设计了智能云视频宠物陪伴机器人。使用内嵌四核ARM Cortex-A53的NXP iMX 8处理器作为主控制器,搭载Linux操作系统;改进PID闭环速度算法可以更智能、精准地控制麦克纳姆轮,使机器人具备平面全向运动能力;使用带有FOC控制的无刷电机控制云台上安装的摄像头,实现水平方向360°旋转;基于Intel 9260无线模组实现Wi-Fi和蓝牙通信;通过FFmpeg编码、RTMP协议推送、Nginx服务器转发摄像头实时数据流。机械臂可根据用户需求安装/更换宠物的互动模块,实现远程环境监控和实时云视频宠物互动。视频数据推拉流平均延时约为150 ms,机器人在距离Wi-Fi节点约10 m范围内均有较好响应。

In the paper,a smart cloud video pet companion robot is designed.The NXP iMX 8 processor with 4 Cortex-A53 cores is used as the main controller,embedded with Linux operating system.An improved PID closed-loop speed algorithm is developed to control the mecanum wheel more intelligently and accurately,so that the robot has the ability of plane omnidirectional motion.A FOC brushless motor is used to achieve camera pan-tilt 360° rotation in the horizontal direction,and realize Wi-Fi and Bluetooth communication based on the Intel 9260 wireless module.The camera real-time data is encoded through the FFmpeg technology,streamed by RTMP protocol,and transmitted by Nginx server.The robot arm can be replaced with alternative pet interaction modules to realize remote environmental control and real-time cloud video pet interaction.The average delay of the video data stream is about 150 ms, and the robot responds well within a range of about 10 m around the Wi-Fi node.