CN102566523B - Housekeeper robot and network control system based on housekeeper robot - Google Patents
Housekeeper robot and network control system based on housekeeper robot Download PDFInfo
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Abstract
The invention relates to a housekeeper robot, which comprises a chassis and a machine body which is connected with the chassis. The housekeeper robot also comprises a processing module, an equipment parameter database, a wireless communication module and an input/output module which are arranged in the machine body, wherein the equipment parameter database is used for storing the identification numbers and the state parameters of appliance equipment and a special robot; the input/output module is used for acquiring an input instruction of a user and sending the input instruction to the processing module; the processing module is used for generating a control instruction and sending the control instruction to the appliance equipment or the special robot through the wireless communication module; and the wireless communication module is used for receiving the uploaded state parameters of the appliance equipment or the special robot after the control instruction is executed and storing the uploaded state parameters to the equipment parameter database. According to the housekeeper robot and a network control system based on the housekeeper robot, the control operation is realized on various appliance equipment and special robots, and moreover, the operation is convenient and fast.
Description
[technical field]
The present invention relates to robot field, particularly a kind of house keeper robot and the network control system based on house keeper robot.
[background technology]
Along with the fast development of intelligent robot technology, and the fast lifting of hardware performance and the decline of cost, intelligent robot is also more and more widely used in family field, as household cleaning, cut grass and look after children and old man etc., it is convenient to bring to the life of people.And ripe gradually along with functional domestic robot technology (as sweeping robot, weed-eradicating robot), family also will have greater functionality domestic robot.
Along with increasing of home appliance and domestic robot, the home appliance that how easy usage quantity numerous and domestic robot, become domestic consumer gradually one perplexs greatly.Therefore, how carrying out simple bookkeeping to various home appliance and domestic robot is the problem needing to solve.
[summary of the invention]
Based on this, be necessary to provide a kind of house keeper robot, control operation can be carried out to various home appliance and domestic robot, and simple operation.
A kind of house keeper robot, the body comprising chassis and be connected with chassis, also comprise the processing module be arranged in described body, device parameter database, wireless communication module and input/output module, described device parameter database is for storing identification number and the state parameter of home appliance and special purpose robot; Described input/output module is for obtaining the input instruction of user and sending to described processing module, described processing module generates steering order and also described steering order is sent to described home appliance or special purpose robot by described wireless communication module, and the state parameter after described wireless communication module receives the execution steering order that described home appliance or special purpose robot upload also is stored into described device parameter database.
Preferably, also comprise and be arranged on displacement sensing module in described body and usertracking module, described displacement sensing module is for obtaining geographic information data and sending to described processing module, and described processing module generates according to described geographic information data and keeps away barrier instruction and control described chassis and move; Described usertracking module is for gathering the movement locus of user and sending to described processing module, and the trace generator that described processing module analyzes described user is followed instruction and controlled described chassis and move.
Preferably, also comprise the Multi-shaft mechanical arm module be connected with described body, described Multi-shaft mechanical arm module performs corresponding operation according to the operational order that described processing module sends.
Preferably, also comprise the environmental data pretreatment module be connected respectively with described wireless communication module and processing module, described environmental data pretreatment module is used for carrying out pre-service to the real-time environmental data that described wireless communication module receives and the environmental data after process being sent to described processing module, and described processing module generates regulating command according to the environmental data after described process and sends.
Preferably, also comprise the video acquisition module be connected with described processing module, the ambient image of acquisition and user images for obtaining ambient image and user images, and are sent to described processing module by described video acquisition module, and described processing module processes ambient image and user images.
Preferably, also comprise the behavior pattern sample database be connected with described processing module, the steering order, pretreated environmental data and the ambient image that generate for the instruction storing user's input, the instruction that inputs according to described user and user images, and real-time update.
Preferably, described input/output module comprises load module and output module, described load module be in touch-screen, button, microphone one or more, described output module be in LCDs, loudspeaker one or both.
Preferably, described displacement sensing module comprise detection range navigation sensing unit, by the photoelectric coding unit of the light signal switching electrical signals of detection range with gather the gyroscope of direction of motion, described processing module receives electric signal that described photoelectric coding unit sends and the direction of motion that described gyroscope sends and generates and keep away barrier instruction and control described chassis and move.
In addition, there is a need to provide a kind of network control system based on house keeper robot, control operation can be carried out to various home appliance and domestic robot, and simple operation.
A kind of network control system based on house keeper robot, comprise above-mentioned house keeper robot, also comprise environmental information sensor and wearable input device, described environmental information sensor gathers environmental data and sends to described house keeper robot, described wearable input device perception user behavior generates input instruction and sends to described house keeper robot by wireless network is long-range, described house keeper robot generates corresponding steering order according to described input instruction, and sends to home appliance or special purpose robot by wireless network.
Preferably, described wearable input device comprises the wear-type signal acquisition module, control treatment module and the first communication module that gather user's eye or headwork signal, the eye of collection or headwork signal are converted to corresponding steering order by described control treatment module, and corresponding steering order is sent to described house keeper robot by described first communication module.
Preferably, described wear-type signal acquisition module is glasses rack-like structure, and described control treatment module and first communication module are integrated on described spectacle frame; Described wearable input device also comprises multimedia display module and dio Output Modules, described multimedia display module and dio Output Modules are all integrated on described spectacle frame, and described environmental data is sent to the display of described multimedia display module by described house keeper robot.
Preferably, described wearable input device also comprises finger ring induction module, described finger ring induction module comprises hand motion sensing unit and second communication unit, described hand motion sensing unit gathers the hand motion signal of user, first communication module is sent to by described second communication unit, described hand motion signal is converted to corresponding steering order by described control treatment module, then sends to described house keeper robot by described first communication module.
Preferably, described finger ring induction module also comprises heat coil, and described heat coil sends alerting signal by heating.
Above-mentioned house keeper robot and the network control system based on house keeper robot, the input instruction of user is obtained by input/output module, processing module is carried out process to the instruction that user inputs and is generated corresponding steering order, the identification number of steering order and home appliance or special purpose robot is sent to corresponding home appliance or special purpose robot performs corresponding operation, achieve the control operation to various home appliance and special purpose robot, and simple operation.
[accompanying drawing explanation]
Fig. 1 is the structural representation of house keeper robot in an embodiment;
Fig. 2 is the structural representation of house keeper robot in another embodiment;
Fig. 3 is the inner structure schematic diagram of displacement sensor module in Fig. 2;
Fig. 4 is the Internet Transmission schematic diagram based on the network control system of house keeper robot in an embodiment;
Fig. 5 is the structural representation of wearable input device in an embodiment.
[embodiment]
Below in conjunction with specific embodiment and accompanying drawing, technical scheme is described in detail.
As shown in Figure 1, in an embodiment, a kind of house keeper robot, comprises the body 20 that chassis 10 is connected with chassis 10, is arranged on input/output module 210, device parameter database 220, processing module 230 and wireless communication module 240 in this body 20.
Wherein, input/output module 210 is for obtaining the input instruction of user and sending to processing module 230, device parameter database 220 is for storing identification number and the state parameter of home appliance and special purpose robot, the input instruction that processing module 230 receives user generates steering order, and get corresponding home appliance or the identification number of special purpose robot, by wireless communication module 240, steering order is sent to corresponding home appliance or special purpose robot.State parameter after wireless communication module 240 receives the execution steering order that home appliance or special purpose robot upload also is stored in device parameter database 220.Input/output module 210 also for the state parameter etc. of output display home appliance or special purpose robot, or by this state parameter of voice output.Input/output module 210 comprises load module and output module, and load module to can be in touch-screen, button, microphone one or more, output module be in LCDs, loudspeaker one or both.Electrical appliance can be various electric equipment, as air-conditioning, televisor, washing machine, humidifier etc.Special purpose robot refers to the robot being exclusively used in certain specific function, as clean robot, grass-removing robot, transfer robot etc.The identification number of home appliance and special purpose robot is the one number of difference equipment.Device parameter database 220 also for storing the real-time status of home appliance and special purpose robot, performance and corresponding parameter, as the temperature, pattern etc. of air-conditioning.Processing module 230 is CPU processor or flush bonding processor.Wireless communication module 240 can be 3G module, GPRS (General Packet Radio Service, general packet radio service technology) module etc.
Above-mentioned house keeper robot generates steering order according to the instruction that user inputs and controls home appliance or special purpose robot's work, if the instruction of user's input is for regulating air-conditioner temperature to be 25 degrees Celsius, house keeper robot generates control temperature at the instruction code of 25 degrees Celsius after getting this instruction, and get air-conditioning equipment identification number, this instruction code is sent to air-conditioning equipment, air-conditioning equipment performs this instruction code, temperature is set in 25 degrees Celsius.User inputs floor-mopping robot and carries out mopping floor operational order, house keeper robot generates according to this instruction that mops floor the instruction code that mops floor, and get the device id of this floor-mopping robot, send and mop floor instruction code to floor-mopping robot, floor-mopping robot performs the operation that mops floor.So, the various home appliance of house keeper's robot controlling and special purpose robot's work, special purpose robot only needs to perform simple function, does not need a lot of complicated process chip and control device, reduces the manufacturing cost of special purpose robot.
As shown in Figure 2, in one embodiment, above-mentioned house keeper robot also comprises the displacement sensing module 250 arranged in body 20, usertracking module 260, the Multi-shaft mechanical arm module 30 be connected with body 20, environmental data pretreatment module 270, video acquisition module 280 and behavior pattern sample database 290.Wherein,
Displacement sensing module 250 is for obtaining geographic information data and sending to processing module 230, and processing module 230 is kept away barrier instruction control chassis 10 according to the generation of this geographic information data and moved.As shown in Figure 3, displacement sensing module 250 comprises the gyroscope 256 of the navigation sensing unit 252 of detection range, the photoelectric coding unit 254 light signal of detection range being converted to electric signal and collection direction of motion.The direction of motion generation of electric signal and gyroscope 256 transmission that processing module 230 receives photoelectric coding unit 254 transmission keeps away barrier instruction control chassis 10 and moves.In addition, displacement sensing module 250 also comprises odometer, and odometer can record the distance of house keeper robot movement.Navigation sensing unit 252 can comprise at least one in laser range sensor, IR evading obstacle sensors, also multiple different distance measuring sensor can be adopted to coordinate, make different detection range, the navigation sensor of different detection viewing field supplements mutually, indoor dynamic navigation is provided.As adopted laser range finder and house keeper robot to move, draw actual indoor map.
Usertracking module 260 is for gathering the movement locus of user and sending to processing module 230, and the trace generator that processing module 230 analyzes user is followed instruction and controlled chassis 10 and move.Usertracking module 260 follows user closely, provides and offer convenience alternately for house keeper robot.Usertracking module 260 can adopt the modes such as the tracking of wireless information source, image trace identification, infrared track to combine, and improves the stability of following the tracks of user.Usertracking module 260 gathers the feature such as position, speed, shape, texture, color of user, these features is sent to processing module 230 to carry out analyzing and processing and draws movement locus to follow the tracks of.In the present embodiment, usertracking module 260 is infrared track thermopile sensor.
Multi-shaft mechanical arm module 30 performs corresponding operation according to the operational order that processing module 230 sends.Multi-shaft mechanical arm module 30 adopts mechanical arm gauge sensor, by the pressure condition of the gauge sensor senses house keeper robot arm of high precision, low drifting, and mineralization pressure FEEDBACK CONTROL.House keeper robot by the work of Multi-shaft mechanical arm module 230 assisted user, and assists special purpose robot to work, and processes certain home appliance or the fault of special purpose robot, as assisted user enabling, the plug etc. pulling out home appliance.
Environmental data pretreatment module 270 is carried out pre-service to the real-time environmental data that reception wireless communication module 240 receives and the environmental data after process is sent to processing module 230, and processing module 230 generates regulating command according to the environmental data after process and sends to home appliance or special purpose robot.Environmental data is comprised and being gathered and the environmental information sent by various sensor, as data such as temperature, humidity, gas, brightness, noises.The pre-service such as environmental data pretreatment module 270 verifies these data, error correction, compensation calculation.Be converted to corresponding physical quantity according to the voltage of sensor collection or the magnitude of current, obtain real environmental information.
Video acquisition module 280 obtains ambient image and user images, and the ambient image of acquisition and user images are sent to processing module 230.Processing module 230 pairs of ambient image and user images carry out the process operations such as image restoration, visual field correction, image aligning.Video acquisition module 280 can be binocular camera.
Behavior pattern sample database 290 for storing the instruction of user's input, the corresponding steering order of instruction generation that processing module 230 input according to user, pretreated environmental data and ambient image and user images, and real-time update.Computer Simulation is carried out, analytical algorithm stability, fault-tolerance, feasibility and computation complexity to the respective instruction that behavior pattern sample database 290 records.
In one embodiment, a kind of network control system based on house keeper robot, comprises above-mentioned house keeper robot, environmental information sensor and wearable input device.Environmental information sensor gathers environmental data and sends to housekeeper device people, wearable input device perception user behavior generates input instruction and sends to house keeper robot by wireless network is long-range, house keeper robot generates corresponding steering order according to this input instruction, and sends to home appliance or special purpose robot by wireless network.
Environmental information sensor gathers environmental data, as temperature, humidity, gas, brightness, noise etc.Environmental data is sent to house keeper robot by wireless network by environmental information sensor.House keeper robot is judged environment by these environmental datas, generates corresponding regulating command, controls corresponding home appliance regulate by the identification number of home appliance and regulating command.Environmental data sensor to comprise in temperature sensor, humidity sensor, gas concentration lwevel sensor, illuminance transducer, sound transducer etc. one or more.Wherein, gas concentration lwevel sensor is carbon dioxide infrared gas sensor.This carbon dioxide infrared gas sensor is made up of infrared radiation source, thermopile detector, air chamber and corresponding control circuit.
Wherein, as shown in Figure 4, wireless network adopts with house keeper's machine Ren Wei center, by abstract for house keeper robot for Sink node (network data collects/publisher node), by environmental data sensor, home appliance and special purpose robot abstract be Node node (network ordinary node), network data flow is Sink → Node and Node → Sink two kinds of forms, and two kinds of data stream comprise periodically Node → Sink data stream (for Data Collection), sudden Node → Sink data stream (for event transmission) and sudden Sink → Node data stream (for steering order transmission).
As shown in Figure 5, wearable input device comprises wear-type signal acquisition module 400, control treatment module 410, first communication module 420, multimedia display module 430, dio Output Modules 440 and finger ring induction module 450.
Wherein, the eye of collection or headwork signal for gathering user's eye or headwork signal, and are sent to control treatment module 410 by wear-type signal acquisition module 400.The eye of collection or headwork information are converted to corresponding steering order by control treatment module 410, and steering order is sent to house keeper robot by first communication module 420.As eyes of user eyes left, the binocular camera generating corresponding steering order control house keeper robot is made a video recording left.In this embodiment, wear-type signal acquisition module 400 is glasses rack-like structure, and control treatment module 410 and first communication module 420 are integrated on spectacle frame.
Multimedia display module 430 and dio Output Modules 440 are also integrated on spectacle frame.First communication module 420 from house keeper robot reception environment data and ambient image by 3G network, is then transferred to multimedia display module 430 and shows, export sound by dio Output Modules 440.
As shown in Figure 5, finger ring induction module 450 comprises hand motion sensing unit 452, second communication unit 454 and heat coil 456.Hand motion sensing unit 452 gathers the hand motion signal of user, sends to first communication module 420 by second communication unit 454.Between second communication unit 454 and first communication module 420, communication can adopt Bluetooth transmission to realize.Control treatment module 410 receives the hand motion signal that first communication module 420 transmits and carries out process and be converted to corresponding steering order, then sends to house keeper robot by first communication module 420.Heat coil 456 when the non-wearing spectacles frame of user and audio input device (as earphone), by sending alerting signal, reminding user.
Above-mentioned house keeper robot, the input instruction of user is obtained by input/output module, processing module is carried out process to the instruction that user inputs and is generated corresponding steering order, the identification number of steering order and home appliance or special purpose robot is sent to corresponding home appliance or special purpose robot performs corresponding operation, achieve the control operation to various home appliance and special purpose robot, and simple operation.
The above-mentioned network control system based on house keeper robot, adopts wearable input device to control house keeper robot, achieves Long-distance Control, uses multimedia display module and audio-frequency module to make user also can observe indoor situations out of doors.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (7)
1. a house keeper robot, the body comprising chassis and be connected with chassis, it is characterized in that: also comprise the processing module be arranged in described body, device parameter database, wireless communication module and input/output module, described device parameter database is for storing identification number and the state parameter of home appliance and special purpose robot; Described input/output module is for obtaining the input instruction of user and sending to described processing module, the input instruction that described processing module receives user generates steering order, and obtain corresponding home appliance or the identification number of special purpose robot, and the described home appliance sending to identification number corresponding by described wireless communication module described steering order or special purpose robot, the state parameter after described wireless communication module receives the execution steering order that described home appliance or special purpose robot upload also is stored into described device parameter database;
Described house keeper robot also comprises and is arranged on displacement sensing module in described body and usertracking module, described displacement sensing module is for obtaining geographic information data and sending to described processing module, and described processing module generates according to described geographic information data and keeps away barrier instruction and control described chassis and move; Described usertracking module for gathering the position of user, speed, shape, texture and color character, and sends to described processing module; Described processing module carries out the movement locus that analyzing and processing draws user, and the trace generator analyzing described user is followed instruction and controlled described chassis and move;
Described house keeper robot also comprises the environmental data pretreatment module be connected respectively with described wireless communication module and processing module, described environmental data pretreatment module is used for carrying out pre-service to the real-time environmental data that described wireless communication module receives and the environmental data after process being sent to described processing module, and described processing module generates regulating command according to the environmental data after described process and sends;
Described house keeper robot also comprises the video acquisition module be connected with described processing module, described video acquisition module is for obtaining ambient image and user images, and the ambient image of acquisition and user images are sent to described processing module, described processing module processes ambient image and user images;
Described house keeper robot also comprises the behavior pattern sample database be connected with described processing module, the steering order, pretreated environmental data and the ambient image that generate for the instruction storing user's input, the instruction that inputs according to described user and user images, and real-time update, and Computer Simulation is carried out to the respective instruction of record;
Described house keeper robot also comprises the Multi-shaft mechanical arm module be connected with described body, and described Multi-shaft mechanical arm module performs corresponding operation according to the operational order that described processing module sends; Described Multi-shaft mechanical arm module adopts mechanical arm gauge sensor;
Described displacement sensing module comprise detection range navigation sensing unit, by the photoelectric coding unit of the light signal switching electrical signals of detection range with gather the gyroscope of direction of motion, described processing module receives electric signal that described photoelectric coding unit sends and the direction of motion that described gyroscope sends and generates and keep away barrier instruction and control described chassis and move; Described navigation sensing unit comprises at least one in laser range sensor and IR evading obstacle sensors.
2. house keeper robot according to claim 1, it is characterized in that: described input/output module comprises load module and output module, described load module be in touch-screen, button, microphone one or more, described output module be in LCDs, loudspeaker one or both.
3. the network control system based on house keeper robot, it is characterized in that: comprise house keeper robot as claimed in claim 1 or 2, also comprise environmental information sensor and wearable input device, described environmental information sensor gathers environmental data and sends to described house keeper robot, described wearable input device perception user behavior generates input instruction and sends to described house keeper robot by wireless network is long-range, described house keeper robot generates corresponding steering order according to described input instruction, and send to home appliance or special purpose robot by wireless network.
4. the network control system based on house keeper robot according to claim 3, it is characterized in that: described wearable input device comprises the wear-type signal acquisition module, control treatment module and the first communication module that gather user's eye or headwork signal, the eye of collection or headwork signal are converted to corresponding steering order by described control treatment module, and corresponding steering order is sent to described house keeper robot by described first communication module.
5. the network control system based on house keeper robot according to claim 4, is characterized in that: described wear-type signal acquisition module is glasses rack-like structure, and described control treatment module and first communication module are integrated on described spectacle frame; Described wearable input device also comprises multimedia display module and dio Output Modules, described multimedia display module and dio Output Modules are all integrated on described spectacle frame, and described environmental data is sent to the display of described multimedia display module by described house keeper robot.
6. the network control system based on house keeper robot according to claim 5, it is characterized in that: described wearable input device also comprises finger ring induction module, described finger ring induction module comprises hand motion sensing unit and second communication unit, described hand motion sensing unit gathers the hand motion signal of user, first communication module is sent to by described second communication unit, described hand motion signal is converted to corresponding steering order by described control treatment module, then sends to described house keeper robot by described first communication module.
7. the network control system based on house keeper robot according to claim 6, is characterized in that: described finger ring induction module also comprises heat coil, and described heat coil sends alerting signal by heating.
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