CN102122448B - Household educational robot system - Google Patents
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- CN102122448B CN102122448B CN2011100482481A CN201110048248A CN102122448B CN 102122448 B CN102122448 B CN 102122448B CN 2011100482481 A CN2011100482481 A CN 2011100482481A CN 201110048248 A CN201110048248 A CN 201110048248A CN 102122448 B CN102122448 B CN 102122448B
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Abstract
The invention relates to a household educational robot system. The system comprises a robot, a handheld recognition system and a charging management system, wherein, a user stores needed information into storage equipment in the robot, inserts a recognized object into the handheld recognition system, and interactively learns with the robot through the handheld recognition system; the robot and the handheld recognition system are recharged by the charging management system; and the handheld recognition system comprises a main controller which is used for monitoring the operation condition of a bar code recognition unit, a touch panel recognition unit, a wireless data transmission unit, a power management unit and a man-machine interface unit, wherein, the bar code recognition unit transmits bar code information on the recognized object to the main controller, the touch panel recognition unit reads recognized object information clicked by the user and transmits the information to the main controller, the wireless data transmission unit converts data encoded by the main controller into a wireless signal, then sends out the signal and receives a signal sent by the robot at the same time, the power management unit manages power supply of the handheld recognition system, and the man-machine interface unit performs information interaction with the user. The household educational robot system can be widely applied to various robot application fields.
Description
Technical field
The present invention relates to a kind of robot system, particularly about a kind of family expenses educational machine robot system that is applied to use under the home environment.
Background technology
Improving constantly of Along with people's living standard, and the continuous progress of Robotics, robot gets into family has become possibility.The company that is engaged in the robot commercialization now be mostly with robot as teaching appliance, be applied to the teaching.This robotlike carries out the aid of C Language Training, electronics and circuit teaching usually as school, higher to user's Capability Requirement, therefore, towards the student be the student at school more than the senior middle school mostly.
At present, some domestic robots have appearred on the market, for example weed-eradicating robot, copy robot, clean robot mechanically.The robot product of selling on the home market that is used for family is a kind of intellective dust collector that is called clean robot, and it mainly bears the cleaning of domestic environment.This robotlike mainly bears loaded down with trivial details in some family lives, or the thing of repeatability, its function singleness, and intelligent degree is low.Except specific service is provided to the user (as sweeping the floor), have no added value, there is not the possibility of upgrading yet.And up to the present, had a variety ofly with the robot of dialogue machine artificial notion or other teaching product, they adopt speech recognition technology mostly, have been equipped with the functional module that is referred to as " speech recognition engine ".Because receive the current speech recognition technology, and because the restriction of speech recognition difficulty that the various places dialect causes or the like factor, also there is a big difference from the effect of anticipation for the education product of use speech recognition technology.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of simple in structurely, with low cost, can improve accuracy of identification, practical value is higher, has the family expenses educational machine robot system of automatic recognition function.
For realizing above-mentioned purpose; The present invention takes following technical scheme: a kind of family expenses educational machine robot system; It is characterized in that: it comprises robot, hand-held recognition system and charging management system; The user will need in the memory device in information stores to the said robot; The user is inserted into said hand-held recognition system with identifying object, transmits information each other through the wireless data open network between said robot and the said hand-held recognition system, makes the user carry out interactive learning through said hand-held recognition system and said robot; Said robot and hand-held recognition system are supplied power by said charging management system; Said hand-held recognition system comprises master controller, bar-code identification unit, touch pad recognition unit, wireless data transmission unit, PMU and man-machine interface unit; Said master controller is used to monitor the duty of said bar-code identification unit, touch pad recognition unit, wireless data transmission unit, PMU and man-machine interface unit; Said bar-code identification unit is used for the bar code information on the identifying object that reads is transferred to said master controller; Said touch pad recognition unit is used to read the identifying object information that said user clicks, and with identifying object information transmission to said master controller; Said wireless data transmission unit is used for the data-switching behind the said master controller coding is become wireless signal and sends, and receives the wireless signal that said robot sends simultaneously; Said PMU is used for said hand-held recognition system is carried out power supply management and control; Said man-machine interface unit is used for said hand-held recognition system and said user carries out information interaction.
Said robot comprises another man-machine interface unit, main control unit, voice recognition unit, voice-output unit, sensor unit, electric-motor drive unit, file storage unit, wireless data transmission unit and PMU; Said man-machine interface unit carries out information interaction through media and said user, and gives said main control unit with the information transmission that receives, and the control signal that said main control unit is sent passes to the user; Said voice recognition unit with the voice signal pre-service that collects after, pass to said main control unit and handle; Said voice-output unit is sounded according to the control command of said main control unit; Said sensor unit is transferred to said main control unit with said robot external information, accomplishes identification and location to said robot environment of living in; Said electric-motor drive unit is controlled by said main control unit, realizes the control to drive motor and action servomotor; Said file storage unit is used for the packet of storage update and the interim identification file of said voice recognition unit, and carries out information interaction with said main control unit; Said wireless data transmission unit is controlled by said main control unit, carries out information interaction through radio data network and said hand-held recognition system; Each unit in the said robot supplies power by said PMU.
Said charging management system comprises AC/DC converting circuit, charge management circuit, charging inlet and localizer beacon; Said AC/DC converting circuit is used for converting the family expenses civil power into DC voltage that the charging of said robot is used; Said charge management circuit is managed charging process according to the various states of charging; Said charging inlet comprises the electric interfaces and the mechanical interface of charging, is used to realize that said robot docks and disconnection with the autonomous of charger; Said localizer beacon is used to the positioning signal that said robot provides charger, makes robot correctly get into charger.
Said bar-code identification unit comprises bar code photosensor arrays, protection circuit, filtering and signal conditioning circuit and signal interface circuit; Said bar code photosensor arrays transfers to said signal interface circuit through said protection circuit, filtering and signal conditioning circuit successively with the identifying information that obtains, and by said signal interface circuit identifying information is transferred to the master controller in the said hand-held recognition system.
Said touch pad recognition unit comprises touch pad, signaling conversion circuit and interface circuit; The coordinate information of the identifying object that the said user that said touch pad will identify clicks; Through said signaling conversion circuit coordinate information is converted into the signal format that said master controller can be handled, and transfers to said master controller through said interface circuit.
Said PMU comprises sensor assembly, battery and electric power management circuit, and said master controller is through reading the information that said sensor assembly is gathered, and the information of gathering said electric power management circuit, controls said battery operated state.
The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention is owing to adopt the family expenses educational machine robot system that is made up of robot, hand-held recognition system and charging management system, and in the memory device of portion, the user is inserted into identifying object on the hand-held recognition system information stores that robot needs within it; At this moment; The user just can carry out interactive learning through hand-held recognition system and robot, and it is simple in structure, and cost is lower.2, the hand-held recognition system among the present invention comprises parts such as bar-code identification unit, touch pad recognition unit and wireless data transmission unit; Adopt the bar-code identification unit of Bar Code; Realized automatic identification; Therefore the selection mistake of having avoided artificial cognition to cause has improved accuracy of identification.3, adopt voice recognition unit, voice-output unit and man-machine interface unit etc. in the robot of the present invention; The man-machine interface unit can be realized carrying out man-machine information interaction with the user through media such as voice, lighting effects or pilot lamp; So not only can strengthen stimulus to the sense organ to user's sense of hearing and vision; And because it is removable, and can make exercises, stimulate so can transfer the forward of the various sense organ of user's sense of hearing, vision, sense of touch or the like.Can also bring in constant renewal in simultaneously action, audio, lighting effects of robot or the like, prolong user's learning interest, increase practical value of the present invention greatly.4, family expenses educational machine robot system of the present invention is placed on recognition function on the hand-held recognition system, and other function has been placed in the robot, so that the hand-held recognition system can be done is light and handy, flexibly.The user can hold the hand-held recognition system easily and robot faces the exchange study of " face ", therefore, has strengthened interactive sense, has strengthened results of learning, has improved learning efficiency.The present invention can be widely used in the various robot application field.
Description of drawings
Fig. 1 is an one-piece construction synoptic diagram of the present invention;
Fig. 2 is robot architecture's synoptic diagram of the present invention;
Fig. 3 is a man-machine interface cellular construction synoptic diagram of the present invention;
Fig. 4 is a voice recognition unit structural representation of the present invention;
Fig. 5 is a voice-output unit structural representation of the present invention;
Fig. 6 is an electric-motor drive unit structural representation of the present invention;
Fig. 7 is a PMU structural representation of the present invention;
Fig. 8 is a hand-held recognition system structural representation of the present invention;
Fig. 9 is a bar-code identification cellular construction synoptic diagram of the present invention;
Figure 10 is a touch pad recognition unit structural representation of the present invention;
Figure 11 is a PMU structural representation of the present invention;
Figure 12 is a charging management system structural representation of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
As shown in Figure 1; The present invention includes robot 10, hand-held recognition system 20 and charging management system 30; The user is according in the memory device of its needs in information stores to the robot 10 that appointed website is downloaded, and simultaneously, the user is inserted into identifying object on the hand-held recognition system 20; Transmit information each other through wireless data communication network between robot 10 and the hand-held recognition system 20, make the user carry out interactive learning with robot 10 through hand-held recognition system 20.Wherein, robot 10 supplies power by charging management system 30 with hand-held recognition system 20.
As shown in Figure 2, robot 10 of the present invention comprises man-machine interface unit 11, main control unit 12, voice recognition unit 13, voice-output unit 14, sensor unit 15, electric-motor drive unit 16, file storage unit 17, wireless data transmission unit 18 and PMU 19.
Man-machine interface unit 11 carries out information interaction through media such as button, light, sound and user, and man-machine interface unit 11 passes to main control unit 12 with the information that receives, and the control signal that main control unit 12 is sent is passed to the user; Voice recognition unit 13 with the voice signal pre-service that collects after, pass to main control unit 12 and handle; Voice-output unit 14 is sounded according to the control command of main control unit 12; Sensor unit 15 is transferred to main control unit 12 with robot 10 external informations, handles the back by main control unit 12 and accomplishes identification and location to robot 10 environment of living in; Electric-motor drive unit 16 is by main control unit 12 control, and electric-motor drive unit 16 is realized the control to drive motor and action servomotor under the control of main control unit 12, thereby accomplishes the limb action (like the action of arm etc.) of robot 10; File storage unit 17 is used for the packet of storage update and the interim identification file of voice recognition unit 13, and file storage unit 17 is carried out information interaction with main control unit 12.
Wherein, Wireless data transmission unit 18 is under main control unit 12 controls; Carry out information interaction by predefined agreement through radio data network and hand-held recognition system 20; When in the hand-held recognition system 20 new identifying object being arranged, wireless data transmission unit 18 can be imported new identifying object in the file storage unit 17 into timely, in order to using.Each unit in the robot 10 supplies power by PMU 19.
In the foregoing description, main control unit 12 adopts high performance risc microcontroller.
As shown in Figure 3, in the foregoing description, man-machine interface unit 11 comprises keyboard input module 111, touch display screen 112, status indicator lamp 113 and lighting effects module 114.
By the main control unit 12 responsible work of coordinating each several part, the sequencing of decision each several part execution command.Keyboard input module 111 is the direct modes of carrying out man-machine interaction, promptly stops after can be in robot 10 out of control, also can pass through keyboard input instruction, setup parameter; Touch display screen 112 is used for showing the information in the man-machine interaction process, for example: during religion child English learning, show word, phonetic symbol etc.; Status indicator lamp 113 is the various duties that are used for indicating robot 10 with lighting effects module 114.
As shown in Figure 4, in the foregoing description, voice recognition unit 13 comprises acoustic pickup 131, analog to digital converter 132, voice recognition controller 133 and directed sonic sensor array 134.
After the sound that acoustic pickup 131 transmits the external world converts electric signal to, and convert digital quantity signal to, transfer in the voice recognition controller 133 through analog to digital converter 132; Simultaneously, directed sonic sensor array 134 also transfers to the acoustic signals that collects in the voice recognition controller 133.Voice recognition controller 133 becomes specific coding through speech recognition with conversion of signals, and then the implication of definite sound import; Voice recognition controller 133 is carried out information interaction with main control unit 12, and voice recognition controller 133 is stored in the file storage unit 17 voice document behind the coding subsequent use according to the instruction that main control unit 12 sends.
As shown in Figure 5, in the foregoing description, voice-output unit 14 comprises voice controller 141, audio balance unit 142, digital to analog converter 143, power amplification unit 144 and loudspeaker 145.
As shown in Figure 6, in the foregoing description, electric-motor drive unit 16 comprises PID (PID) controller 161, motor driver 162, drive motor 163, code-wheel 164, driving wheel 165, motor servo driver 166 and servomotor 167.
In the foregoing description, the control mode of PID controller 161 can adopt position model PID control or adopt increment type PID control.
As shown in Figure 7, in the foregoing description, PMU 19 comprises sensor assembly 191, electric battery 192 and power management module 193.
The data message to electric battery 192 such as voltage, electric current, temperature that sensor assembly 191 will be gathered is sent to main control unit 12; Main control unit 12 is with being sent to power management module 193 after the processing data information; Realize that by power management module 193 192 charge and discharge are monitored in real time to electric battery; For electric battery 192 provides electric weight equilibrium between overvoltage, overcurrent, temperature protection and battery, thereby improve the service efficiency of electric battery 192, prolong the serviceable life of electric battery 192.
As shown in Figure 8; Hand-held recognition system 20 of the present invention can not only be used for identification identifying object corresponding with it; Can also use the telepilot of work, realizing basic guidance command, as advance, retreat, stop etc. robot 10; The user can accomplish exercises through these command remote control robots 10, to strengthen the amusement instructional function of robot 10.Hand-held recognition system 20 comprises master controller 201, bar-code identification unit 202, touch pad recognition unit 203, wireless data transmission unit 204, PMU 205 and man-machine interface unit 206.
Bar-code identification unit 202 is used for the bar code information on the identifying object that reads is transferred to master controller 201, thereby confirms the basic identity information of the identifying object of adding hand-held recognition system 20.
Touch pad recognition unit 203 is used to read the identifying object information that the user clicks, and with identifying object information transmission to master controller 201.
Wireless data transmission unit 204 is used for the data-switching behind master controller 201 coding is become wireless signal and sends; Simultaneously, receive the wireless signal that robot 10 sends.
PMU 205 is used for hand-held recognition system 20 is carried out power supply management and control, and then guarantees the work that hand-held recognition system 20 can the long period.
Man-machine interface unit 206 is used for hand-held recognition system 20 and carries out information interaction with the user.
As shown in Figure 9; In the foregoing description; Bar-code identification unit 202 comprises bar code photosensor arrays 2021, protection circuit 2022, filtering and signal conditioning circuit 2023 and signal interface circuit 2024; Bar code photosensor arrays 2021 transfers to signal interface circuit 2024 through protection circuit 2022, filtering and signal conditioning circuit 2023 successively with the identifying information that obtains, and by signal interface circuit 2024 identifying information is transferred to the master controller 201 in the hand-held recognition system 20.
Wherein, the identifying information of bar-code identification unit 202 comprises whether identity information, the positive and negative information of identifying object placement direction, the identifying object of identifying object are information such as colour.
Shown in figure 10, in the foregoing description, touch pad recognition unit 203 comprises touch pad 2031, signaling conversion circuit 2032 and interface circuit 2033.Touch pad 2031 is converted into the coordinate information of the identifying object of the user's click that identifies the signal format that master controller 201 can be handled through signaling conversion circuit 2032 with coordinate information, and transfers to master controller 201 through interface circuit 2033.
Shown in figure 11, in the foregoing description, PMU 205 comprises sensor assembly 2051, battery 2052 and electric power management circuit 2053.Master controller 201 goes out the duty of battery 2052 through the information of read sensor module 2051 collections through analysis and judgement; Simultaneously, master controller 201 is gathered the corresponding information of electric power management circuit 2053, and battery 2052 is carried out rational control and management.
PMU 205 has charging overcurrent, over-voltage protecting function, and can be full of the outage automatically of electricity back in hand-held recognition system 20.
Shown in figure 12, charging management system 30 of the present invention is the important component parts that realize robot 10 autonomous chargings, and it comprises AC/DC change-over circuit (AC/DC converting circuit) 301, charge management circuit 302, charging inlet 303 and localizer beacon 304.
AC/DC change-over circuit 301 is used for converting the civil power of the 220VAC of family expenses into DC voltage that robot 10 chargings are used, and the voltage after the conversion is carried out filtering, rectification, voltage stabilizing etc., thereby satisfies the requirement of charging circuit.
Charge management circuit 302 is managed charging process according to the various states of charging, and the pilot lamp of correspondence is lighted or extinguished.
Charging inlet 303 comprises the electric interfaces and the mechanical interface of charging, and it is used to realize that robot 10 docks and disconnection with the autonomous of charger, and can guarantee the Electrical Safety in when charging.
Among above-mentioned each embodiment; It only is preferred embodiment of the present invention; Be not that the present invention is done any pro forma qualification, every based on technical scheme of the present invention to any simple change, improvement and modification that above embodiment did, all should not get rid of outside protection scope of the present invention.
Claims (8)
1. family expenses educational machine robot system; It is characterized in that: it comprises robot, hand-held recognition system and charging management system; The user will need in the memory device in information stores to the said robot; The user is inserted into said hand-held recognition system with identifying object, transmits information each other through the wireless data open network between said robot and the said hand-held recognition system, makes the user carry out interactive learning through said hand-held recognition system and said robot; Said robot and hand-held recognition system are supplied power by said charging management system;
Said hand-held recognition system comprises master controller, bar-code identification unit, touch pad recognition unit, wireless data transmission unit, PMU and man-machine interface unit; Said master controller is used to monitor the duty of said bar-code identification unit, touch pad recognition unit, wireless data transmission unit, PMU and man-machine interface unit; Said bar-code identification unit is used for the bar code information on the identifying object that reads is transferred to said master controller; Said touch pad recognition unit is used to read the identifying object information that said user clicks, and with identifying object information transmission to said master controller; Said wireless data transmission unit is used for the data-switching behind the said master controller coding is become wireless signal and sends, and receives the wireless signal that said robot sends simultaneously; Said PMU is used for said hand-held recognition system is carried out power supply management and control; Said man-machine interface unit is used for said hand-held recognition system and said user carries out information interaction;
Said robot comprises the second man-machine interface unit, main control unit, voice recognition unit, voice-output unit, sensor unit, electric-motor drive unit, file storage unit, wireless data transmission unit and PMU;
The said second man-machine interface unit carries out information interaction through media and said user, and gives said main control unit with the information transmission that receives, and the control signal that said main control unit is sent passes to the user;
Said voice recognition unit with the voice signal pre-service that collects after, pass to said main control unit and handle;
Said voice-output unit is sounded according to the control command of said main control unit;
Said sensor unit is transferred to said main control unit with said robot external information, accomplishes identification and location to said robot environment of living in;
Said electric-motor drive unit is controlled by said main control unit, realizes the control to drive motor and action servomotor;
Said file storage unit is used for the packet of storage update and the interim identification file of said voice recognition unit, and carries out information interaction with said main control unit;
Said wireless data transmission unit is controlled by said main control unit, carries out information interaction through radio data network and said hand-held recognition system; Each unit in the said robot supplies power by said PMU.
2. a kind of family expenses educational machine robot system as claimed in claim 1, it is characterized in that: said charging management system comprises AC/DC converting circuit, charge management circuit, charging inlet and localizer beacon;
Said AC/DC converting circuit is used for converting the family expenses civil power into DC voltage that the charging of said robot is used; Said charge management circuit is managed charging process according to the various states of charging; Said charging inlet comprises the electric interfaces and the mechanical interface of charging, is used to realize that said robot docks and disconnection with the autonomous of charger; Said localizer beacon is used to the positioning signal that said robot provides charger, makes robot correctly get into charger.
3. according to claim 1 or claim 2 a kind of family expenses educational machine robot system; It is characterized in that: said bar-code identification unit comprises bar code photosensor arrays, protection circuit, filtering and signal conditioning circuit and signal interface circuit; Said bar code photosensor arrays transfers to said signal interface circuit through said protection circuit, filtering and signal conditioning circuit successively with the identifying information that obtains, and by said signal interface circuit identifying information is transferred to the master controller in the said hand-held recognition system.
4. according to claim 1 or claim 2 a kind of family expenses educational machine robot system; It is characterized in that: said touch pad recognition unit comprises touch pad, signaling conversion circuit and interface circuit; The coordinate information of the identifying object that the said user that said touch pad will identify clicks; Through said signaling conversion circuit coordinate information is converted into the signal format that said master controller can be handled, and transfers to said master controller through said interface circuit.
5. a kind of family expenses educational machine robot system as claimed in claim 3; It is characterized in that: said touch pad recognition unit comprises touch pad, signaling conversion circuit and interface circuit; The coordinate information of the identifying object that the said user that said touch pad will identify clicks; Through said signaling conversion circuit coordinate information is converted into the signal format that said master controller can be handled, and transfers to said master controller through said interface circuit.
6. like claim 1 or 2 or 5 described a kind of family expenses educational machine robot systems; It is characterized in that: said PMU comprises sensor assembly, battery and electric power management circuit; Said master controller is through reading the information that said sensor assembly is gathered; And the information of gathering said electric power management circuit, control said battery operated state.
7. a kind of family expenses educational machine robot system as claimed in claim 3; It is characterized in that: said PMU comprises sensor assembly, battery and electric power management circuit; Said master controller is through reading the information that said sensor assembly is gathered; And the information of gathering said electric power management circuit, control said battery operated state.
8. a kind of family expenses educational machine robot system as claimed in claim 4; It is characterized in that: said PMU comprises sensor assembly, battery and electric power management circuit; Said master controller is through reading the information that said sensor assembly is gathered; And the information of gathering said electric power management circuit, control said battery operated state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100482481A CN102122448B (en) | 2011-02-28 | 2011-02-28 | Household educational robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100482481A CN102122448B (en) | 2011-02-28 | 2011-02-28 | Household educational robot system |
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| CN102122448A CN102122448A (en) | 2011-07-13 |
| CN102122448B true CN102122448B (en) | 2012-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011100482481A Expired - Fee Related CN102122448B (en) | 2011-02-28 | 2011-02-28 | Household educational robot system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103151825B (en) * | 2013-04-09 | 2015-02-11 | 哈尔滨工业大学 | Non-contact autonomous wireless charging device for indoor moving robot and method thereof |
| CN104970738A (en) * | 2015-07-31 | 2015-10-14 | 苏州蓝王机床工具科技有限公司 | Power self-learning dust collector |
| CN106778432A (en) * | 2016-11-23 | 2017-05-31 | 河池学院 | A kind of Quick Response Code identifying system in household instruction robot system |
| CN107160403A (en) * | 2017-06-30 | 2017-09-15 | 海南职业技术学院 | A kind of intelligent robot system with multi-functional human-machine interface module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4366617B2 (en) * | 1999-01-25 | 2009-11-18 | ソニー株式会社 | Robot device |
| WO2002032629A1 (en) * | 2000-10-13 | 2002-04-25 | Sony Corporation | Robot device and behavior control method for robot device |
| CN101620791A (en) * | 2009-07-08 | 2010-01-06 | 陈冠宇 | Movable pet point-to-read machine |
| CN101794302B (en) * | 2010-02-10 | 2012-07-11 | 上海商格信息科技有限公司 | Intelligent querying and showing device based on wireless radio-frequency identification technology and internet technology |
| CN101927492B (en) * | 2010-06-23 | 2012-01-04 | 焦利民 | Household intelligent robot system |
| CN101947788A (en) * | 2010-06-23 | 2011-01-19 | 焦利民 | Intelligent robot |
| CN201936461U (en) * | 2011-02-28 | 2011-08-17 | 焦利民 | Household instruction robot system |
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