avoidance interaction control instruction, and sends the avoidance interaction instruction to the processor module.
  • reaction adaptation module adapts each interactive feedback data according to the current state of the AI intelligent programming bionic robot according to each interactive control instruction transmitted by the processor module.
  • the reaction adaptation module includes: a motion control module, a display module and an audio output module,
  • the motion control module controls the moving parts of the AI intelligent programming bionic robot to perform corresponding actions according to the motion data according to the motion data in the interactive feedback data;
  • the display module displays various expressions according to the expression data in the interaction feedback data, and displays a corresponding prompt when detecting that the control system enters each of the preset interaction modes;
  • the audio output module controls the sound output part of the AI intelligent programming bionic robot to play the corresponding sound according to the audio data in the interactive feedback data.
  • the present application also provides a control method of an AI intelligent programming bionic robot.
  • the control method of the AI intelligent programming bionic robot is based on the control system of the AI intelligent programming bionic robot described above.
  • the control method includes:
  • the data acquisition module After acquiring the external environment data, the data acquisition module generates an interactive control instruction according to the external environment data, and sends the interactive control instruction to the processor module;
  • the processor module transmits the interactive control instruction to the corresponding reaction adaptation module
  • the present application also provides a computer-readable storage medium having computer-readable instructions stored on the computer-readable storage medium, the computer-readable instructions executed by the processor to achieve the above AI intelligent programming bionic robot control method steps.
  • an interactive control instruction is generated according to the external environment data, and the interactive control instruction is sent to the processor module; the processor module controls the interaction The instruction is transferred to the corresponding reaction adaptation module; the reaction adaptation module adapts interactive feedback data according to the interactive control instruction, and controls the AI intelligent programming bionic robot to complete corresponding feedback according to the interactive feedback data.
  • the AI intelligent programming bionic robot Based on external environment data and user's various control operations, it automatically detects and recognizes environmental data and generates interactive control instructions. According to the interactive control instructions and AI intelligent programming bionic robot current state parameters, it automatically matches the corresponding interactive feedback data, and according to the interactive feedback data Control the AI intelligent programming bionic robot to complete the corresponding interactive feedback action, improve the overall interactive performance of the robot, and make the intelligent robot truly achieve the effect of real bionic.
  • FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment involved in an embodiment of the present application
  • FIG. 2 is a schematic diagram of the structural layout of the control system of the AI intelligent programming bionic robot of the present application
  • FIG. 3 is a schematic view of an interface in an embodiment of a control system of an AI intelligent programming bionic robot of the present application
  • FIG. 4 is a schematic flowchart of an embodiment of a control method of an AI intelligent programming bionic robot of the present application.
  • Label name Label name 1 Data acquisition module 2 Processor module 3 Reaction adaptation module 4 Application Control Module 5 Bluetooth module 6 Attitude detection module 7 Voice interaction module 8 Touch detection module 9 Obstacle detection module 10 Motion control module 11 Display module 12 Audio output module
  • the main solution of the embodiment of the present application is: after acquiring the external environment data, the data acquisition module generates an interactive control instruction according to the external environment data, and sends the interactive control instruction to the processor module; The processor module transmits the interactive control instruction to the corresponding reaction adaptation module; the reaction adaptation module adapts interactive feedback data according to the interactive control instruction, and controls the AI according to the interactive feedback data The intelligent programming bionic robot completes the corresponding feedback.
  • FIG. 1 is a schematic structural diagram of a terminal to which a device in a hardware operating environment according to an embodiment of the present application belongs.
  • the terminal of the embodiment of the present application carries a control system of an AI intelligent programming bionic robot.
  • the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002.
  • the communication bus 1002 is used to implement connection communication between these components.
  • the user interface 1003 may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
  • the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).
  • the memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as disk storage.
  • the memory 1005 may optionally be a storage device independent of the foregoing processor 1001.
  • the mobile terminal can be used for applications that recognize the posture of mobile terminals (such as horizontal and vertical screen switching, Related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tap), etc.
  • the mobile terminal can also be configured with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. No longer.
  • terminal structure shown in FIG. 1 does not constitute a limitation on the terminal, and may include more or fewer components than those illustrated, or combine certain components, or arrange different components.
  • the network interface 1004 is mainly used to connect to the back-end server and perform data communication with the back-end server;
  • the user interface 1003 is mainly used to connect to the client (user end) and perform data communication with the client;
  • the processor 1001 can be used to call computer-readable instructions stored in the memory 1005 and perform the following operations:
  • the data acquisition module After acquiring the external environment data, the data acquisition module generates an interactive control instruction according to the external environment data, and sends the interactive control instruction to the processor module;
  • the processor module transmits the interactive control instruction to the corresponding reaction adaptation module
  • the reaction adaptation module adapts interactive feedback data according to the interactive control instruction, and controls the AI intelligent programming bionic robot to complete corresponding feedback according to the interactive feedback data.
  • the application control module After obtaining the operation instructions of the user, the application control module enters the corresponding preset interaction modes according to the operation instructions, and sends the interaction control instructions in the preset interaction modes to the Bluetooth module The processor module.
  • the application control module is provided with an intelligent programming unit that generates programming interaction instructions according to text content input by the user, and the AI intelligent programming bionic robot implements corresponding logic and / or functions according to the programming interaction instructions .
  • the Bluetooth module is a dual-mode Bluetooth module
  • the Bluetooth module transmits the interaction control instruction in each of the preset interaction modes of the application control module to the processor module, and transmits audio data to the audio output module of the AI intelligent programming bionic robot .
  • control system further includes: an attitude detection module, the attitude detection module is in communication connection with the processor module,
  • the posture detection module matches a preset posture adjustment instruction according to detecting the current posture of the AI intelligent programming bionic robot, and sends the preset posture adjustment instruction to the processor module, and the processor module according to the A preset posture adjustment instruction controls the motion module to perform the corresponding action in the preset motion mode.
  • the data acquisition module includes: a voice interaction module, a touch detection module and an obstacle detection module,
  • the voice module After receiving the user voice, the voice module generates a voice interaction control instruction according to the voice feature value of the user voice, and sends the voice control instruction to the processor module;
  • the touch detection module After detecting the user's touch operation, the touch detection module generates a touch interaction control instruction according to the touch parameter of the touch operation, and sends the touch interaction control instruction to the processor module;
  • the obstacle detection module After detecting the obstacle, the obstacle detection module generates an avoidance interaction control instruction, and sends the avoidance interaction instruction to the processor module.
  • reaction adaptation module adapts each interactive feedback data according to each interactive control instruction transmitted by the processor module, combined with state parameters of the current state of the AI intelligent programming bionic robot.
  • reaction adaptation module includes: a motion control module, a display module and an audio output module,
  • the motion control module controls the moving parts of the AI intelligent programming bionic robot to perform corresponding actions according to the motion data according to the motion data in the interactive feedback data;
  • the display module displays various expressions according to the expression data in the interaction feedback data, and displays a corresponding prompt when detecting that the control system enters each of the preset interaction modes;
  • FIG. 2 is a schematic structural layout diagram of an embodiment of a sensor fusion system of the present application.
  • the transmission control system includes: a data acquisition module 1, a processor module 2, a reaction adaptation module 3, an application control module 4, and a Bluetooth module 5 and the posture detection module 6, the data acquisition module 1 and the reaction adaptation module 3 are respectively communicatively connected to the processor module 2, and the application control module 4 is communicatively connected to the processor module 2 through the Bluetooth module 5; wherein, the data acquisition module 1 includes: The voice interaction module 7, the touch detection module 8 and the obstacle detection module 9, and the reaction adaptation module 3 include: a motion control module 10, a display module 11 and an audio output module 12.
  • the data acquisition module 1 extracts the sound, image or vibration data through a specific extraction algorithm In the feature value in, the extracted feature value is matched with the preset interactive control instruction, and then the corresponding interactive control instruction is generated.
  • the preset interactive control instruction may be a corresponding interactive control instruction library that previously saves text information, volume level, obstacle image, or vibration amount level.
  • the voice interaction module 7 in the data acquisition module 1 receives the "seat me down” voice issued by the user
  • the "seat me down” voice issued by the user is extracted through a voice text extraction algorithm "Sit me down” text information feature value, and match the extracted "seat me down” text information feature value in the interactive control instruction library corresponding to the pre-saved text information to the "sit me down” text information place Corresponding to the "sit down” voice control instruction, thereby realizing the recognition of the "sit down” voice control instruction in the "sit me” voice issued by the user.
  • the voice interaction module 7 can also identify the volume of the sound volume emitted by the user or the volume of the ambient sound according to the sound volume extraction algorithm, and generate interactive responses to the volume based on the volume.
  • the control system of the AI intelligent programming bionic robot can be based on this The volume responds to the interactive control instruction, and controls the motion control module 10 and / or the audio output module 12 and the display module 11 in the response adaptation module 3 to corresponding interactive feedback.
  • the voice interaction module 7 detects that the ambient sound contains a loud "thunder” sound, it generates a corresponding "stun” reaction interaction instruction, and the processor module 20 in the control system receives the "stun” reaction interaction After the instruction, the audio output module 12 in the reaction adaptation module 3 is simultaneously controlled to output the preset "scared” sound, the display module 11 is controlled to display the preset "scared” expression, and the motion control module 10 is controlled to complete the preset "Fright” action.
  • the motion control module 10 controls the moving parts of the AI intelligent programming bionic robot according to the motion data in the interactive feedback data matched by the reaction adaptation module 3 to perform corresponding actions according to the motion data.
  • the AI intelligent programming bionic robot moves.
  • the processor module 2 may be a dual-core processor including two 32-bit MCUs.
  • the voice interaction module 7 in the data acquisition module 1 recognizes the "sit down” voice control instruction in the user's voice
  • the recognized "sit down” voice control instruction is sent to the dual-core processor, and the dual-core processor receives And execute the “sit down” voice control instruction, and send the "sit down” voice control instruction to the motion control module 10 in the reaction adaptation module 3 that is suitable for the "sit down” action.
  • the reaction adaptation module 3 After receiving the interactive control instruction sent by the processor module 2, the reaction adaptation module 3 adapts the interactive feedback data according to the interactive control instruction and the AI intelligent programming bionic robot, and controls the AI intelligent programming bionic robot to complete the corresponding feedback according to the interactive feedback data.
  • the motion control module 10 after receiving the "sit down" voice control instruction sent by the processor module 2, the motion control module 10 adapts interactive feedback according to the "sit down” voice control instruction and the current state parameters of the AI intelligent programming bionic robot Data, for example, the current state of the AI intelligent programming bionic robot is "hungry", the motion control module 10 reduces the "speed” parameter in the motion data of the "sit down” action pointed to by the "sit down” voice control instruction, According to the motion data of the "sit down” action after reducing the "speed” parameter, the AI intelligent programming bionic robot is controlled to "slow down” the moving parts.
  • each moving part of the AI intelligent programming bionic robot is a hardware structure such as movable limbs or joints.
  • the data acquisition module 1 after receiving the sound, image or vibration data in the external environment, extracts the feature values in the sound, image or vibration data through a specific extraction algorithm, and extracts the extracted feature values Match the preset interactive control instructions to generate corresponding interactive control instructions. After the data acquisition module 1 generates the interactive control instructions, send the generated interactive control instructions to the processor module 2 in the control system.
  • the processor module 2 Receive each interactive control instruction and send each interactive control instruction to the motion control module 10, display module 11 or audio output module 12 in the reaction adaptation module 3, the reaction adaptation module 3 receives the interaction sent by the processor module 2 After the control instruction, the interactive feedback data is adapted to the AI intelligent programming bionic robot according to the interactive control instruction, and the AI intelligent programming bionic robot is controlled according to the interactive feedback data to complete the corresponding feedback. Based on external environment data and user's various control operations, it automatically detects and recognizes environmental data and generates interactive control instructions.
  • the interactive control instructions and AI intelligent programming bionic robot current state parameters, it automatically matches the corresponding interactive feedback data, and according to the interactive feedback data Control the AI intelligent programming bionic robot to complete the corresponding interactive feedback actions, improve the interactive performance between the intelligent robot and the user and the environment, make the intelligent robot truly achieve the real bionic effect, and improve the user's experience.
  • the application control module 4 enters the corresponding preset interaction according to the operation parameters of the operation instructions after acquiring the operation instructions input by the user based on the application interaction mode
  • the interactive control commands generated based on user operations are transmitted to the processor module 2 through the Bluetooth module 5.
  • the preset interaction mode is a mode pre-saved in the application module 4 that controls the AI intelligent programming bionic robot to make corresponding interaction reactions with user operations according to different operations of the user.
  • the application control module 4 obtains a user-entered interactive mode operation instruction based on the click operation input on the display interface of the AI intelligent programming bionic robot as shown in FIG. 3, and determines application control according to the entered interactive mode operation instruction In each preset interaction mode of the module, the instruction points to the target preset interaction mode, and enters the target preset interaction mode. After entering the target preset interaction mode, the user's specific operation is obtained, and an interaction control instruction is generated to interact The control instruction is sent to the processor module 2 of the control system through the Bluetooth module 5.
  • the application control module 4 is provided with an intelligent programming unit, an action remote control unit, an online music unit, an intelligent feeding unit, and a multi-polar interactive unit. Each unit can control the corresponding functions of the AI intelligent programming bionic robot.
  • the intelligent programming unit is based on the text input by the user
  • the content generates programming interaction instructions, and the AI intelligent programming bionic robot realizes corresponding logic and / or functions according to the programming interaction instructions.
  • the user after the user clicks the "intelligent programming mode” operation on the display interface of the control system of the AI intelligent programming bionic robot as shown in FIG. 3 through the mobile phone, the user enters the control system and saves according to the user's click.
  • "Intelligent programming mode” operation which controls the AI intelligent programming bionic robot to make corresponding interactive response according to the "program content” input by the user.
  • the user writes a robot to lie down and then turn Circle action: Drag the "program start” box from the control instruction area to the editing area in the middle of the screen.
  • the instruction block under the "program start” box When the program is executed, the instruction block under the "program start” box will be executed first, and “get down” from the action instruction area “Block, connect it under the” program start “block, then drag the” turn circle “block from the action instruction area, connect it under the” squat down “block, and finally click to execute, the intelligent programming unit in the application control module 4 will The user writes and enters the "pull down-turn a circle” interactive control instruction to be transmitted to the dual-core processor module 2 through the Bluetooth module 5, and the dual-core processor module 2 executes the "paw down-turns a circle” interactive control instruction to control the motion control module 10 carry out “Paw down-turn a circle” action, that is, control the moving parts of the AI intelligent programming bionic robot "lie down, and then turn a circle”.
  • the intelligent programming unit can be composed of a compilation area, a control module, a logic module, a condition module, an action module, a sound module, and an expression module
  • the AI intelligent programming bionic robot can be customized through the application control module 4 and the Bluetooth module 5
  • each module in the intelligent programming unit has a corresponding instruction icon, and the user can drag to the compilation area to compile and execute.
  • the instruction icon in the control module has instruction icons such as program start and start by head.
  • the instruction icons in the logic module include "if", "while” and other instruction icons. The user can compile according to the action expression sound he envisions.
  • each instruction sequence can be modified and deleted in order to achieve specific kinetic energy.
  • the Bluetooth module 5 may be a dual-mode Bluetooth module, and all data of the application control module 4, including: classic Bluetooth data stream, BLE data stream, etc., are all transmitted by the Bluetooth module 5, specifically, for example, the application control module 4 is transmitted using Bluetooth 2.0
  • the audio data output from the online music unit uses Bluetooth 4.0 to transmit the interactive control command data generated in each preset mode of the application control module 4 in a transparent transmission manner, such as a BLE data stream.
  • the audio output module 12 in the control system of the AI intelligent programming bionic robot can be an audio amplifier and a speaker, amplify the sound source output by the Bluetooth chip, and drive the amplified sound source to the speaker, the speaker can play a high High-fidelity sounds and music, and when the AI intelligent programming bionic robot is in the music playback mode, output high-quality high-fidelity music or stories.
  • the corresponding preset interaction modes are entered, and through the Bluetooth module 5, the preset interaction modes
  • the interactive control instruction is sent to the processor module 2, and the programming interactive instruction is generated according to the interactive program input by the user through the intelligent programming unit of the application control module 4,
  • the AI intelligent programming bionic robot realizes the corresponding logic and / or functions according to the programming interactive instructions.
  • the Bluetooth module 5 transmits the interactive control instructions in the preset interactive modes of the application control module 4 to the processor module 2 and transmits the audio data to the AI The audio output module 12 of the intelligently programmed bionic robot.
  • the posture detection module detects the current standing, falling down, right falling, and lying postures of the AI intelligent programming bionic robot at all times in 360 degrees at all times. And the AI intelligent programming bionic robot will detect its posture in different modes, generate posture adjustment parameters in the posture according to the detected current posture, and send the posture adjustment parameters to the processor module 2, and the processor module 2 adjusts the posture The parameters are sent to the motion control module 10 in the reaction adaptation module 3, and the motion control module 10 matches and controls each active part of the AI intelligently programmed bionic robot to complete the corresponding posture adjustment action.
  • the AI intelligent programming bionic robot is provided with five independent potentiometers, each angle of the potentiometer has an AD value, and each action and posture has a corresponding AD value.
  • the posture detection module 6 is The processor module 2 is connected, and the posture detection module 6 corrects and confirms whether the AI intelligent programming bionic robot is in a "standing" attitude by sampling each AD value, and a pair of AI intelligent programming bionic robots can also be set.
  • the inverted detection sensor which is connected to the processor module 2, determines whether the AI intelligent programming bionic robot is in the "inverted” posture by collecting the sensor information, and when the attitude detection module 6 determines that the AI intelligent programming bionic robot is in the "standing” or When “Inverted”, match the posture adjustment parameters matching the “standing” or “inverted” posture in the posture detection module 6 according to the “standing” or “inverted” posture, and send the matched posture adjustment parameters to the control
  • the processor module 2 of the system the processor module 2 receives and sends the posture adjustment parameters to the motion control module 10, and the motion
  • the touch detection module 8 After detecting the user's touch operation, the touch detection module 8 matches the touch interaction control instruction in the touch detection module 8 according to each touch parameter of the user's touch operation, and sends the touch interaction control instruction to the processor module 2, the processor The module 2 sends the touch interaction control instruction to the reaction adaptation module 3, the reaction adaptation module 3 matches corresponding motion parameters, and controls the AI intelligent programming bionic robot to complete the corresponding interactive feedback action.
  • the touch detection module 8 may be a touch point set at multiple positions on the body of the AI intelligent programming bionic robot, for example, setting a touch point on the chin and back of the AI intelligent programming bionic robot respectively, and detecting through the touch point Whether the user touches the AI intelligent programming bionic robot.
  • the touch detection module 8 matches the touch that matches the touch parameter according to the touch parameters such as the touch intensity and the duration of the user's touch operation.
  • Interactive control instructions and send the matched touch interactive control instructions to the processor module 2 of the control system
  • the processor module 2 receives and sends the touch interactive control instructions to the reaction adaptation module 3 of the control system, reacts
  • the adaptation module 3 matches the motion data corresponding to the preset touch response instruction, and controls the AI intelligently programmed bionic robot interactive feedback action according to the motion data.
  • the obstacle detection module 9 After detecting the obstacle, the obstacle detection module 9 generates the avoidance interaction control instruction and sends the avoidance interaction control instruction to the processor module 2, and the processor module 2 transmits the avoidance interaction control instruction to the motion control in the reaction adaptation module 3 Module 10, the motion control module 10 matches and controls the moving parts to complete the corresponding avoidance actions according to the motion parameters.
  • the obstacle detection module 9 may be set as an infrared vision module, AI intelligent programming bionic robot perceives external objects based on the infrared vision module.
  • the infrared vision module includes an infrared transmitting unit and an infrared receiving unit.
  • the infrared transmitting unit is used to emit infrared light beams
  • the infrared receiving unit is used to receive infrared light reflected by the objects; when the AI Intelligent programming bionic robot In motion, the AI intelligent programming bionic robot can detect whether there is an obstacle in front through the infrared vision module.
  • the dual-core processor receives and sends the avoidance interaction control instruction to the motion control module 10, and the motion control module 10 matches the motion parameters of the corresponding avoidance action according to the avoidance interaction control instruction, and controls the movement of the moving part according to the avoidance action
  • the parameters complete the avoidance action, that is, control the AI intelligent programming bionic robot to adjust the direction or movement mode, so as to avoid obstacles.
  • the display module 11 displays various expressions according to the adapted expression data, and displays a corresponding prompt when it detects that the control system enters each preset interaction mode of each application control module 4.
  • the display module 11 may be two special eye-shaped LED dot matrix screens.
  • the dot matrix screen is two 8 * 8 total 128 independent LED dot matrixes, and the LED emission color is a yellow matte surface.
  • the touch detection module 8 matches the touch interaction control instructions in the touch detection module 8 according to each touch parameter of the user's touch operation; the posture detection module 6 always detects 360 degrees in all directions AI smart programming bionic robot's current standing, falling down, right down and lying down postures, and will detect its posture when the AI smart programming bionic robot is in different modes, matching the posture adjustment parameters according to the detected current posture; obstacles After detecting the obstacle, the detection module 9 generates an avoidance interactive control instruction; each module transmits the matched interactive control instruction or adjustment parameter to the processor module 2, and the processor module 2 sends each received interactive control instruction and adjustment parameter To each module in the reaction adaptation module 3, the AI intelligent programming bionic robot completes the corresponding feedback from each module, and the display module 11 displays various expressions according to the expression data display instructions to express the emotional changes of the AI intelligent programming bionic robot, When the control system enters each preset interaction mode, a corresponding prompt is displayed.
  • the motion control module 10 controls each moving part of the AI intelligent programming bionic robot to complete corresponding actions, such as turning, sitting, lying, rolling, advancing, retreating, etc.
  • the motion control module 10 may include: an angle detection unit, a PID algorithm unit, and a motor execution unit, the angle detection unit is used to detect the rotation angle of the structure-separated steering gear built into the AI intelligent programming bionic robot;
  • the PID algorithm unit is used to calculate the motion of the AI intelligently programmed bionic robot through the PID algorithm according to the rotation angle;
  • the motor execution unit is used to control the AI intelligently programmed bionic robot to perform the corresponding motion through the motor according to the motion.
  • the application control module 4 can control the movement of the AI intelligent programming bionic robot and play audio content based on the operation input by the user through the mobile phone.
  • the application control module 4 includes four major unit blocks: an action remote control unit, an intelligent programming unit, an online music unit, and an intelligent feeding unit And multi-machine interactive unit.
  • the motion remote control unit can receive the user's real-time control of the AI smart programming bionic robot movement through the mobile phone APP, for example, by acquiring the touch sliding path input by the user through the mobile phone APP to control the AI smart programming bionic robot to move forward, backward, walk left and right, and complete Such as sitting down, rolling, turning in circles, dancing with a music show for a variety of movements;
  • the online music unit can receive audio through the Bluetooth module 5 of the AI intelligent programming bionic robot and play the audio data content selected by the user through the audio output module 12;
  • the intelligent feeding unit is used to receive the food from the user by dragging the food option to the AI intelligent programming bionic robot.
  • the AI intelligent programming bionic robot makes different reactions according to different foods.
  • the user uses the interactive mode interface shown in After entering the loving feeding mode, the user selects and drags "food” on the displayed food chain, and according to the dragging path, "posts” the picture corresponding to "food” to the displayed AI intelligent programming bionics according to the dragging path Near the robot picture to complete the "feeding" action, the application control module determines the type of "food” selected by the user, matches the matching results of "not eatable” and “not favorite food” according to the type of "food”, and passes the Bluetooth module 5.
  • the processor module 2 controls the motion control module 10 to save “dead” and all actions of the AI intelligent programming bionic robot. "Ignored” and other actions.
  • the multi-machine interactive unit is used to receive user on-demand information through the mobile APP, and connect multiple AI intelligent programming bionic robots to perform specific performances, for example, when the user uses the mobile APP to connect multiple AI intelligent programming bionic robots via Bluetooth BLE , Number the robots accordingly, other users can perform individual operation performance on the specific number of AI intelligent programming bionic robots through the mobile phone APP, or choose any number to combine to perform actions and audio operations on the combined AI intelligent programming bionic robots.
  • the AI intelligent programming bionic robot is controlled by the motion control module 10 to complete corresponding actions.
  • the application control module 4 includes four major unit blocks: an action remote control unit, an intelligent programming unit, an online music unit, an intelligent feeding unit, and multi-machine interaction
  • the unit based on the operation input by the user through the mobile phone, controls the movement of the AI intelligent programming bionic robot and plays audio content, receives the audio through the Bluetooth module 5 of the AI intelligent programming bionic robot, and plays the content selected by the user through the audio output module 12, so that the user Choose to play any online or local audio data, and based on each unit module, add various entertainment interaction modes to control the AI intelligent programming bionic robot to start various functions or complete corresponding interactive actions, which not only enhances the entertainment of the robot, but also achieves The educational and educational effects of robots on users.
  • FIG. 4 is a schematic flowchart of an embodiment of a control method of an AI intelligent programming bionic robot of the present application.
  • the embodiment of the present application provides an embodiment of the control method of the AI intelligent programming bionic robot. It should be noted that although the logic sequence is shown in the flowchart, in some cases, it may be executed in an order different from here The steps shown or described.
  • Step S10 After acquiring external environment data, the data acquisition module generates an interactive control instruction according to the external environment data, and sends the interactive control instruction to the processor module.
  • the data acquisition module After receiving the sound, image or vibration data in the external environment, the data acquisition module extracts the feature value of the sound, image or vibration data through a specific extraction algorithm, and matches the extracted feature value with the preset interactive control instruction To generate corresponding interactive control instructions.
  • the "send me” voice of the "sit me down” voice issued by the user is extracted through a speech text extraction algorithm "Sit down” text information feature value, and match the extracted "Sit me down” text information feature value to the corresponding "Sit me down” text information in the interactive control instruction library corresponding to the pre-saved text information "Sit down” voice control instruction, thereby realizing recognition of the "sit down” voice control instruction in the "sit down” voice issued by the user.
  • the voice interaction module can also identify the volume of the user's voice or the ambient sound volume according to the sound volume extraction algorithm, and generate interactive responses to the interactive commands according to the volume.
  • the control system of the AI intelligent programming bionic robot can use the volume React to interactive control instructions, control the corresponding interactive feedback of the motion control module and / or audio output module and the display module in the reaction adaptation module. For example, when the voice interaction module detects that the ambient sound contains a loud “thunder” sound, it generates a corresponding “fright” reaction interactive instruction.
  • the audio output module in the reaction adaptation module is simultaneously controlled to output a preset “scared” sound
  • the display module is controlled to display a preset “scared” expression
  • the motion control module is controlled to complete a preset “scared” action.
  • step S20 the processor module transmits the interactive control instruction to the corresponding reaction adaptation module.
  • the generated interactive control instructions are sent to the processor module in the control system.
  • the processor module receives the interactive control instructions and sends the interactive control instructions to the reaction adaptation module. Motion control module, display module or audio output module.
  • the motion control module controls the moving parts of the AI intelligent programming bionic robot according to the motion data in the interactive feedback data matched by the reaction adaptation module to perform corresponding actions according to the motion data.
  • the AI intelligent programming bionic robot moves.
  • the processor module may be a dual-core processor including two 32-bit MCUs.
  • the voice interaction module in the data acquisition module recognizes the "sit down” voice control instruction in the voice made by the user
  • the recognized "sit down” voice control instruction is sent to the dual-core processor, and the dual-core processor receives and executes
  • the "sit down” voice control instruction sends the "sit down” voice control instruction to the motion control module in the reaction adaptation module adapted to the "sit down” action.
  • Step S30 the reaction adaptation module adapts interactive feedback data according to the interactive control instruction, and controls the AI intelligent programming bionic robot to complete corresponding feedback according to the interactive feedback data.
  • the reaction adaptation module After receiving the interactive control instruction sent by the processor module, the reaction adaptation module adapts the interactive feedback data according to the interactive control instruction and the AI intelligent programming bionic robot, and controls the AI intelligent programming bionic robot to complete the corresponding feedback according to the interactive feedback data.
  • the motion control module after receiving the "sitting down” voice control instruction sent by the processor module, the motion control module adapts the interactive feedback data according to the "sitting down” voice control instruction and the current state parameter of the AI intelligent programming bionic robot, For example, if the current state of the AI intelligent programming bionic robot is "hungry", the motion control module will reduce the "speed” parameter in the motion data of the "sit down” action pointed to by the "sit down” voice control instruction.
  • the "speed” parameter reduces the motion data of the "sit down” action after adaptation, and controls the moving parts of the AI intelligent programming bionic robot to "slow down”.
  • each moving part of the AI intelligent programming bionic robot is a hardware structure such as movable limbs or joints.
  • an interactive control instruction is generated according to the external environment data, and the interactive control instruction is sent to the processor module; the processor The module transmits the interactive control instruction to the corresponding reaction adaptation module; the reaction adaptation module adapts interactive feedback data according to the interactive control instruction, and controls the AI intelligent programming bionics according to the interactive feedback data
  • the robot completes the corresponding feedback.
  • the voice feature value in the user's voice or the ambient voice is extracted through a specific extraction algorithm, and the extracted feature value and the voice control instruction in the preset voice mode library
  • the voice control instruction in the voice made by the user is recognized, and after the voice module recognizes the voice control instruction in the voice made by the user, the recognized voice control instruction is sent to the processor module in the control system.
  • the module receives the voice control instruction and executes the voice control instruction to control the motion module in the control system of the AI intelligent programming bionic robot to complete the corresponding action in the preset motion mode.
  • the characteristic value in the sound, image or vibration data is extracted through a specific extraction algorithm, and the extracted characteristic value is performed with the preset interactive control instruction Match, and then generate corresponding interactive control instructions.
  • the generated interactive control instructions are sent to the processor module in the control system.
  • the processor module receives the interactive control instructions and sends each interactive The control instruction is sent to the motion control module, the display module or the audio output module in the reaction adaptation module.
  • the reaction adaptation module adapts to the AI intelligent programming bionic robot according to the interactive control instruction Interactive feedback data, and control the AI intelligent programming bionic robot to complete the corresponding feedback according to the interactive feedback data.
  • the AI intelligent programming bionic robot Based on external environment data and user's various control operations, it automatically detects and recognizes environmental data and generates interactive control instructions. According to the interactive control instructions and AI intelligent programming bionic robot current state parameters, it automatically matches the corresponding interactive feedback data, and according to the interactive feedback data Control the AI intelligent programming bionic robot to complete the corresponding interactive feedback actions, improve the interactive performance between the intelligent robot and the user and the environment, make the intelligent robot truly achieve the real bionic effect, and improve the user's experience.
  • the embodiments of the present application also provide a computer-readable storage medium, and the computer-readable storage medium may be a non-volatile readable storage medium.
  • the computer-readable storage medium of the present application stores computer-readable instructions, which when executed by the processor, implement the steps of the control method of the AI intelligent programming bionic robot as described above.

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Abstract

L'invention concerne un système et un procédé de commande pour un robot bionique à programmation intelligent IA, et un support de stockage lisible, comprenant : un module d'acquisition de données (1), un module de processeur (2), et un module d'adaptation réactif (3). Le module d'acquisition de données (1) et le module d'adaptation réactif (3) sont respectivement connectés en communication au module de processeur (2). Lorsque le module d'acquisition de données (1) acquiert des données d'environnement externe, il génère une instruction de commande interactive sur la base des données d'environnement externe et transmet l'instruction de commande interactive au module de processeur (2) ; le module de processeur (2) transmet l'instruction de commande interactive au module d'adaptation réactif correspondant (3) ; et le module d'adaptation réactif (3) s'adapte à des données de rétroaction interactives sur la base de l'instruction de commande interactive et commande le robot bionique à programmation intelligent IA pour effectuer une rétroaction correspondante sur la base des données de rétroaction interactives. La performance interactive globale du robot est augmentée, permettant ainsi au robot intelligent d'exercer véritablement des effets bioniques réels.
PCT/CN2018/121778 2018-11-19 2018-12-18 Système et procédé de commande pour un robot bionique à programmation intelligent ia, et support de stockage Ceased WO2020103247A1 (fr)

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