The digital home is the basic unit of the future intelligent community system. The so-called "digital home" is based on the home network to provide intelligent services covering the entire family, including data communication, home entertainment and information appliance control functions.
A major component of digital home design is the implementation of communication functions, including communication between the home and the outside world and related facilities within the home. From the current development point of view, external communication mainly through broadband access to the Internet, and internal communication, the author uses the currently more competitive Bluetooth wireless access technology.
The traditional digital home adopts PC for overall control and lacks humanity. According to the idea of ​​artificial emotion, the author designs an intelligent robot equipped with various external sensors, which is regarded as a family member and realizes the control of the digital home through it.
This paper mainly designs the model of intelligent robots in digital home healthcare, and uses Bluetooth technology in the communication between intelligent robots and medical instruments and control PCs. The whole system has low cost, comprehensive functions, wide application and great market potential.
2.1 Multi-sensor system for intelligent robots
The most important related field in robotic intelligence technology is the integration and integration of multi-sensory systems and multi-sensor information of robots, collectively referred to as the hardware and software components of intelligent systems. Vision, hearing, force
The combination of external sensors such as sense and touch and the internal sensor information of each joint of the robot enables the robot to perform important functions such as real-time image transmission, speech recognition, scene recognition, positioning, automatic obstacle avoidance, and target detection; Medical modules (CCD, CAMERA, stereo microphones, image capture cards, etc.) and dedicated medical sensor components, plus a medical expert system, enable healthcare and telemedicine monitoring. The multi-sensor system block diagram of the intelligent robot is shown in Figure 1.
2.2 Intelligent Robot Control System
The robot control system consists of two parts: one is the upper computer, generally adopts PC, which completes the trajectory planning of the robot, the sensor information fusion control algorithm, the visual processing, the human-machine interface and the remote processing; the second is the lower machine, generally adopting more As one of the core components of the controller, the single-chip microcomputer system or DSP completes the functions of motor servo control, feedback processing, image processing, voice recognition and communication interface.
If a multi-chip system is used as the lower computer, each processor completes a single task, and completes the overall system function through information exchange and mutual coordination, but its signal processing capability is obviously lacking. Because DSP is good at processing signals, and it often needs signal processing, image processing and speech recognition for this intelligent robot, DSP is used as the controller of intelligent robot control system.
The control system uses DSP (TMS320C54x) as the core component, including Bluetooth wireless communication, GSM wireless communication (supporting GPRS), motor drive, digital compass, sensory sensor (visual and auditory, etc.), medical sensor and multi-select serial communication (RS). -232) Module and other components, the control system block diagram shown in Figure 2.
(1) The system controls the movement of the robot by driving the motor and the steering motor, and the steering motor uses the information of the digital compass as the feedback amount for PID control.
(2) Ericsson's ROK101007 circuit is used as the Bluetooth wireless communication module to realize the communication between the intelligent robot and the host PC and communication with other Bluetooth module-based healthcare instruments.
(3) The GSM wireless communication module supporting GPRS supports data, voice, short message and fax services, and communicates with the remote medical monitoring center by means of mobile communication.
(4) Since the TMS320C54x has only one serial port, and the sensor modules of the Bluetooth module, GSM wireless module, digital compass and visual hearing are all RS-232 asynchronous serial communication, it is necessary to design one multi-select serial communication module. Perform conversion processing. When the TMS320C54x needs the data of the Bluetooth wireless communication module, it passes the circuit strobe; when the TMS320C54x needs the data of a certain sensor module, the strobe of the last wireless communication module is turned off, and the sensor module is strobed at the same time. In this way, each module completes the serial communication with the TMS320C54x.
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