CN109557920A - A kind of self-navigation Jian Tu robot and control method - Google Patents
A kind of self-navigation Jian Tu robot and control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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Abstract
The invention discloses a kind of self-navigation Jian Tu robot and control methods, pass through the master controller, the radar scanning module, speech recognition module, robot can be made to complete relevant function by voice input, control is simple, by drive module can real time inspection robot related data, pass through radar scanning module, image capture module and drive module can realize the avoidance of robot, composition and navigation feature, it is intelligent high, it can replace people and complete dangerous work, master controller can pass through network transmission image capture module acquired image in real time, robot motion path is determined by acquired image, realize the avoidance of robot, composition and navigation feature.
Description
Technical field
The present invention relates to robot navigation's technical field more particularly to a kind of self-navigation Jian Tu robots.
Background technique
Currently, under the intelligent and automation development swift and violent epoch, on the market popular number of types of new design and
Product, such as smart home, intelligent carriage robot etc., and the intelligent Robot of a branch as intelligent robot
Most of is based on SCM system and to gather the robot car of multiple sensors composition, intelligence mapping machine on the market
People, intelligence degree is lower, and the simplicity used is lower.
Summary of the invention
It is an object of the invention to propose a kind of self-navigation Jian Tu robot and control method.
To achieve this purpose, the present invention adopts the following technical scheme:
Self-navigation Jian Tu robot is equipped with master controller, radar scanning module, image capture module and driving mould
Block realizes that map is surveyed by the master controller, the radar scanning module, described image acquisition module and the drive module
Draw function, the ground mapping function the following steps are included:
Step D1: it initialization: by radar scanning module to barrier emission detection signal laser beam, then will receive
The reflected signal target echo of slave target with transmitting signal be compared；
Step D2: global path planning: the planning of overall path is carried out according to given target position, using Di Jiesite
Algorithm is drawn, the least cost path on map, the global route as robot are calculated；
Step D3: local planning in real time: under the data of map, pass through the dynamic window of the track method of development and local avoidance
Method search reaches a plurality of road warp of target, chooses optimal path, and calculates required real-time speed and angle；
Step D4: real-time speed required for master controller will calculate and angle are output to drive control device control and drive
The movement of dynamic motor.
Robot is found out from source position to target position most by global route planning and the local method planned in real time
Shortest path determines that the direction of advance of trolley realizes the autonomous of robot to control drive control device according to the information of calculating simultaneously
Navigation realizes that independent navigation builds figure function until depicting entire plane information, and by building figure function automatically, real-time is stronger,
Radar scanning module replaces traditional ultrasound techniques using slam laser radar scanning technology to realize the avoidance of intelligent carriage,
Avoidance effect is good.
Preferably, the Dijkstra's algorithm the following steps are included:
Step D21: S is set as the set of shortest path, in the initial state, set S only includes source point, i.e. set S=
{ v }, the distance of v are that 0, U includes other vertex in addition to v, it may be assumed that U={ remaining vertex }, if vertex u has side in v and U, and <u, v
>normally there is weight, if u is not the side abutment points out of v,<u,v>weight is ∞；
Step D22: choosing the smallest vertex k of a distance v from U, k is added in set S, selected distance is v
To the shortest path of k；
Step D23: being the intermediate point newly considered with k, modifies the distance on each vertex in U；If from source point v after the k of vertex
Distance to vertex u is shorter than the distance without vertex k, then modifies the distance value of vertex u, the vertex k of modified distance value
Distance plus the power on side；
Step D24: step D22 and D23 is repeated until all vertex are included in set S；
Step D25: after calculating, each vertex of shortest path is contained in set S, is completed to institute's mapping
Global path planning.
Dijkstra's algorithm algorithm is typical signal source shortest path algorithm, all to other for calculating a node
The shortest path of node extended layer by layer outward centered on starting point, until expanding to terminal, is completed to being surveyed and drawn
Map global path planning.
Preferably, the dynamic window method of the track method of development and local avoidance the following steps are included:
Step D31: pass through driving motor and the speed and angle of angular transducer sampling robot current driving；
Step D32: for the speed of each sampling, calculating robot travels the state after a period of time with the speed, obtains
The route of a traveling out；
Step D33: according to whether the time required for meeting strikes obstacles and traveling gives a mark to every vehicle line；
Step D34: selecting the highest vehicle line of marking is optimal path；
Step D35: above step is repeated, the mapping of to map is completed.
The dynamic window method of the track method of development and local avoidance is Trajectory Rollout and Dynamic Window
Approaches algorithm hide according to the barrier near radar scanning module scans the implementary plan of route, in the overall situation
Under the data in path, search reach target a plurality of road warp, using whether can strikes obstacles and required time
Standard chooses optimal path, and calculates required real-time speed and angle, completes the mapping of to map.
Preferably, 4, further include speech recognition module, voice broadcast module module and screen display module, pass through institute's predicate
Sound identification module, the voice broadcast module module and the screen display module realize voice control function, the voice control
System the following steps are included:
Step A: initialization: master controller powers on reception data, sends instructions to speech recognition module, opens voice input
Mode；
Step B:ASR language dictation: operator will be defeated to speech recognition module input voice information, speech recognition module
The voice messaging entered by ASR technology, be converted to computer can read input information, and be transferred to master controller；
Step C: keyword identification and output voice: master controller is by scheming clever speech analysis to the key in input voice
Word identification, and synthesizes by tts language, the voice after synthesizing to voice broadcast module output, indicate user to robot
It operates in next step；
Step D: master controller drives radar scanning module, image capture module and driving according to the keyword identified
Module completes self-navigation, Image Acquisition, ground mapping or the operation for adjusting robot pose.
It is inputted, is realized to the function of self-navigation, Image Acquisition, ground mapping and adjustment robot pose by voice
Control, ASR technology are used to the vocabulary Content Transformation in the voice of the mankind be computer-readable input, scheme clever speech analysis and use
Keyword in identification input voice completes specified function, tts language according to the keyword-driven robot in input voice
Synthesis is exported by voice broadcast module for synthesizing interactive voice, realizes human-computer dialogue, inputted by voice
Robot is controlled, it is intelligent high.
Preferably, including the master controller, the radar scanning module, the speech recognition module, the voice are broadcast
Report module, described image acquisition module, the screen display module and the drive module；
The radar scanning module is used for emission detection signal laser beam, the reflected signal of slave target that will be received
Target echo is compared with transmitting signal；
The speech recognition module is used for input voice information, and passes through the dynamic of the identification control robot to voice messaging
Work and function；
Image capture module is used for by shooting external environment to acquire image information, and image information is for determining trolley
Motion path；
Screen display module and voice broadcast module are used to show the information and broadcast operation instruction of robot, realize man-machine
Dialogue；
Drive module is used to drive the movement of robot, and obtains nine number of axle evidences of robot.
The radar scanning module, the speech recognition module and described image acquisition module respectively with the master controller
Electrical connection, the input terminal of the screen display module, the voice broadcast module and the drive module respectively with the master control
The output end of device processed is electrically connected, and the input terminal of the voice broadcast module is electrically connected with the output end of the speech recognition module.
Self-navigation Jian Tu robot of the invention has speech recognition module, robot can be made complete by voice input
At relevant function, control is simple, by drive module can real time inspection robot related data, pass through radar scanning mould
Block, image capture module and drive module can realize avoidance, composition and the navigation feature of robot, intelligent high, can replace
People completes dangerous work, and master controller can pass through network transmission image capture module acquired image in real time, pass through acquisition
The image arrived determines robot motion path, realizes avoidance, composition and the navigation feature of robot.
Preferably, the drive module includes drive control device, driving motor, angular transducer and voltage dropper, institute
The input terminal for stating drive control device is electrically connected with the master controller, the output end of the drive control device respectively with the driving
Motor, the angular transducer and voltage dropper electrical connection.
Drive control device is for controlling driving motor, to drive the movement of robot；Angular transducer is for obtaining machine
The data of nine axis of device people；Voltage dropper is used to the voltage of power supply being reduced to voltage required for control circuit.
Preferably, the radar scanning module is slam laser radar scanning device.
Radar scanning module uses slam laser radar scanning device, and detection range farther out, and can accurately obtain object
The three-dimensional information of body, stability is high, and robustness is good, keeps the running of robot more stable.
Preferably, the master controller is raspberry pie controller.
Using raspberry pie controller as master controller 1, it can realize that radar scanning, image are adopted by raspberry pie controller
Collection, image show, the control of voice broadcast and speech identifying function, and can realize in real time through the image of network transmission robot
Acquisition module acquired image.
Preferably, the drive control device is STM32 controller.
Drive control device 71 use STM32 controller, using STM32 controller realize to the steering of robot, corner and
The control of revolving speed makes full use of STM32 multi-serial port resource and high-speed computation ability, passes through master controller 1 and STM32 controller
The movement for passing through voice input control robot is realized in control.
The invention has the benefit that self-navigation Jian Tu robot of the invention has speech recognition module, pass through language
Sound input can make robot complete relevant function, and control is simple, by drive module can real time inspection robot it is related
Data can realize avoidance, composition and the navigation function of robot by radar scanning module, image capture module and drive module
Can, it is intelligent high, it can replace people and complete dangerous work, master controller can be adopted by network transmission image capture module in real time
The image collected determines robot motion path by acquired image, realizes avoidance, composition and the navigation function of robot
Energy.
Detailed description of the invention
The present invention will be further described for attached drawing, but the content in attached drawing does not constitute any limitation of the invention.
Fig. 1 is the structural schematic diagram of the one of embodiment of the present invention；
Fig. 2 is the flow chart of the ground mapping function of the one of embodiment of the present invention.
Wherein: master controller 1, radar scanning 2, speech recognition 3, voice broadcast 4, Image Acquisition 5, screen show 6, driving
Module 7, drive control device 71, driving motor 72, angular transducer 73, voltage dropper 74.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
The control method of a kind of self-navigation Jian Tu robot of the present embodiment, which is characterized in that the self-navigation is built
Figure robot is equipped with master controller 1, radar scanning module 2, image capture module 5 and drive module 7, passes through the master controller
1, the radar scanning module 2, described image acquisition module 5 and the drive module 7 realize ground mapping function, the map
Survey and draw function the following steps are included:
Step D1: it initialization: by radar scanning module 2 to barrier emission detection signal laser beam, then will receive
To the reflected signal target echo of slave target with transmitting signal be compared；
Step D2: global path planning: the planning of overall path is carried out according to given target position, using Di Jiesite
Algorithm is drawn, the least cost path on map, the global route as robot are calculated；
Step D3: local planning in real time: under the data of map, pass through the dynamic window of the track method of development and local avoidance
Method search reaches a plurality of road warp of target, chooses optimal path, and calculates required real-time speed and angle；
Step D4: real-time speed required for master controller 1 will calculate and angle are output to the control of drive control device 71
The movement of driving motor 72.
Robot is found out from source position to target position most by global route planning and the local method planned in real time
Shortest path determines that the direction of advance of trolley realizes the autonomous of robot to control drive control device according to the information of calculating simultaneously
Navigation realizes that independent navigation builds figure function until depicting entire plane information, and by building figure function automatically, real-time is stronger,
Radar scanning module replaces traditional ultrasound techniques using slam laser radar scanning technology to realize the avoidance of intelligent carriage,
Avoidance effect is good.
The Dijkstra's algorithm the following steps are included:
Step D21: S is set as the set of shortest path, in the initial state, set S only includes source point, i.e. set S=
{ v }, the distance of v are that 0, U includes other vertex in addition to v, it may be assumed that U={ remaining vertex }, if vertex u has side in v and U, and <u, v
>normally there is weight, if u is not the side abutment points out of v,<u,v>weight is ∞；
Step D22: choosing the smallest vertex k of a distance v from U, k is added in set S, selected distance is v
To the shortest path of k；
Step D23: being the intermediate point newly considered with k, modifies the distance on each vertex in U；If from source point v after the k of vertex
Distance to vertex u is shorter than the distance without vertex k, then modifies the distance value of vertex u, the vertex k of modified distance value
Distance plus the power on side；
Step D24: step D22 and D23 is repeated until all vertex are included in set S；
Step D25: after calculating, each vertex of shortest path is contained in set S, is completed to institute's mapping
Global path planning.
Dijkstra's algorithm algorithm is typical signal source shortest path algorithm, all to other for calculating a node
The shortest path of node extended layer by layer outward centered on starting point, until expanding to terminal, is completed to being surveyed and drawn
Map global path planning.
The dynamic window method of the track method of development and local avoidance the following steps are included:
Step D31: pass through the speed and angle of the 73 sampling robot current driving of driving motor 72 and angular transducer；
Step D32: for the speed of each sampling, calculating robot travels the state after a period of time with the speed, obtains
The route of a traveling out；
Step D33: according to whether the time required for meeting strikes obstacles and traveling gives a mark to every vehicle line；
Step D34: selecting the highest vehicle line of marking is optimal path；
Step D35: above step is repeated, the mapping of to map is completed.
The dynamic window method of the track method of development and local avoidance is Trajectory Rollout and Dynamic Window
Approaches algorithm scans the implementary plan that neighbouring barrier hide route according to radar scanning module 2, in the overall situation
Under the data in path, search reach target a plurality of road warp, using whether can strikes obstacles and required time
Standard chooses optimal path, and calculates required real-time speed and angle, completes the mapping of to map.
Further include speech recognition module 3,4 module of voice broadcast module and screen display module 6, passes through the speech recognition
Module 3,4 module of the voice broadcast module and the screen display module 6 realize voice control function, the voice control packet
Include following steps:
Step A: initialization: master controller 1 powers on reception data, sends instructions to speech recognition module 3, and it is defeated to open voice
Enter mode；
Step B:ASR language dictation: operator will to 3 input voice information of speech recognition module, speech recognition module 3
The voice messaging of input by ASR technology, be converted to computer can read input information, and be transferred to master controller 1；
Step C: keyword identification and output voice: master controller 1 is by scheming clever speech analysis to the pass in input voice
Keyword identification, and synthesizes by tts language, the voice after synthesizing to the output of voice broadcast module 4, indicate user to robot
Next step operation；
Step D: master controller 1 drives radar scanning module 2, image capture module 3 and drives according to the keyword identified
Dynamic model block 7 completes self-navigation, Image Acquisition, ground mapping or the operation for adjusting robot pose.
It is inputted, is realized to the function of self-navigation, Image Acquisition, ground mapping and adjustment robot pose by voice
Control, ASR technology are used to the vocabulary Content Transformation in the voice of the mankind be computer-readable input, scheme clever speech analysis and use
Keyword in identification input voice completes specified function, tts language according to the keyword-driven robot in input voice
Synthesis is exported by voice broadcast module 4 for synthesizing interactive voice, realizes human-computer dialogue, be by voice input
Robot can be controlled, it is intelligent high.
Self-navigation Jian Tu robot includes the master controller 1, the radar scanning module 2, the speech recognition mould
Block 3, the voice broadcast module 4, described image acquisition module 5, the screen display module 6 and the drive module 7；
The radar scanning module 2 is used for emission detection signal laser beam, the reflected letter of slave target that will be received
Number target echo is compared with transmitting signal；
The speech recognition module 3 is used for input voice information, and passes through the identification control robot to voice messaging
Movement and function；
Image capture module 5 is used for by shooting external environment to acquire image information, and image information is small for determining
Vehicle motion path；
Screen display module 6 and voice broadcast module 4 are used to show the information and broadcast operation instruction of robot, realize people
Machine dialogue；
Drive module 7 is used to drive the movement of robot, and obtains nine number of axle evidences of robot.
The radar scanning module 2, the speech recognition module 3 and described image acquisition module 5 respectively with the master control
Device 1 processed is electrically connected, the input terminal of the screen display module 6, the voice broadcast module 4 and the drive module 7 respectively with
The output end of the master controller 1 is electrically connected, and the input terminal of the voice broadcast module 4 is defeated with the speech recognition module 3
Outlet electrical connection.
Self-navigation Jian Tu robot of the invention has speech recognition module 3, can make robot by voice input
Complete relevant function, control is simple, by drive module 7 can real time inspection robot related data, pass through radar scanning
Module, image capture module and drive module can realize avoidance, composition and the navigation feature of robot, intelligent high, Ke Yidai
Dangerous work is completed for people, master controller 1 can pass through 5 acquired image of network transmission image capture module in real time, pass through
Acquired image determines robot motion path, realizes avoidance, composition and the navigation feature of robot.
The drive module 7 includes drive control device 71, driving motor 72, angular transducer 73 and voltage dropper 74,
The input terminal of the drive control device 71 is electrically connected with the master controller 1, the output end of the drive control device 71 respectively with
The driving motor 72, the angular transducer 73 and the voltage dropper 74 are electrically connected.
Drive control device 71 is for controlling driving motor 72, to drive the movement of robot；Angular transducer 73 is used for
Obtain the data of nine axis of robot；Voltage dropper 74 is used to the voltage of power supply being reduced to voltage required for control circuit.
The radar scanning module 2 is slam laser radar scanning device.
Radar scanning module 2 uses slam laser radar scanning device, and detection range farther out, and can accurately obtain object
The three-dimensional information of body, stability is high, and robustness is good, keeps the running of robot more stable.
The master controller 1 is raspberry pie controller.
Using raspberry pie controller as master controller 1, it can realize that radar scanning, image are adopted by raspberry pie controller
Collection, image show, the control of voice broadcast and speech identifying function, and can realize in real time through the image of network transmission robot
5 acquired image of acquisition module.
The drive control device 71 is STM32 controller.
Drive control device 71 use STM32 controller, using STM32 controller realize to the steering of robot, corner and
The control of revolving speed makes full use of STM32 multi-serial port resource and high-speed computation ability, passes through master controller 1 and STM32 controller
The movement for passing through voice input control robot is realized in control.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (9)
1. a kind of control method of self-navigation Jian Tu robot, which is characterized in that self-navigation Jian Tu robot is equipped with
Master controller, radar scanning module, image capture module and drive module pass through the master controller, the radar scanning mould
Block, described image acquisition module and the drive module realize ground mapping function, and the ground mapping function includes following step
It is rapid:
Step D1: initialization: by radar scanning module to barrier emission detection signal laser beam, then will receive from
The reflected signal target echo of target is compared with transmitting signal；
Step D2: global path planning: the planning of overall path is carried out according to given target position, is calculated using Di Jiesitela
Method calculates the least cost path on map, the global route as robot；
Step D3: it local planning in real time: under the data of map, is searched by the dynamic window method of the track method of development and local avoidance
Rope reaches a plurality of road warp of target, chooses optimal path, and calculates required real-time speed and angle；
Step D4: real-time speed required for master controller will calculate and angle are output to drive control device control driving electricity
The movement of machine.
2. a kind of control method of self-navigation Jian Tu robot according to claim 1, which is characterized in that the enlightening is outstanding
Si Tela algorithm the following steps are included:
Step D21: setting S as the set of shortest path, and in the initial state, set S only includes source point, i.e. set S={ v }, v's
Distance is that 0, U includes other vertex in addition to v, it may be assumed that U={ remaining vertex }, if vertex u has side in v and U,<u,v>normally have
Weight, if u is not the side abutment points out of v,<u,v>weight is ∞；
Step D22: choosing the smallest vertex k of a distance v from U, k is added in set S, selected distance is v to k's
Shortest path；
Step D23: being the intermediate point newly considered with k, modifies the distance on each vertex in U；If from source point v to top after the k of vertex
The distance of point u is shorter than the distance without vertex k, then modifies the distance value of vertex u, the vertex k of modified distance value away from
From plus the power on side；
Step D24: step D22 and D23 is repeated until all vertex are included in set S；
Step D25: after calculating, each vertex of shortest path is contained in set S, completes the overall situation to institute's mapping
Path planning.
3. the control method of a kind of self-navigation Jian Tu robot according to right 1, which is characterized in that the track expansion
The dynamic window method of method and local avoidance the following steps are included:
Step D31: pass through driving motor and the speed and angle of angular transducer sampling robot current driving；
Step D32: for the speed of each sampling, calculating robot travels the state after a period of time with the speed, obtains one
The route of item traveling；
Step D33: according to whether the time required for meeting strikes obstacles and traveling gives a mark to every vehicle line；
Step D34: selecting the highest vehicle line of marking is optimal path；
Step D35: above step is repeated, the mapping of to map is completed.
4. a kind of control method of self-navigation Jian Tu robot according to claim 1, which is characterized in that further include language
Sound identification module, voice broadcast module module and screen display module pass through the speech recognition module, the voice broadcast mould
Block module and the screen display module realize voice control function, the voice control the following steps are included:
Step A: initialization: master controller powers on reception data, sends instructions to speech recognition module, opens voice and inputs mould
Formula；
Step B:ASR language dictation: operator is to speech recognition module input voice information, and speech recognition module is by input
Voice messaging by ASR technology, be converted to computer can read input information, and be transferred to master controller；
Step C: keyword identification and output voice: master controller knows the keyword in input voice by scheming clever speech analysis
, and by tts language do not synthesize, to voice broadcast module output synthesis after voice, indicate user to the next of robot
Step operation；
Step D: master controller drives radar scanning module, image capture module and drive module according to the keyword identified,
Complete self-navigation, Image Acquisition, ground mapping or the operation for adjusting robot pose.
5. a kind of self-navigation Jian Tu robot, which is characterized in that led automatically using the described in any item one kind of claim 1-4
The control method of Hang Jiantu robot, including the master controller, the radar scanning module, the speech recognition module, institute
State voice broadcast module, described image acquisition module, the screen display module and the drive module；
The radar scanning module is used for emission detection signal laser beam, the reflected signal target of slave target that will be received
Echo is compared with transmitting signal；
The speech recognition module be used for input voice information, and by voice messaging identification control robot movement and
Function；
Image capture module is used for by shooting external environment to acquire image information, and image information is for determining moving of car
Path；
Screen display module and voice broadcast module are used to show the information and broadcast operation instruction of robot, and it is man-machine right to realize
Words；
Drive module is used to drive the movement of robot, and obtains nine number of axle evidences of robot.
6. a kind of self-navigation Jian Tu robot according to claim 5, which is characterized in that the drive module includes driving
Movement controller, driving motor, angular transducer and voltage dropper, the input terminal of the drive control device and the master controller
Electrical connection, the output end of the drive control device respectively with the driving motor, the angular transducer and the voltage step-down
Device electrical connection.
7. a kind of self-navigation Jian Tu robot according to claim 5, which is characterized in that the radar scanning module is
Slam laser radar scanning device.
8. a kind of self-navigation Jian Tu robot according to claim 5, which is characterized in that the master controller is raspberry
Send controller.
9. a kind of self-navigation Jian Tu robot according to claim 5, which is characterized in that the drive control device is
STM32 controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574228.6A CN109557920A (en) | 2018-12-21 | 2018-12-21 | A kind of self-navigation Jian Tu robot and control method |
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| CN113077494A (en) * | 2021-04-10 | 2021-07-06 | 山东沂蒙交通发展集团有限公司 | Road surface obstacle intelligent recognition equipment based on vehicle orbit |
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