DSP Multi-functions Based Intelligence Robot Research

Robot technology is the integration high-tech products of mechanical and electrical, computer science, control theory, institutions, information science and sensor technology. it is a humanoid operation, high-speed operation, repeat operations and high accuracy automation equipment. Robot technology integrated precision machinery, microelectronics and computer, automatic control and drive technology, sensor and information processing, artificial intelligence and bionics, and other disciplines of the latest research results, is a comprehensive interdisciplinary technology. Robot technology not only change traditional industrial production and scientific research, and also will have a deep impact in people's life.This paper will introduce mainly DSP-based intelligent robot motion control,path planning,avoiding barriers control and detection systems.First, we select the BLDCM as the dynamical system of the robot by analyzing the movement. We can use TMS320LF2407 as main control chip because of the movement characteristics of BLDCM. DSP through the two EV module, output PWM waveform to control three-phase full-controlled bridge circuit to control motor speed. Use the information be collected by Hall sensor as the position feedback, the current be detected as a current feedback, to realize double closed loop control. Loading a temperature and humidity detection subsystem, robot can acquisition the temperature and humidity real-time of the environment where the robot is. Use MCU as the processor of subsystem and use RF12 as communication module to send the temperature and humidity to the PC. Use ant colony algorithm to realize path planning, and on this basis, to realize avoiding barriers control. Avoiding barriers control module can be realized by multiple ultrasonic sensors. In the module, motion model be made.Research shows that as a multi-sensor network node, intelligent robot can achieve patrol functions in the environment, and also realize path planning and avoiding barriers control and control the speed well. The robot can be accurately measured the temperature and humidity of the environment and send the temperature and humidity to the PC.