Robot Control And Interaction Based On Embedded Linux

The application of robots has rapidly expanded to many fields such as entertainment,family,industry,medical treatment and so on.With the progress of integrated circuits,5G communication,embedded and other related technologies,people's demand for robots is no longer limited to simple control,and having good human-computer interaction is the core direction of robot development.In recent years,it has become a research hotspot to improve the intelligent interactive ability of robots based on the high reliability and low cost robot control system and the integration of visual,auditory and other sensing technologies.In the field of small humanoid robot,the control system composed of low-cost controller and open source,high portability and high tailoring operating system determines the market share of the product and the speed of the second iteration of the robot.Therefore,this paper is based on the hardware platform of ARM architecture,combined with embedded Linux operating system to establish a cost-effective interactive control system as the main goal.Through the combination of other hardware modules and open source software resources,the voice interactive control of the robot and the acquisition,compression and transmission of visual information in the LAN are realized.The main contents of this paper are as follows:1.Taking S3C2440 based on ARM architecture as the hardware core,the embedded Linux system and other open source software resources were transplanted to build a humanoid robot control system.2.Based on the built software and hardware system,the robot movement control is realized in the embedded Linux system.Combined with the speech recognition module and the speech synthesis module,the interactive control of the robot voice is realized.The driver development of the speech recognition chip under the Linux system is completed,and the hardware equipment such as the robot steering gear and the speech synthesis chip are used under the Linux system.In this process,it introduces UART,SPI and other communication protocols,and the development of character device driver under Linux system,and the development of SPI bus device driver.3.Based on Linux V4L2 video application framework,USB camera driver framework,H264 coding,RTP protocol and other related technologies,and with the help of wireless network card and USB camera,the robot visual information acquisition and compression is simulated,and sent to the supremacy computer through the Net.