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.
Key words
remote control /
real-time cloud video interaction /
pet companion /
PID /
FOC /
STM32F103
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