Design and Implementation of a Micro Controller for Robot Sensing and Driving

Abstract

According to the control requirements of robot, the micro controller was designed, including the interface for the wireless transmission module NRF24L01, the sampling circuit for collecting the pressure sensing value, the DC motor drive function module, and the auxiliary circuit for ensuring the normal operation of the controller. After passing the hardware testing, the design of the PTZ control system is completed. The virtual reality environment is constructed using unity and VS software, Oculus is used as the head-mounted display, and then the pose sensor of Oculus is used to analyze and extract the pose sensing data for the control of the PTZ. The industrial camera is used to send back video, based on HSV algorithm for target recognition, and displaying video images in the virtual environment. And the above data was sent to the gimbal control system to finalize the virtual reality environment. Finally, the debugging and verification of the hardware architecture based on sensing and driving and the virtual reality environment were completed. And the scenario tests were conducted for the gimbal following and force feedback virtual interaction ball respectively, which verified the use of virtual reality technology to assist in controlling the robot and obtain the sense of immersive control experience.