CN103692429A - Household robot capable of helping aged people - Google Patents
Household robot capable of helping aged people Download PDFInfo
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- CN103692429A CN103692429A CN201310746131.XA CN201310746131A CN103692429A CN 103692429 A CN103692429 A CN 103692429A CN 201310746131 A CN201310746131 A CN 201310746131A CN 103692429 A CN103692429 A CN 103692429A
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Abstract
The invention relates to a household robot capable of helping aged people. The household robot comprises a robot body and an upper computer. The robot body comprises a movable chassis mechanism, a power mechanism and an electric control device. The movable chassis mechanism is driven by the power mechanism. The power mechanism is controlled by the electric control device. The movable chassis mechanism comprises a triangular grillage and three universal wheels mounted on the triangular grillage, wherein the included angle between every two universal wheels is 120 degrees. The electric control device comprises an ARM controller disposed on the movable chassis mechanism, a liquid crystal touch screen display, collision sensors, photoelectric sensors, a wireless module, a camera and a power mechanism drive module. The liquid crystal touch screen display, each sensor, the power mechanism drive module, the wireless module and the camera are respectively electrically connected with the ARM controller. The robot body is communicated with the upper computer through the wireless module. The robot has the features of universal movements and intelligent control and especially suitable for the aged people inconvenient in movement and easy to forget, and remote monitoring and communication of the aged people are achieved.
Description
Technical field
The present invention relates to a kind of domestic robot, relate in particular to the robot that helps the elderly of a kind of family.
Background technology
The robot of application is in the majority with industrial robot at present, be mainly used to substitute a large amount of mechanical repetitive works, or be used for having substituted inclement condition, play and reduce labour cost and labour intensity, and assisted the work that environment is severe, difficulty is large, required precision is high and manually cannot directly complete.The function singleness of these robots, is specifically designed to and solves certain particular problem, mostly without mobile matrix and can not carry out autonomous.The robot that has mobile matrix, that its move mode is generally is legged, crawler type, wheeled construction.Movable structure is in stability and have the place of barrier to be difficult to give full play to its effectiveness.Crawler-type mobile structure is turned dumb, and volume is bigger than normal.Common wheel type mobile structure fluctuation of service, kinematic accuracy is not high, and direction inconvenience is controlled.At present, the household service robot of China mainly contains dust-collecting robot, amusement robot, intelligent wheel chair robot, intelligence wearing robot etc., but also there is the drawbacks such as function singleness, scope of application crowd is limited, use is inconvenient in these robots, on market, also lack a kind of can being applied to as house elderly service, the robot that helps the elderly of the family with miscellaneous functions such as long distance monitoring and communication, safety and patrol pre-alarm and information and entertainment service.
Summary of the invention
The technical problem to be solved in the present invention is for defect of the prior art, and the robot that helps the elderly of a kind of family is provided, this robot ambulation flexible operation, stable and not prone to tip over.
The technical solution adopted for the present invention to solve the technical problems is:
The robot that helps the elderly of family, comprises robot body and host computer, and robot body comprises movable chassis mechanism, actuating unit and electrical control gear, and movable chassis mechanism is driven by actuating unit, and actuating unit is controlled by electrical control gear;
Described movable chassis mechanism comprises that triangle grillage and three are mutually 120 degree and are arranged on the omni-directional wheel on triangle grillage;
Described electrical control gear is arranged on movable chassis mechanism, comprises ARM controller, lcd touch panel type display, crash sensor, photoelectric sensor, wireless module, camera, actuating unit driver module; Lcd touch panel type display, each sensor, actuating unit driver module, wireless module and camera are electrically connected with ARM controller respectively;
Robot body is communicated by letter by wireless module with host computer.
Press such scheme, described actuating unit is brush motor, and described brush motor is mutually 120 degree and is arranged on triangle grillage and the corresponding corresponding omni-directional wheel of difference.
Press such scheme, described omni-directional wheel is two double-deckers that same plate wheel forms; In described plate wheel outer peripheral lines, be evenly intervally distributed with the rubber wheel of a plurality of cydariforms, each rubber wheel is socketed in plate wheel outer peripheral lines and take outer peripheral lines as axle; Between double-deck two plate wheels, along wheel disc, axially leave gap, two rubber wheels on plate wheel can freely be rotated centered by outer peripheral lines.
Press such scheme, the rubber wheel on two plate wheels of described omni-directional wheel was upwards in staggered distribution each other in week, made circumferentially distributing with a small amount of overlap mode formation gapless along omni-directional wheel.
Press such scheme, described electrical control gear comprises a plurality of photoelectric sensors, is arranged on respectively the surrounding of movable chassis mechanism, the obstacle for detection of robot in the process of advancing and step.
Press such scheme, described crash sensor is respectively equipped with a road in left front and the right front of movable chassis mechanism, the blind area barrier that cannot detect for detection of left front and right front photoelectric sensor.
Press such scheme, described electrical control gear is included in temperature sensor, human body heat-releasing electric transducer, Smoke Sensor and the dropproof sensor arranging on movable chassis mechanism; Each sensor is electrically connected with ARM controller respectively.
Press such scheme, the multifunction module that described electrical control gear also comprises and ARM controller is electrically connected, described multifunction module comprises digital audio/video player, speech sound device and the memory being connected with digital audio/video player and speech sound device.
Press such scheme, described host computer comprises supervisory controller and human-computer interaction interface, and human-computer interaction interface is connected and communication with supervisory controller by serial ports.
The principle of this invention is as follows: human-computer interaction interface receives user's also generates the control instruction to host controller, human-computer interaction interface adopts RS232 serial communication mode and supervisory controller to carry out communication, control instruction is issued to host controller, host controller is responsible for according to control instruction, user command being sent to the ARM master controller of movable chassis mechanism, ARM master controller response user command, the running of control actuating unit, make robot at indoor autokinetic movement, automatic dodging barrier, realizes unmanned intervention and independently patrols and examines; Supervisory controller receives by ARM master controller the heat transfer agent that each sensor feedback of movable chassis mechanism is returned simultaneously, and heat transfer agent is carried out to analyzing and processing, thereby forms the FEEDBACK CONTROL of movable chassis mechanism and Based Intelligent Control.
The beneficial effect that the present invention produces is:
1, the movable chassis mechanism of robot of the present invention has intelligent function, can be used as the mobile vehicle of each field specialty robot.
2, the movable chassis mechanism of robot of the present invention partly adopts the Omni-mobile structure of precision machinery technology, have Omni-mobile, flexible operation, stablize and the advantage of not prone to tip over, walking is without arc turning phenomenon, can effectively avoid and go beyond obstacle, thering is certain intelligent function; Solve legged structure and be difficult to give full play to its effectiveness in the place that has barrier; Track structure volume is large, turns dumb; There is fluctuation of service in Universal wheel type structure, direction inconvenience is controlled, the problem that kinematic accuracy is not high; Adapt to the environment that this narrow space obstacle of family is many completely.
3, robot of the present invention has the intelligent function of tour and multiple prompting, is particularly suitable for some handicapped, easily to forget things the elderlys, makes robot effect in the family seem very important.
4, robot of the present invention has adopted multiple sensing technology, automatic control technology, multimedia technology, computer technology, electromechanical integration technology, Precision Machinery Design technology etc., realized old man's long distance monitoring and communication, there are safety and patrol, auxiliary antitheft, detection gas leak, play the several functions such as security alarm, prompting, information inquiry, amusement.Robot has the characteristic of omni-directional movement and Based Intelligent Control.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
The structural representation of Tu1Shi embodiment of the present invention robot;
Fig. 2 is the structural representation of movable chassis mechanism of the present invention.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The invention provides the robot that helps the elderly of a kind of family, can solve the problem that existing robot is difficult to universal family, and nobody quality of life, household safe problem of accompanying and attending to and bringing of the old man that is concerned about of people.This patent of invention has Omni-mobile and auxiliary antitheft, to patrol and examine the intelligent robots such as Leakage Gas, fire-proof function, has greatly expanded its range of application.
Family provided by the invention help the elderly robot overall structure as shown in Figure 1, mainly comprise robot body 1, host computer 2 two parts, robot body 1 and epigynous computer section 2 two parts are independent separately, by wireless data link, communicate.Robot body 1 comprises movable chassis mechanism 3, actuating unit 4, electrical control gear 5, and actuating unit 4 and electrical control gear 5 movable chassis mechanisms are carrier, are integrated in this mechanism, is all that physical electrical connects between all parts,
Movable chassis mechanism as shown in Figure 2, is realized mechanical connection by three omni-directional wheels with triangle steelframe 19.Three omni-directional wheels are mutually 120 degree and are arranged on triangle grillage and form tricycle structure; Each omni-directional wheel forms double-decker by two same plate wheels 17; In each plate wheel outer peripheral lines, all with the rubber wheel 18 that is intervally distributed with a plurality of cydariforms, each rubber wheel is socketed in plate wheel outer peripheral lines and take outer peripheral lines as axle; Between double-deck two plate wheels, along wheel disc, axially leave gap, two rubber wheels on plate wheel can freely be rotated centered by outer peripheral lines; Double-decker is positioned at two rubber wheels on plate wheel and is upwards in staggered distribution each other in week, makes circumferentially distributing with a small amount of overlap mode formation gapless along omni-directional wheel; Actuating unit 4 is brush motor, and the actuating unit 4 that each omni-directional wheel is corresponding has been preferably brush GPG-05SC type motor, is mutually 120 degree angles and is fixedly mounted on triangle flat plate steelframe; Each omni-directional wheel is connected with there being the axle of brush GPG-05SC type motor respectively, and motor is accepted the control command that electric control system 5 sends, and completes the advancing of robot, stops, lock and unlock task.Control circuit and supporting plate are also installed on triangle flat plate steelframe, and corresponding three omni-directional wheels are provided with the sensor of reaction topographic features, and other sensor specials.
Electrical control gear part is mainly included in ARM master controller, lcd touch panel type display, a plurality of sensor, wireless module, camera, actuating unit driver module and the multifunction module arranging on movable chassis mechanism, and multifunction module comprises digital audio/video player, speech sound device, memory, input/output interface, button, USB interface; Each sensor is respectively temperature sensor, crash sensor, human body heat-releasing electric transducer, photoelectric sensor, Smoke Sensor, dropproof sensor.Electrical control gear be take ARM controller as core, IO pin and lcd touch panel type display, each sensor, actuating unit driver module and multifunction module by ARM controller are electrically connected, by serial ports and wireless module electrical connection, camera and the ARM controller electric interconnection of ARM controller.
Each sensor in robot body 1 forms safety monitoring parts, comprises temperature sensor 9, crash sensor 11, human body heat-releasing electric transducer 12, photoelectric sensor 13, Smoke Sensor 14, camera 16 and multifunction module 17; Wherein temperature sensor 9 is arranged on the position, middle of robot body top; Totally 5 of crash sensors 11, are arranged on respectively dead ahead (road), right front (road), left front (road), left side (road), right side (road) of robot body; Human body heat-releasing electric transducer 12 is arranged on the top of robot body, and photoelectric sensor 13 1 has 3, is arranged on respectively dead ahead, left side, the right side of robot; Smoke Sensor 14 is arranged on the middle part of robot body top, near temperature sensor; Camera 16 is arranged on the place ahead of robot body; Multifunction module 17 is arranged on the left-hand portion of robot body, and other required monitoring function parts can also be installed as required, is used for detecting and inputs transducing signal and control for upper strata, to form integrated information, completes safety and patrol function.
Wherein, temperature sensor 9 is for sense ambient temperature, in the process of patrolling and examining, utilize digital temperature sensor by patrol and detection indoor temperature, by relatively reporting to the police to surpassing situation about pre-seting, thus can intelligent opening air-conditioning/heating installation, indoor temperature is adjusted to comfort value.Also can assist a ruler in governing a country Smoke Sensor 14, improve the accuracy of detection of inside fire.
5 road crash sensors 11, can detect robot has accessiblely in the process of advancing, and effectively evades the obstacle running in mobile, and 3 road photoelectric sensors of installation detect step drop in real time, prevent that robot from falling.The blind area barrier that left front and right front 2 road crash sensors 11 cannot detect for detection of left front and right front infrared photoelectric sensor, effectively hides small obstacle etc.
Once human body heat-releasing electric transducer 12 is in having people's intrusion detection region in the situation that, human infrared radiation focuses on by partial mirror, by detecting element, the infra-red radiation of surveying and receiving is transformed into faint voltage signal, through amplifying backward outer output.Preferred search coverage effective range is 4～5 meters in the present invention.
Camera 16, for realizing the monitoring to the video of environment, can adopt machine vision technique to identify ambient parameter, with auxiliary security, patrols and examines.
In multifunction module, by input/output interface, required service and performance data information are stored in to memory, digital audio/video player can be play according to pre-stored information, speech sound device can be under Long-distance Control and field control, by application software is installed, realize the help the elderly interaction of robot of user and family.Multifunction module 17 comprises digital audio/video player, speech sound device, memory, input/output interface, button, USB interface etc. and corresponding interactive application software; Described digital audio/video player can be play according to pre-stored information; Described speech sound device can be under the support of interactive application software, realize the interaction of old man and robot, make this robot there is the several functions such as voice reminder, phonetic entry identification and entertainment service, make it to have certain intelligent and practicality etc., can assist old man to complete some routine work.The multifunction module 17 of this robot is by software programming, the service needing in advance and function are stored in to memory by input/output interface, by the automatically performing of program, voice message, old man's sounding and button, the multiple entertainment service functions such as the communication that selection needs, Video Music, can automatically remind old man or patient to take medicine on time, and listen to weather forecast, music etc., the information such as duty of real-time display environment temperature, order data and robot on LCDs.
Host computer 2 parts comprise human-computer interaction interface 6, supervisory controller 7, and the two be take windows PC and as carrier, realizes physical electrical and connect.Human-computer interaction interface 6 operates on PC, and human-computer interaction interface 6, according to user command, generates corresponding command to host controller 7, and human-computer interaction interface 6 adopts RS232 and host controller 7 to carry out communication.Host controller 7 is responsible for user instruction to send to robot body 1 with wireless mode, receives the relevant information that robot body 1 feeds back simultaneously, and relevant information is carried out to analyzing and processing, in man-machine interaction part 6, shows in real time.Thereby form the FEEDBACK CONTROL of robot body 1 and Based Intelligent Control.
Antitheft by above-mentioned auxiliary tour, detect the security alarm functions such as leakages, user can arrange robot automatic detecting in host controller, by automatic detecting, whether has gas leak or the generation of fire source in sensing chamber.By in human body heat-releasing electric transducer sensing chamber, whether someone swarms into, to assist home security.
Robot body 1 can work independently, and realizes the partial function described in this patent, as helped old man that various entertainment service are provided, if robot body 1 during with radio communication and epigynous computer section 2 interaction data, can be realized repertoire described in this patent.
The present invention has adopted the mechanics of communication based on NRF905 wireless module: epigynous computer section 2 and robot body 1 adopt wireless telecommunications, transmit and accept inside and outside portion signal, by comprehensive analysis, FEEDBACK CONTROL, finally export accurate direction, position and communication signal.So not only cost-saving but also solved the cable that wire communication need to be very long and cause cost high, when moving, mobile platform to pull very long cable, the movement of robot is caused to the problem of very large obstacle.
Host controller 7 sends by wireless mode automatic detecting order data, robot body 1 detects order data and receives order, ARM master controller 8 response commands on it, the motor rotation of controlling actuating unit 4, makes robot at indoor autokinetic movement, automatic dodging barrier, also can hide ladder, prevent robot because drop causes falling, realize unmanned entirely independently patrolling and examining of intervening, and the result feedback of detection is shown in real time to man-machine interaction part 6.
This robot has autokinetic movement to appointed place and certain for maintenance function: user need to allow the robot autonomous appointed place that moves to, and user only need arrange by human-computer interaction interface the plane coordinates of destination.If system breaks down, the automatic record trouble of robot shows with host computer on liquid crystal, facilitates user to keep in repair and fixes a breakdown.
In the course of the work, as occurred, cell voltage is too low in robot, and robot charges automatically getting back to charging depressed place according to coordinate position under the guide in charging depressed place, and after charging, robot is by the task of having continued not complete last time.
The present invention has also adopted take automatic control technology as main complex art: the present invention has comprehensively adopted control technology, singlechip technology, multiple sensors technology, optical technology, multimedia technology, precision machinery technology, simulation, digital circuit technique, radiotechnics (for Long-distance Control or data passback) etc.Unlike signal that Jiang Ge road sensor is experienced input robot host controller, controller sends or accepts feedback information in wired or wireless mode, and control accurately moves, and can analyze result, to the processing of reporting to the police of unsafe situation.
From technique scheme, can find out, because the embodiment of the present invention has adopted multiple sensing technology, automatic control technology, multimedia technology, computer technology, electromechanical integration technology, Precision Machinery Design technology etc., realized old man's long distance monitoring and communication, there are safety and patrol, auxiliary antitheft, detection gas leak, play the several functions such as security alarm, prompting, information inquiry, amusement.Robot has the characteristic of omni-directional movement and Based Intelligent Control.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (8)
- The robot that helps the elderly of 1.Yi Zhong family, it is characterized in that, comprise robot body and host computer, robot body comprises movable chassis mechanism, actuating unit and electrical control gear, movable chassis mechanism is driven by actuating unit, and actuating unit is controlled by electrical control gear;Described movable chassis mechanism comprises that triangle grillage and three are mutually 120 degree and are arranged on the omni-directional wheel on triangle grillage;Described electrical control gear comprises ARM controller, lcd touch panel type display, crash sensor, photoelectric sensor, wireless module, camera, the actuating unit driver module being arranged on movable chassis mechanism; Lcd touch panel type display, each sensor, actuating unit driver module, wireless module and camera are electrically connected with ARM controller respectively;Robot body is communicated by letter by wireless module with host computer.
- 2. the robot that helps the elderly of family according to claim 1, is characterized in that, described actuating unit is brush motor, and described brush motor is mutually that 120 degree are arranged on triangle grillage and corresponding corresponding omni-directional wheel respectively.
- 3. the robot that helps the elderly of family according to claim 1, is characterized in that, described omni-directional wheel is two double-deckers that same plate wheel forms; In described plate wheel outer peripheral lines, be evenly intervally distributed with the rubber wheel of a plurality of cydariforms, each rubber wheel is socketed in plate wheel outer peripheral lines and take outer peripheral lines as axle; Between double-deck two plate wheels, along wheel disc, axially leave gap, two rubber wheels on plate wheel can freely be rotated centered by outer peripheral lines.
- 4. the robot that helps the elderly of family according to claim 1, is characterized in that, the rubber wheel on two plate wheels of described omni-directional wheel was upwards in staggered distribution each other in week, makes circumferentially forming gapless with a small amount of overlap mode and distribute along omni-directional wheel.
- 5. the robot that helps the elderly of family according to claim 1, is characterized in that, described electrical control gear comprises a plurality of photoelectric sensors, is arranged on respectively the surrounding of movable chassis mechanism, the obstacle for detection of robot in the process of advancing and step.
- 6. the robot that helps the elderly of family according to claim 1, is characterized in that, described crash sensor is respectively equipped with a road in left front and the right front of movable chassis mechanism, the blind area barrier that cannot detect for detection of left front and right front photoelectric sensor.
- 7. the robot that helps the elderly of family according to claim 1, is characterized in that, described electrical control gear is included in temperature sensor, human body heat-releasing electric transducer, Smoke Sensor and the dropproof sensor arranging on movable chassis mechanism; Each sensor is electrically connected with ARM controller respectively.
- 8. the robot that helps the elderly of family according to claim 1, it is characterized in that, the multifunction module that described electrical control gear also comprises and ARM controller is electrically connected, described multifunction module comprises digital audio/video player, speech sound device and the memory being connected with digital audio/video player and speech sound device.9.the robot that helps the elderly of family according to claim 1, is characterized in that, described host computer comprises supervisory controller and human-computer interaction interface, and human-computer interaction interface is connected and communication with supervisory controller by serial ports.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310746131.XA CN103692429A (en) | 2013-12-31 | 2013-12-31 | Household robot capable of helping aged people |
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| CN201310746131.XA CN103692429A (en) | 2013-12-31 | 2013-12-31 | Household robot capable of helping aged people |
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| CN201310746131.XA Pending CN103692429A (en) | 2013-12-31 | 2013-12-31 | Household robot capable of helping aged people |
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| CN105234952A (en) * | 2015-11-16 | 2016-01-13 | 江苏拓新天机器人科技有限公司 | Household monitoring robot control system based on STM32 |
| CN105946547A (en) * | 2016-04-28 | 2016-09-21 | 上海钛米机器人科技有限公司 | Omni wheel |
| CN106002911A (en) * | 2016-04-28 | 2016-10-12 | 上海钛米机器人科技有限公司 | Mobile robot universal chassis |
| CN106003097A (en) * | 2016-07-28 | 2016-10-12 | 深圳市前海小村机器人智能科技有限公司 | Monitoring robot |
| CN106325176A (en) * | 2016-10-31 | 2017-01-11 | 河池学院 | Service robot |
| CN106325171A (en) * | 2016-10-31 | 2017-01-11 | 河池学院 | Rechargeable service robot |
| CN109091303A (en) * | 2018-05-24 | 2018-12-28 | 何泽熹 | Intelligent guarding system |
| CN111055626A (en) * | 2019-12-18 | 2020-04-24 | 南开大学 | All-directional mobile robot based on active power caster wheel assembly |
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Application publication date: 20140402 |