CN106094768A - A kind of Smart Home robot and intelligent home furnishing control method - Google Patents
A kind of Smart Home robot and intelligent home furnishing control method Download PDFInfo
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- CN106094768A CN106094768A CN201610652108.8A CN201610652108A CN106094768A CN 106094768 A CN106094768 A CN 106094768A CN 201610652108 A CN201610652108 A CN 201610652108A CN 106094768 A CN106094768 A CN 106094768A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000004888 barrier function Effects 0.000 claims abstract description 35
- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims description 27
- 230000002159 abnormal effect Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 18
- 238000004378 air conditioning Methods 0.000 description 11
- WSFSSNUMVMOOMR-UHFFFAOYSA-N Formaldehyde Chemical compound O=C WSFSSNUMVMOOMR-UHFFFAOYSA-N 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000005286 illumination Methods 0.000 description 5
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 229910002092 carbon dioxide Inorganic materials 0.000 description 2
- 239000001569 carbon dioxide Substances 0.000 description 2
- 229910002091 carbon monoxide Inorganic materials 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000001931 thermography Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The embodiment of the invention discloses a kind of Smart Home robot and intelligent home furnishing control method, be applied to Smart Home technical field.This Smart Home robot includes: main control module, environment monitoring module, positioning navigation module, avoidance module, Z Wave radio receiving transmitting module, motor, universal wheel；Environment monitoring module is used for monitoring indoor environment index；Main control module, for when indoor environment index is not mated with the numerical range preset, controls Z Wave radio receiving transmitting module to changing target household electrical appliances corresponding to indoor environment index and sends control signal；Positioning navigation module, for recording the motion track of Smart Home robot, builds electronic chart with preset algorithm；Avoidance module is used for detecting around Smart Home robot whether there is barrier；Motor is in the range of driving the default control that universal wheel moves to target household electrical appliances.Implement the embodiment of the present invention, adjusted the duty of corresponding target household electrical appliances by indoor environment index, improve and control the intelligent of household electrical appliances.
Description
Technical field
The present invention relates to Smart Home technical field, particularly relate to a kind of Smart Home robot and Intelligent housing side
Method.
Background technology
Along with the development of science and technology, can be got more and more, such as TV by the kind of the housed device that remote controller controls
Machine, Set Top Box, air-conditioning, light fixture etc., the thing followed is that remote controller too much causes operation inconvenience, such as, if can not find
Remote controller is just difficult to household electrical appliances are controlled operation；The various meeting of remote controller takes up room and then affects clean and tidy；Due to each remote control
The profile of device is similar, also easily causes problems such as obscuring.
Along with the appearance of technology of Internet of things, Smart Home is increasingly becoming the project of industry focus.Smart Home be with
House is platform, utilizes the equipment relevant with life staying idle at home such as the network communications technology, security precautions technology, automatic control technology to enter
Row is integrated, builds the management system of schedule affairs in efficient housing facilities and family, promotes house security, convenience, comfortable
Property.Therefore it provides the intelligent robot of Smart Home service the most thus produces, but, current home-services robot is most
Not possessing and control the function of domestic household electrical appliances in family, even if possessing the intelligent robot controlling household electrical appliances functions, it controls process also
Very very complicated, needs robot to move to accurately near household electrical appliances, and then the shift knob of high-precision identification household electrical appliances leads to
Crossing robotic manipulation switch, intelligent ratio is relatively low.
Summary of the invention
Embodiments provide a kind of Smart Home robot and intelligent home furnishing control method, referred to by indoor environment
Mark adjusts the duty of corresponding target household electrical appliances, improves and controls the intelligent of household electrical appliances.
Embodiment of the present invention first aspect discloses a kind of Smart Home robot, and described Smart Home robot includes:
Main control module, environment monitoring module, positioning navigation module, avoidance module, Z-Wave radio receiving transmitting module, motor, universal wheel；
Described main control module and described environment monitoring module, described positioning navigation module, described avoidance module, described Z-
Wave radio receiving transmitting module, described motor connect；
Described universal wheel is connected with described motor；
Described environment monitoring module is used for monitoring indoor environment index；
Described main control module is used for comparing described indoor environment index with the numerical range preset, and in described room
When inner-environment index does not mates with the numerical range preset, control described Z-Wave radio receiving transmitting module to changing described indoor ring
The target household electrical appliances transmission control signal that border index is corresponding, to adjust the duty of described target household electrical appliances；
Described Z-Wave radio receiving transmitting module is additionally operable to receive and store the Z-Wave wireless remote control signals of each household electrical appliances；
Described positioning navigation module is for recording the motion track of described Smart Home robot, and builds with preset algorithm
Electronic chart；
Described avoidance module is for detecting described Smart Home robot in described Smart Home robot moving process
Around whether there is barrier；
When described main control module is additionally operable to there is barrier around described Smart Home robot, according to described barrier
Positional information control described Smart Home robot and change track thus evade described barrier, and adjust described Smart Home
The motion track of robot is with consistent with the track of storage in described electronic chart；
Described motor, for receiving the driving signal that described main control module sends, drives described universal wheel to move to described
In the range of the default control of target household electrical appliances.
As the optional embodiment of one, described Smart Home robot also includes speech exchange control module, wherein:
Described speech exchange control module is connected with described main control module；
Described speech exchange control module is for receiving the voice signal of user's input, and resolves described voice signal, with
Interactive voice is carried out with user.
As the optional embodiment of one, described Smart Home robot also includes intelligent and safe alarm module, wherein:
Described intelligent and safe alarm module is connected with described main control module；
Described intelligent and safe alarm module, for when there is abnormal condition, sending alarm signal and sending to user
Early warning information.
As the optional embodiment of one, described Smart Home robot also includes wireless communication module, wherein:
Described wireless communication module is connected with described main control module；
Described wireless communication module is for carrying out remote interaction with user.
As the optional embodiment of one, described Smart Home robot also includes time block and photographic head, its
In:
Described time block and described photographic head are connected with described main control module；
Described time block carries out the time of indoor patrol for setting described Smart Home robot；
Described photographic head is for when described Smart Home robot carries out indoor patrol, to described Smart Home robot
Surrounding be scanned, and be sent to the video image that described photographic head scans to use by described wireless communication module
Family.
Embodiment of the present invention second aspect discloses a kind of intelligent home furnishing control method, is applied to Smart Home robot,
Using Z-Wave communication to communicate between described Smart Home robot and household electrical appliances, described method includes:
Monitoring indoor environment index, and described indoor environment index is compared with the numerical range preset；
If described indoor environment index is not mated with the numerical range preset, then according to pre-in described Smart Home robot
The electronic chart deposited controls described Smart Home robot to changing presetting of target household electrical appliances corresponding to described indoor environment index
Move in span of control；
Whether the surrounding detecting described Smart Home robot exists barrier；
If there is barrier, then control described Smart Home robot change track and evade described barrier, and adjust institute
State the motion track of Smart Home robot with consistent with the track of storage in the described electronic chart prestored；
If in the range of described Smart Home robot moves to the default control of described target household electrical appliances, then by Z-Wave without
Line communication mode sends control instruction to described target household electrical appliances, to adjust the duty of described target household electrical appliances.
As the optional embodiment of one, described transmission to described target household electrical appliances by Z-Wave communication is controlled
System instruction, with adjust described target household electrical appliances duty before, described method also includes:
Receive and store the Z-Wave wireless remote control signals of each household electrical appliances.
As the optional embodiment of one, described method also includes:
Receive the voice signal of user's input；
Resolve described voice signal, to carry out interactive voice with user, and perform the target mated with described voice signal
Operation.
As the optional embodiment of one, described method also includes:
Whether monitoring indoor there is abnormal condition；
If indoor generation abnormal condition, then send alarm signal and send early warning information to user.
As the optional embodiment of one, described method also includes:
Indoor patrol is carried out according to predetermined period；
Scan the surrounding of described Smart Home robot, and regarding the surrounding of described Smart Home robot
Frequently image is sent to user.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that by Smart Home robot
Environment monitoring module monitoring indoor environment index, and by main control module in indoor environment index with the numerical range preset not
Timing, controls Smart Home robot by positioning navigation module and avoidance module and moves to changing above-mentioned indoor environment index
In the span of control that corresponding target household electrical appliances are preset, Z-Wave radio receiving transmitting module send control signal to target household electrical appliances, with
Adjust the duty of these target household electrical appliances；Implement the embodiment of the present invention, adjust corresponding target household electrical appliances by indoor environment index
Duty, improve control household electrical appliances intelligent.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing briefly introduce, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for this
From the point of view of the those of ordinary skill in field, on the premise of not paying creative work, it is also possible to obtain it according to these accompanying drawings
His accompanying drawing.
Fig. 1 is the structural representation of a kind of Smart Home robot disclosed in the embodiment of the present invention；
Fig. 2 is the schematic flow sheet of a kind of intelligent home furnishing control method disclosed in the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of another kind of intelligent home furnishing control method disclosed in the embodiment of the present invention.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing the present invention made into
One step ground describes in detail, it is clear that described embodiment is only some embodiments of the present invention rather than whole enforcement
Example.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
All other embodiments, broadly fall into the scope of protection of the invention.
Z-Wave technology be a kind of emerging based on radio frequency, low cost, low-power consumption, highly reliable, be suitable to the short distance of network
From wireless communication technology, working band is 908.42MHz (U.S.)～868.42MHz (European), uses FSK (BFSK/GFSK)
Modulation system, message transmission rate is 9.6kbps, and the effective coverage range of signal is 30m in indoor, outdoor can more than 100m,
It is suitable for narrow bandwidth applications occasion.Along with the increase of communication distance, the complexity of equipment, power consumption and system cost are all increasing
Adding, relative to existing various wireless communication technologys, Z-Wave technology will be the technology of lowest power consumption and least cost, effectively
Promote low rate wireless personal-area network.
Each Z-Wave network is owned by oneself independent network address (HomeID)；Each address of node in network
(NodeID), by controlling node (Controller) distribution.Each network accommodates up to 232 nodes (Slave), including controlling
Including node.Control node and can have multiple, but only one of which main control node, the i.e. distribution of all-network interior nodes, all by
Main control node is responsible for, and other control node and are only forwarding the order of main control node.The ordinary node networked, all controls
Node can control.Beyond the node of communication distance, can be by other nodes between controller and controlled node, with road
Completed to control by the mode of (Routing).
Z-Wave uses dynamic routing technology, has a routing table inside each Slave, this routing table by
Controller writes.When storage information is this Slave networking, the NodeID of other Slave that periphery exists.The most each
Slave both knows about around has for which Slaves, and Controller stores the routing iinformation of all Slaves.When
When the distance of Controller and controlled Slave is beyond maximum of control distance, Controller can call last correct control
The path making this Slave sends order, such as this path failure, then starts again to retrieve new path from first Slave.
Z-Wave technology is designed for Smart Home, light commercial controls and state reads application, such as, check meter, illuminate
And home wiring control, heating ventilation and air regulation (Heating, Ventilation and Air Conditioning, HVAC),
Access Control, antitheft and fire detection etc..Any independent equipment can be converted to Intelligent Network Element by Z-Wave, such that it is able to
Realize controlling and wireless monitor.
Embodiments provide a kind of Smart Home robot and intelligent home furnishing control method, referred to by indoor environment
Mark adjusts the duty of corresponding target household electrical appliances, improves and controls the intelligent of household electrical appliances.
Referring to Fig. 1, Fig. 1 is the structural representation of a kind of Smart Home robot disclosed in the embodiment of the present invention, wherein,
Smart Home robot shown in Fig. 1 includes: main control module 100, environment monitoring module 110, positioning navigation module 120, avoidance
Module 130, Z-Wave radio receiving transmitting module 140, motor 150, universal wheel 160, speech exchange control module 170, intelligence peace
Full alarm module 180, wireless communication module 190, time block 210, photographic head 220 and memory module 230.
Wherein, main control module 100 is the control core of whole Smart Home robot, with environment monitoring module 110, location
Navigation module 120, avoidance module 130, Z-Wave radio receiving transmitting module 140, motor 150, speech exchange control module 170,
Intelligent and safe alarm module 180, wireless communication module 190, time block 210, photographic head 220 connect, and universal wheel 160 is with electronic
Machine 150 connects, it should be noted that the Smart Home robot shown in Fig. 1 only denote in Smart Home robot for
Perform the assembly needed for home wiring control disclosed in the embodiment of the present invention, it is also possible to include the more or less of parts unit than in Fig. 1
Part, such as battery, charging plug etc..Further, some modules may be integrally incorporated in main control module, or can be subdivided into more
Submodule.
Wherein, environment monitoring module 110 can include humiture detector, carbon dioxide detector, formaldehyde detector, powder
Dirt particle detector, carbon monoxide detector, gas detectors, illuminance detector etc., for monitoring the environmental index of indoor.
Main control module 100 enters with the numerical range preset for indoor environment index environment monitoring module 110 monitored
Row comparison, and when above-mentioned indoor environment index is not mated with the numerical range preset, control Z-Wave radio receiving transmitting module 140
Control signal is sent to changing target household electrical appliances corresponding to above-mentioned indoor environment index, to adjust the duty of target household electrical appliances, its
In, the numerical range preset can determine according to test, represents a pleasant and safe indoor environment.Such as, if room
Interior temperature is not mated with the numerical range preset, if temperature is higher than upper threshold, starts air-conditioning or reduces air-conditioner temperature, if warm
Degree is then closed air-conditioning less than bottom threshold or improves air-conditioner temperature, if intensity of illumination is not mated with the numerical range preset, if light
Curtain and/or closedown lighting then can be closed higher than upper threshold according to intensity, if intensity of illumination is less than bottom threshold, can
To open curtain and/or to open lighting etc., thus control corresponding household electrical appliances by Indoor Environmental Condition.
Positioning navigation module 120, for recording the motion track of Smart Home robot, builds electronically with preset algorithm
Figure, and stored by memory module 230, for example, it is possible to by inertia sensings such as the gyroscopes in Smart Home robot
The direction that device computational intelligence household robot moves, measures Smart Home robot by location technologies such as bluetooth, WIFI, radio frequencies
And the distance between household electrical appliances, then carries out data by machine learning and pattern recognition scheduling algorithm and processes with building indoor electronic
Figure.
Avoidance module 130 can include ultrasonic sensor, angular-rate sensor, touch sensor, infrared sensor etc.,
Wherein, at the dead ahead of Smart Home robot, left front, right front, rear, one infrared sensor is respectively installed, is used for detecting
Whether barrier is there is near Smart Home robot.Ultrasonic sensor can be evenly distributed on each of Smart Home robot
Individual direction, for obtaining the distance between Smart Home robot and barrier, angular transducer is used for detecting Smart Home machine
Device people turns to, and touch sensor can detect the ultrasonic sensors such as tiny barrier and barrier in irregular shape and cannot visit
The barrier surveyed.
Z-Wave radio receiving transmitting module 140 is for receiving and store the Z-Wave wireless remote control signals of each household electrical appliances, and leads to
Cross memory module 230 to store, and according to the Z-Wave wireless remote control signals of each household electrical appliances of storage to changing room
The corresponding target household electrical appliances of inner-environment index send control signal, to adjust the duty of target household electrical appliances.
Motor 150, under the control of main control module 100, drives universal wheel 160 to move to presetting of target household electrical appliances
In span of control.
Speech exchange control module 170 is for receiving the voice signal of user's input, and resolves this voice signal, with
Family carries out interactive voice.Can prestoring in speech exchange control module 170, some are simply talked with or are carried out by network
Search obtains the answer that the voice signal with user's input mates.For example, it is possible to by acoustic signal reception apparatus such as mikes
Receive the voice signal of user's input, and identify the keyword in above-mentioned voice signal by speech recognition technology, such as " modern
It weather is how ", now, Smart Home robot can according to internal application software know today weather condition or
Known the weather condition of today by environment monitoring module, then inform user, further, it is also possible to according to the weather of today
Situation reports some points for attention to user；The most such as, user inquires the using method of a certain article to Smart Home robot,
Now Smart Home robot may search for prestoring dialogue storehouse or being searched out the answer mated with this problem by web search
Afterwards, exchanging between user etc. realization and user is informed.
Alternatively, speech exchange control module 170 can be also used for receiving the household appliance control instruction of user's input, Jin Ertong
Cross main control module 100 and control the household electrical appliances of correspondence.Such as, user's input " air-conditioning please be open " instruction, speech exchange control module 170
After resolving this execution, answer " good, just a moment,please ", then this instruction is transferred to main control module 100, by main control module 100
Realize opening the function of air-conditioning, accordingly, it is also possible to control other household electrical appliances by the way.
Intelligent and safe alarm module 180 can include Smoke Sensor, infrared thermography, gas sensor etc., is used for
When there is abnormal condition, sending alarm signal and sending early warning information, such as, if generation fire being detected to user
Calamity, gas leak, when having stranger to invade, dial the phone of room security, or by jingle bell, voice etc. sends alarm signal, with
Time send early warning information to user.
Wireless communication module 190 is for carrying out remote interaction by wireless network with user, wherein it is possible to pass through wireless guarantor
Very (WIreless-Fidelity, WIFI), general packet radio service (General Packet Radio Service,
GPRS), the radio communication such as global system for mobile communications (Global System for Mobile communication, GSM)
Network and user carry out remote interaction, such as, send information to user and receive the information etc. that user sends.
Time block 210 carries out the time of indoor patrol for setting Smart Home robot.
Photographic head 220 is used for when Smart Home robot carries out indoor patrol, the surrounding's ring to Smart Home robot
Border is scanned, and by wireless communication module 190, the video image that photographic head scans is sent to user.
As the optional embodiment of one, above-mentioned Smart Home robot can also include time module, permissible
Tong Bu with Beijing time, to distinguish working day and nonworkdays, it is to avoid when user goes to work on weekdays, to open air-conditioning, humidifier etc.
Household electrical appliances cause electricity to waste, and indoor environment is adjusted between user goes home a suitable scope.
As the optional embodiment of one, above-mentioned Smart Home robot can also including, battery and charging are inserted
Head, battery is for being powered for power consumption modules such as main control modules, and charging plug is for the intelligence when electricity is less than predetermined threshold value
Household robot is automatically moved to charge position and charges from behavior battery.
Wherein, by the Smart Home robot shown in Fig. 1, corresponding target household electrical appliances are adjusted by indoor environment index
Duty, improves and controls the intelligent of household electrical appliances.
Referring to Fig. 2, Fig. 2 is the schematic flow sheet of a kind of intelligent home furnishing control method disclosed in the embodiment of the present invention.Its
In, use Z-Wave communication to communicate between the intelligent home furnishing control method shown in Fig. 2 and household electrical appliances, the method bag
Include:
201: monitoring indoor environment index, and above-mentioned indoor environment index is compared with the numerical range preset；
In the embodiment of the present invention, humiture detector, carbon dioxide detector, formaldehyde detector, dust can be passed through
The environmental index that the monitorings such as grain detector, carbon monoxide detector, gas detectors, illuminance detector are indoor, and by above-mentioned
Indoor environment index is compared with the numerical range preset, and wherein, wherein, the numerical range preset can according to test really
Fixed, represent a pleasant and safe indoor environment.
202: if above-mentioned indoor environment index is not mated with the numerical range preset, then according to pre-in Smart Home robot
The electronic chart deposited controls this Smart Home robot to the default control changing target household electrical appliances corresponding to above-mentioned indoor environment index
Move in the range of system；
In the embodiment of the present invention, if above-mentioned indoor environment index is not mated with the numerical range preset, then according to intelligence man
Occupy the electronic chart prestored in robot and control this Smart Home robot to the correspondence that can change above-mentioned indoor environment index
Target household electrical appliances default control in the range of move, wherein, the electronic chart prestored can be by Smart Home robot
The direction that the inertial sensor such as gyroscope computational intelligence household robot moves, is surveyed by location technologies such as bluetooth, WIFI, radio frequencies
Distance between amount Smart Home robot and household electrical appliances, is then carried out at data by machine learning and pattern recognition scheduling algorithm
Reason builds indoor electronic map.
203: whether the surrounding of detection Smart Home robot exists barrier；
In the embodiment of the present invention, ultrasonic sensor, angular-rate sensor, touch sensor, infrared sensing can be passed through
The integration technology of multiple sensor such as device detects whether there is barrier, wherein, at Smart Home around Smart Home robot
An infrared sensor is respectively installed at the dead ahead of robot, left front, right front, rear, is used for detecting Smart Home robot
Near whether there is barrier.Ultrasonic sensor can be evenly distributed on all directions of Smart Home robot, is used for obtaining
Taking the distance between Smart Home robot and barrier, angular transducer, for detecting turning to of Smart Home robot, connects
Tactile sensor can detect the barrier that the ultrasonic sensors such as tiny barrier and barrier in irregular shape cannot detect.
204: if there is barrier, then control Smart Home robot change track and evade this barrier, and adjust intelligence
The motion track of household robot is with consistent with the track of storage in the above-mentioned electronic chart prestored；
In the embodiment of the present invention, if there is barrier, then can advise by changing the moving direction of Smart Home robot
Keep away this barrier, and after avoiding barrier, adjust the motion track of Smart Home robot with the electronic chart prestored
The track of middle storage is consistent.
205: if in the range of Smart Home robot moves to the default control of above-mentioned target household electrical appliances, then by Z-Wave without
Line communication mode sends control instruction to above-mentioned target household electrical appliances, to adjust the duty of this target man.
In the embodiment of the present invention, target household electrical appliances are determined by the indoor environment index monitored, such as, if indoor temperature is with pre-
If numerical range do not mate, if temperature exceedes upper threshold, start air-conditioning or reduce air-conditioner temperature, if temperature is less than threshold value
Lower limit is then closed air-conditioning or improves air-conditioner temperature, if intensity of illumination is not mated, if intensity of illumination is higher than with the numerical range preset
Upper threshold then can be closed curtain and/or close lighting, if intensity of illumination is less than bottom threshold, can open curtain
And/or open lighting etc., thus control corresponding household electrical appliances by Indoor Environmental Condition.
Further, referring to Fig. 3, Fig. 3 is the stream of another kind of intelligent home furnishing control method disclosed in the embodiment of the present invention
Journey schematic diagram.Wherein, Z-Wave communication is used to lead between the intelligent home furnishing control method shown in Fig. 3 and household electrical appliances
Letter, the method includes:
301: monitoring indoor environment index, and above-mentioned indoor environment index is compared with the numerical range preset；
302: if above-mentioned indoor environment index is not mated with the numerical range preset, then according to pre-in Smart Home robot
The electronic chart deposited controls this Smart Home robot to the default control changing target household electrical appliances corresponding to above-mentioned indoor environment index
Move in the range of system；
303: whether the surrounding of detection Smart Home robot exists barrier；
304: if there is barrier, then control Smart Home robot change track and evade this barrier, and adjust intelligence
The motion track of household robot is with consistent with the track of storage in the above-mentioned electronic chart prestored；
305: receive and store the Z-Wave wireless remote control signals of each household electrical appliances；
In the embodiment of the present invention, the Z-Wave wireless remote control signals of each household electrical appliance can be received in advance and deposit
Storage, wherein it is possible to receive the Z-Wave wireless remote control signals mated with this electrical equipment that electrical equipment sends, it is also possible to downloaded by network
The Z-Wave wireless remote control signals etc. mated with electrical equipment model, concrete which kind of mode of employing, the embodiment of the present invention does not make uniqueness
Limit.
306: if in the range of Smart Home robot moves to the default control of above-mentioned target household electrical appliances, then by Z-Wave without
Line communication mode sends control instruction to above-mentioned target household electrical appliances, to adjust the duty of these target household electrical appliances；
307: receive the voice signal of user's input；
308: resolve above-mentioned voice signal, to carry out interactive voice with user, and perform the mesh mated with this voice signal
Mark operation；
In the embodiment of the present invention, can prestoring in Smart Home robot, some are simply talked with or are entered by network
Line search obtains the answer that the voice signal with user's input mates.For example, it is possible to filled by audible signal reception such as mikes
Put the voice signal receiving user's input, and identify the keyword in above-mentioned voice signal by speech recognition technology, such as
" today, weather how ", now, the weather condition of today can be known according to internal application software in Smart Home robot
Or known the weather condition of today by environment monitoring module, then inform user, further, it is also possible to according to today
Weather condition reports some points for attention to user；The most such as, user inquires the use of a certain article to Smart Home robot
Method, now Smart Home robot may search for prestoring what dialogue storehouse or searched out by web search was mated with this problem
After answer, inform exchanging between user etc. realization and user.
As the optional embodiment of one, the voice signal of user's input can also is that household appliance control instruction, to realize
Adjust the purpose of household electrical appliances duty.Such as, user's input " please open air-conditioning " instruction, after resolving this instruction, it is " good to answer
, just a moment,please ", then control Smart Home robot and realize opening the purpose of air-conditioning, accordingly, it is also possible to by the way
Control other household electrical appliances.
309: whether monitoring indoor occur abnormal condition；
310: if indoor generation abnormal condition, then send alarm signal and send early warning information to user；
In the embodiment of the present invention, the monitoring indoor such as Smoke Sensor, infrared thermography, gas sensor can be passed through
Security situation, if there is abnormal condition, then sends alarm signal and sends early warning information, such as, if examining to user
Measure breaking out of fire, gas leak, when having stranger's intrusion etc., dial the phone of room security, or by jingle bell, voice etc. sends
Alarm signal, sends early warning information to user simultaneously.
311: carry out indoor patrol according to predetermined period；
312: the surrounding of scanning Smart Home robot, and the video of the surrounding by this Smart Home robot
Image is sent to user.
In the embodiment of the present invention, Smart Home robot can carry out indoor patrol according to predetermined period, and in robot
When carrying out indoor patrol, the surrounding of Smart Home robot is scanned, the video image of scanning is sent to user,
User can be monitored Indoor Environmental Condition and safe condition.
It should be noted that in the embodiment of above-mentioned Smart Home robot and intelligent home furnishing control method, included
Modules is to carry out dividing according to function logic, but is not limited to above-mentioned division, as long as being capable of corresponding
Function；It addition, the specific name of each functional module is also only to facilitate mutually distinguish, it is not limited to the present invention's
Protection domain.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not has the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiments.
It addition, one of ordinary skill in the art will appreciate that all or part of step realized in above-mentioned each method embodiment
The program that can be by completes to instruct relevant hardware, and corresponding program can be stored in a kind of computer-readable recording medium
In, storage medium mentioned above can be flash disk, read only memory (Read-Only Memory, ROM), random access device
The various media that can store program code such as (Random Access Memory, RAM), disk or CD.
These are only the present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope that the embodiment of the present invention discloses, the change that can readily occur in or replace
Change, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Enclose and be as the criterion.
Claims (10)
1. a Smart Home robot, it is characterised in that described Smart Home robot includes: main control module, environmental monitoring
Module, positioning navigation module, avoidance module, Z-Wave radio receiving transmitting module, motor, universal wheel；
Described main control module and described environment monitoring module, described positioning navigation module, described avoidance module, described Z-Wave without
Line transceiver module, described motor connect；
Described universal wheel is connected with described motor；
Described environment monitoring module is used for monitoring indoor environment index；
Described main control module is used for comparing described indoor environment index with the numerical range preset, and at described indoor ring
When border index is not mated with the numerical range preset, control described Z-Wave radio receiving transmitting module and refer to changing described indoor environment
The target household electrical appliances that mark is corresponding send control signal, to adjust the duty of described target household electrical appliances；
Described Z-Wave radio receiving transmitting module is additionally operable to receive and store the Z-Wave wireless remote control signals of each household electrical appliances；
Described positioning navigation module is for recording the motion track of described Smart Home robot, and builds electronics with preset algorithm
Map；
Described avoidance module is for detecting around described Smart Home robot in described Smart Home robot moving process
Whether there is barrier；
When described main control module is additionally operable to there is barrier around described Smart Home robot, according to the position of described barrier
Confidence breath controls described Smart Home robot change track thus evades described barrier, and adjusts described Smart Home machine
The motion track of people is with consistent with the track of storage in described electronic chart；
Described motor, for receiving the driving signal that described main control module sends, drives described universal wheel to move to described target
In the range of the default control of household electrical appliances.
Smart Home robot the most according to claim 1, it is characterised in that described Smart Home robot also includes language
Sound ac control module, wherein:
Described speech exchange control module is connected with described main control module；
Described speech exchange control module, for receiving the voice signal of user's input, and resolves described voice signal, with
Family carries out interactive voice.
Smart Home robot the most according to claim 2, it is characterised in that described Smart Home robot also includes intelligence
Energy security alarm module, wherein:
Described intelligent and safe alarm module is connected with described main control module；
Described intelligent and safe alarm module is for when there is abnormal condition, sending alarm signal and sending early warning to user
Information.
Smart Home robot the most according to claim 3, it is characterised in that described Smart Home robot also includes nothing
Line communication module, wherein:
Described wireless communication module is connected with described main control module；
Described wireless communication module is for carrying out remote interaction with user.
Smart Home robot the most according to claim 4, it is characterised in that described Smart Home robot also includes fixed
Time module and photographic head, wherein:
Described time block and described photographic head are connected with described main control module；
Described time block carries out the time of indoor patrol for setting described Smart Home robot；
Described photographic head is used for when described Smart Home robot carries out indoor patrol, the week to described Smart Home robot
Collarette border is scanned, and by described wireless communication module, the video image that described photographic head scans is sent to user.
6. an intelligent home furnishing control method, it is characterised in that be applied to Smart Home robot, described Smart Home robot
And using Z-Wave communication to communicate between household electrical appliances, described method includes:
Monitoring indoor environment index, and described indoor environment index is compared with the numerical range preset；
If described indoor environment index is not mated with the numerical range preset, then according to described Smart Home robot prestores
Electronic chart controls described Smart Home robot to the default control changing target household electrical appliances corresponding to described indoor environment index
In the range of move；
Whether the surrounding detecting described Smart Home robot exists barrier；
If there is barrier, then control described Smart Home robot change track and evade described barrier, and adjust described intelligence
The motion track of energy household robot is with consistent with the track of storage in the described electronic chart prestored；
If in the range of described Smart Home robot moves to the default control of described target household electrical appliances, then by Z-Wave channel radio
Letter mode sends control instruction to described target household electrical appliances, to adjust the duty of described target household electrical appliances.
Method the most according to claim 6, it is characterised in that described by Z-Wave communication to described target man
Electricity sends control instruction, with adjust described target household electrical appliances duty before, described method also includes:
Receive and store the Z-Wave wireless remote control signals of each household electrical appliances.
Method the most according to claim 7, it is characterised in that described method also includes:
Receive the voice signal of user's input；
Resolve described voice signal, to carry out interactive voice with user, and perform the object run mated with described voice signal.
Method the most according to claim 8, it is characterised in that described method also includes:
Whether monitoring indoor there is abnormal condition；
If indoor generation abnormal condition, then send alarm signal and send early warning information to user.
Method the most according to claim 9, it is characterised in that described method also includes:
Indoor patrol is carried out according to predetermined period；
Scan the surrounding of described Smart Home robot, and the video figure of the surrounding by described Smart Home robot
As being sent to user.
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| CN201610652108.8A CN106094768A (en) | 2016-08-10 | 2016-08-10 | A kind of Smart Home robot and intelligent home furnishing control method |
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| CN201610652108.8A CN106094768A (en) | 2016-08-10 | 2016-08-10 | A kind of Smart Home robot and intelligent home furnishing control method |
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| CN106527469A (en) * | 2016-12-29 | 2017-03-22 | 新奥（中国）燃气投资有限公司 | Interactive intelligent robot control system, control method and interactive intelligent robot |
| CN106950337A (en) * | 2017-03-31 | 2017-07-14 | 上海思依暄机器人科技股份有限公司 | A kind of robot and family's air detection system based on robot |
| CN107045366A (en) * | 2017-04-12 | 2017-08-15 | 广东美的暖通设备有限公司 | Building equipment control method, device and robot |
| CN107175675A (en) * | 2017-03-17 | 2017-09-19 | 肇庆市小凡人科技有限公司 | The ambient brightness adjusting method and device of sensitive touch controllable function based on robot |
| CN107297744A (en) * | 2017-06-16 | 2017-10-27 | 江苏科技大学 | A kind of multifunctional household mobile device and its paths planning method |
| CN107856036A (en) * | 2017-11-08 | 2018-03-30 | 徐蒙蒙 | Intelligent robot |
| CN107995279A (en) * | 2017-11-28 | 2018-05-04 | 宁波高新区锦众信息科技有限公司 | A kind of intelligent robot and remote control thereof of remote control cleaning |
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| CN111741425A (en) * | 2020-05-18 | 2020-10-02 | 珠海格力电器股份有限公司 | Intelligent household appliance positioning method and device, server, robot and storage medium |
| CN111812992A (en) * | 2020-06-17 | 2020-10-23 | 三星电子（中国）研发中心 | Intelligent home control method and device for gateway |
| CN112751734A (en) * | 2019-10-29 | 2021-05-04 | 珠海市一微半导体有限公司 | Household appliance control method based on cleaning robot, cleaning robot and chip |
| CN113483826A (en) * | 2021-07-20 | 2021-10-08 | 山东新一代信息产业技术研究院有限公司 | Distribution robot danger alarm system and method |
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| CN106527469A (en) * | 2016-12-29 | 2017-03-22 | 新奥（中国）燃气投资有限公司 | Interactive intelligent robot control system, control method and interactive intelligent robot |
| WO2018157351A1 (en) * | 2017-03-02 | 2018-09-07 | 深圳市前海中康汇融信息技术有限公司 | Household appliance remote control robot and operation method therefor |
| CN107175675A (en) * | 2017-03-17 | 2017-09-19 | 肇庆市小凡人科技有限公司 | The ambient brightness adjusting method and device of sensitive touch controllable function based on robot |
| CN106950337A (en) * | 2017-03-31 | 2017-07-14 | 上海思依暄机器人科技股份有限公司 | A kind of robot and family's air detection system based on robot |
| CN107045366A (en) * | 2017-04-12 | 2017-08-15 | 广东美的暖通设备有限公司 | Building equipment control method, device and robot |
| CN107297744A (en) * | 2017-06-16 | 2017-10-27 | 江苏科技大学 | A kind of multifunctional household mobile device and its paths planning method |
| CN107856036A (en) * | 2017-11-08 | 2018-03-30 | 徐蒙蒙 | Intelligent robot |
| CN107995279A (en) * | 2017-11-28 | 2018-05-04 | 宁波高新区锦众信息科技有限公司 | A kind of intelligent robot and remote control thereof of remote control cleaning |
| CN109960248A (en) * | 2017-12-25 | 2019-07-02 | 沈阳新松机器人自动化股份有限公司 | It is a kind of can automatically walk mobile chassis system |
| CN108594669A (en) * | 2018-06-15 | 2018-09-28 | 河池学院 | A kind of smart home robot control system |
| CN108572647A (en) * | 2018-07-24 | 2018-09-25 | 南京阿凡达机器人科技有限公司 | A kind of smart home management method and management platform based on mobile robot |
| CN109345807A (en) * | 2018-11-08 | 2019-02-15 | 北京宸星控制技术有限公司 | A kind of environmental monitoring robot based on Internet of Things |
| CN109445303A (en) * | 2019-01-04 | 2019-03-08 | 彭雪海 | Smart home system |
| CN112751734A (en) * | 2019-10-29 | 2021-05-04 | 珠海市一微半导体有限公司 | Household appliance control method based on cleaning robot, cleaning robot and chip |
| CN111294726A (en) * | 2020-01-21 | 2020-06-16 | 星络智能科技有限公司 | Storage medium, sweeping robot and equipment control method thereof |
| CN111294726B (en) * | 2020-01-21 | 2021-08-17 | 星络智能科技有限公司 | Storage medium, sweeping robot and equipment control method thereof |
| CN111400687A (en) * | 2020-03-09 | 2020-07-10 | 京东数字科技控股有限公司 | Authentication method and device and robot |
| CN111400687B (en) * | 2020-03-09 | 2024-02-09 | 京东科技控股股份有限公司 | Authentication method, authentication device and robot |
| CN111741425A (en) * | 2020-05-18 | 2020-10-02 | 珠海格力电器股份有限公司 | Intelligent household appliance positioning method and device, server, robot and storage medium |
| CN111741425B (en) * | 2020-05-18 | 2022-01-28 | 珠海格力电器股份有限公司 | Intelligent household appliance positioning method and device, server, robot and storage medium |
| CN111812992A (en) * | 2020-06-17 | 2020-10-23 | 三星电子（中国）研发中心 | Intelligent home control method and device for gateway |
| CN113483826A (en) * | 2021-07-20 | 2021-10-08 | 山东新一代信息产业技术研究院有限公司 | Distribution robot danger alarm system and method |
| CN114041727A (en) * | 2021-10-20 | 2022-02-15 | 南昌大学 | Domestic ecological guard device |
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Application publication date: 20161109 |