CN105798922A - Home service robot - Google Patents
Home service robot Download PDFInfo
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- CN105798922A CN105798922A CN201610312630.1A CN201610312630A CN105798922A CN 105798922 A CN105798922 A CN 105798922A CN 201610312630 A CN201610312630 A CN 201610312630A CN 105798922 A CN105798922 A CN 105798922A
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- services robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a home service robot which has a laminated structure. The home service robot separately comprises a first-layer platform 1, a second-layer platform 2, a third-layer platform 3, a fourth-layer platform 4 and a fifth-layer platform 5 from bottom to top, and the platforms are connected with one another through connecting brackets. A man-machine interaction device is mounted on a freedom joint of the neck of the fifth-layer (topmost-layer) platform as a head, so that man-machine interactive content is realized; sound sensors are arranged on the third-layer platform and are used for acquiring sound signals in real time; a laser scanner is arranged on the fourth-layer platform and is used for scanning in real time; direct-current motors on the first-layer platform (a chassis) are used for driving wheels and a positioning wheel to position the robot, so that high interactive experience of users of all ages is realized; and moreover, the robot cannot misjudge.
Description
Technical field
The present invention is about field of artificial intelligence, especially with regard to Smart Home home-services robot, is a kind of home-services robot concretely.
Background technology
In recent years, along with the high speed development of robotics, the robot of service type is dissolved in the middle of the life of the mankind day by day.Robot is not limited solely to look after the old man residing in family, but from child to adult, the even empty room of nobody home, all need the robot being similar to house keeper to give the service of corresponding docking.
The patent No. is 201520234145.8, name is called in a kind of home-services robot patent, describes and goes out work for youngster, needs to look after a kind of service robot of old man in family of residing at.This robot adopts four deflecting rollers of driven by servomotor, carries photographic head, body-sensing, ultrasonic sensor, laser radar, mechanical hand.Mainly can implement avoidance at home, be observed gathering Item Information by photographic head, use mechanical hand to capture items to the old man in family.
Owing to the functional requirement of robot is more and more higher, no matter it is the service robot mentioned in the product occurred on the market or above-mentioned patent documentation at present, all with a specific class crowd for object, it is impossible to contain crowd's (not comprising the crowd that needs as this in infant are given someone extra help in this crowd) of whole age bracket.
Therefore, how researching and developing out a kind of new scheme, it can be talked with it for the crowd of any age bracket, accepts instruction action, and Improving The Quality of Products is the technical barrier that this area is urgently to be resolved hurrily.
Summary of the invention
For the problems referred to above overcoming prior art to exist, the invention provides a kind of home-services robot, this robot adopts laminated type structural design, it is divided into five layers of platform from the bottom up, it is connected with support between each platform, the degree-of-freedom joint of top and the cervical region of layer 5 platform is provided with human-computer interaction device as head, realize man-machine interaction content, at third layer platform, sound transducer Real-time Collection acoustical signal is set, 4th layer of platform arranges laser scanner real time scan, chassis and ground floor platform use DC motor Driver wheel and location wheel robot is positioned, achieve the high interactive experience towards full age bracket, and erroneous judgement will not be there is in robot.
It is an object of the invention to, a kind of home-services robot is provided, described home-services robot adopts laminated type structure, respectively ground floor platform 1, second layer platform 2, third layer platform 3, the 4th layer of platform 4 and layer 5 platform 5 from the bottom to top, it is connected by connection support between each platform
Described third layer platform 3 is provided with sound transducer 31, for Real-time Collection acoustical signal；
The 4th layer of described platform 4 is provided with laser scanner 41, the space residing for home-services robot described in real time scan, generates corresponding map；
The 5th described platform 5 is provided with human-computer interaction device, for gathering the command signal of user's input；
Described second layer platform 2 is provided with slave computer 23, for according to described command signal, acoustical signal and described map output action instruction；
The first described platform 1 is provided with direct current generator 17, and the motor being connected with described direct current generator 17 drives plate 16, wheel 14 and location wheel 19；
Described direct current generator 17 drives plate 16 to receive described action command by described motor, drives described wheel 14 according to described action command, to drive described location wheel 19 rolling, and then described home-services robot is moved；
The 5th described platform 5 also includes the cervical region driving joint being connected with described human-computer interaction device, for rotating according to described action command.
In a preferred embodiment of the invention, described second layer platform 2 also includes the gyroscope 24 being connected with described slave computer 23, for when described home-services robot tilts, sending tilt signals to described slave computer 23.
In a preferred embodiment of the invention, the first described platform 1 front portion is also configured with crash sensor 15, the connection support that the first described platform 1 is connected with described second layer platform 2 is additionally provided with the first ultrasonic sensor 13, described connection support is provided with installing hole, for adjusting the installation site of described ultrasonic sensor 13.
In a preferred embodiment of the invention, described crash sensor 15 is three, and the first described ultrasonic sensor 13 is six.
In a preferred embodiment of the invention, the angle between described crash sensor 15 is adjacent is 120 degree, and is provided with two travel switches 151 on each described crash sensor 15.
In a preferred embodiment of the invention, described human-computer interaction device includes Kinect53 and the panel computer 51 being connected with described Kinect53, the 5th described platform 5 also includes the omnipotent sized rack 52 being connected with described panel computer 51, for adjusting the installation site of described panel computer 51.
In a preferred embodiment of the invention, described cervical region driving joint includes inward turning outward turning unit 6, the stretching, extension flexing unit 7 being connected by The Cloud Terrace 54 with described inward turning outward turning unit 6.
In a preferred embodiment of the invention, described inward turning outward turning unit 6 includes outer wall sleeve 61, be fixed in described outer wall sleeve 61 steering wheel 62 and bearing 64, described steering wheel 62 is for according to described action command, driving described bearing 64 to drive described The Cloud Terrace 54 left rotation and right rotation.
In a preferred embodiment of the invention, described inward turning outward turning unit 6 also includes the first angular transducer 63 being arranged on described steering wheel 62 bottom.
In a preferred embodiment of the invention, described stretching, extension flexing unit 7 includes guide rail slide block 74, the swivel link 75 that the contiguous block 73 that the leading screw 72 that motor 71 arranges in pairs or groups is connected with described leading screw 72 is connected with described contiguous block 73 with described motor 71 phase, described swivel link 75 drives load bracket 77, and described stretching, extension flexing unit 7 is additionally provided with the second angular transducer 76.
In a preferred embodiment of the invention, the rear portion of the first described platform 1 is provided with charging contact 11 and battery 12, and when the electricity of described battery 12 reaches lower limit, described battery 12 sends charging signals to described slave computer 23.
nullIn a preferred embodiment of the invention，The rear of described second layer platform 2 is provided with infrared receiver emitter 21 and the second ultrasonic sensor 22，Described home-services robot also includes charging pile 0，Described charging pile 0 is provided with infrared transmitter 01 and spring contact 02，Described infrared transmitter 01 is used for sending infrared signal，Described infrared receiver emitter 21 is for receiving described infrared signal，And described infrared signal is sent to described slave computer 23，The second described ultrasonic sensor 22 is for sending ultrasonic signal to described slave computer 23，Described slave computer 23 is for according to described charging signals、Ultrasonic signal and infrared signal output charging action command，Order about described home-services robot to be charged to described battery 12 with described spring contact 02 by described charging contact 11.
In a preferred embodiment of the invention, described infrared receiver emitter 21 is five, is uniformly distributed by 45 degree of angles.
In a preferred embodiment of the invention, described third layer platform 3 is additionally provided with power supply adaptor 32.
nullThe beneficial effects of the present invention is，Provide a kind of home-services robot，This robot adopts laminated type structural design，It is divided into five layers of platform from the bottom up，It is connected with support between each platform，Install simple，Stability Analysis of Structures，High maintenance，The degree-of-freedom joint of top and the cervical region of layer 5 platform is provided with human-computer interaction device as head，Achieve the high interactive experience towards full age bracket，At third layer platform, sound transducer Real-time Collection acoustical signal is set，4th layer of platform arranges laser scanner real time scan，Chassis and ground floor platform use the additional location wheel of two wheels of two DC motor Driver come robot three-point fix，And three crash sensors are had in front，Support place has five uniform ultrasonic sensors to carry out avoidance，Relatively low barrier can be detected，Erroneous judgement will not be there is in robot.
For the above and other purpose of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and coordinate institute's accompanying drawings, it is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The front elevation of a kind of home-services robot that Fig. 1 provides for the embodiment of the present invention；
The back view of a kind of home-services robot that Fig. 2 provides for the embodiment of the present invention；
Fig. 3 is the hardware structure figure that in embodiment provided by the invention, robot is overall；
The schematic diagram of the ground floor platform of a kind of home-services robot that Fig. 4 provides for the embodiment of the present invention；
The schematic diagram of the second layer platform of a kind of home-services robot that Fig. 5 provides for the embodiment of the present invention；
The schematic diagram of the third layer platform of a kind of home-services robot that Fig. 6 provides for the embodiment of the present invention；
The schematic diagram of the 4th layer of platform of a kind of home-services robot that Fig. 7 provides for the embodiment of the present invention；
The schematic diagram of the layer 5 platform of a kind of home-services robot that Fig. 8 provides for the embodiment of the present invention；
The schematic diagram of the inward turning outward turning unit in the layer 5 platform of a kind of home-services robot that Fig. 9 provides for the embodiment of the present invention；
The schematic diagram of the stretching, extension flexing unit of layer 5 platform in a kind of home-services robot that Figure 10 provides for the embodiment of the present invention.
Drawing reference numeral:
Charging pile 0
Infrared transmitter 01
Spring contact 02
First platform 1
Charging contact 11
Battery 12
Ultrasonic sensor 13
Wheel 14
Crash sensor 15
Travel switch 151
Motor drives plate 16
Direct current generator 17
Location wheel 19
Second layer platform 2
Infrared receiver emitter 21
Second ultrasonic sensor 22
Slave computer 23
Gyroscope 24
Third layer platform 3
Sound transducer 31
Power supply adaptor 32
4th layer of platform 4
Laser scanner 41
5th platform 5
Panel computer 51
Omnipotent sized rack 52
Kinect53
The Cloud Terrace 54
Inward turning outward turning unit 6
Outer wall sleeve 61
Steering wheel 62
First angular transducer 63
Bearing 64
Stretch flexing unit 7
Motor 71
Leading screw 72
Contiguous block 73
Guide rail slide block 74
Swivel link 75
Second angular transducer 76
Load bracket 77
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
The present invention be directed to service robot in the market, all with a specific class crowd for object, it is impossible to contain crowd's (not comprising the crowd that needs as this in infant are given someone extra help in this crowd) of whole age bracket.And existing service robot only focused on more than robot abdominal part or abdominal part local arrange the sensor for avoidance, under environmental aspect in family uses, the shoes of such as people, threshold etc. lower than the place of robot abdominal part it may happen that situation about can't detect, and robot likely can be made to make the situation of erroneous judgement, providing a kind of home-services robot, it is provided that the high interactive experience towards full age bracket, and erroneous judgement will not occur in robot.
The present invention relates to a kind of service type robot towards family, under considering the premise of Cost Problems of later stage high efficiency maintenance and reduction packaging technology, while the structure of appropriate design robot and driving joint, it is equipped with all multisensors, being intended to the function that abundant robot possesses, wherein major function includes man-machine interaction, Smart Home, automatic obstacle-avoiding, path planning etc..
The front elevation of a kind of home-services robot that Fig. 1 provides for the embodiment of the present invention, as shown in Figure 1, described home-services robot adopts laminated type structure, respectively ground floor platform 1, second layer platform 2, third layer platform 3, the 4th layer of platform 4 and layer 5 platform 5 from the bottom to top, is connected by connecting support between each platform.
Existing service-delivery machine adopts box-type per capita, the piecemeal of case type or global design, and mounting process complexity improves cost, and whole housing is unloaded just passable by later maintenance or need when changing parts, inefficiency.The present invention then adopts laminated type structural design, not only assembles simple, and Stability Analysis of Structures is also convenient for later stage high efficiency maintenance and expanded case.
The schematic diagram of the third layer platform of a kind of home-services robot that Fig. 6 provides for the embodiment of the present invention, it will be appreciated from fig. 6 that described third layer platform 3 is provided with sound transducer 31, for Real-time Collection acoustical signal.
The schematic diagram of the 4th layer of platform of a kind of home-services robot that Fig. 7 provides for the embodiment of the present invention, as shown in Figure 7, the 4th layer of described platform 4 is provided with laser scanner 41, the space residing for home-services robot described in real time scan, generates corresponding map.
The schematic diagram of the layer 5 platform of a kind of home-services robot that Fig. 8 provides for the embodiment of the present invention, as shown in Figure 8, the 5th described platform 5 is provided with human-computer interaction device, for gathering the command signal of user's input.
The schematic diagram of the second layer platform of a kind of home-services robot that Fig. 5 provides for the embodiment of the present invention, as shown in Figure 5, described second layer platform 2 is provided with slave computer 23, for according to described command signal, acoustical signal and described map output action instruction.
The schematic diagram of the ground floor platform of a kind of home-services robot that Fig. 4 provides for the embodiment of the present invention, the back view of a kind of home-services robot that Fig. 2 provides for the embodiment of the present invention.By Fig. 2, Fig. 4 it can be seen that the first described platform 1 is provided with direct current generator 17, the motor being connected with described direct current generator 17 drives plate 16, wheel 14 and location wheel 19.
Described direct current generator 17 drives plate 16 to receive described action command by described motor, drives described wheel 14 according to described action command, to drive described location wheel 19 rolling, and then described home-services robot is moved.
The schematic diagram of the layer 5 platform of a kind of home-services robot that Fig. 8 provides for the embodiment of the present invention, as shown in Figure 8, the 5th described platform 5 also includes the cervical region driving joint being connected with described human-computer interaction device, for rotating according to described action command.
As mentioned above, it is a kind of home-services robot provided by the invention, this robot adopts laminated type structural design, it is divided into five layers of platform from the bottom up, it is connected with support between each platform, the degree-of-freedom joint of top and the cervical region of layer 5 platform is provided with human-computer interaction device as head, realize man-machine interaction content, at third layer platform, sound transducer Real-time Collection acoustical signal is set, 4th layer of platform arranges laser scanner real time scan, chassis and ground floor platform use DC motor Driver wheel and location wheel robot is positioned, achieve the high interactive experience towards full age bracket, and erroneous judgement will not be there is in robot.
In a preferred embodiment of the invention, sound transducer 31 can be respectively provided with at the dead ahead of described third layer platform 3 and dead astern, its effect is that robot hears time user calls oneself, the differentiation of the Kinect of associating head source direction viva voce, making robot turn over certain angle, moves in the direction face toward user.
In a preferred embodiment of the invention, it is possible to place 360 degree of laser scanners 41 at the 4th layer of described platform.This instrument can without the map scanning room at dead angle simultaneously and robot can be allowed to judge himself position in this map, and along with in the process that robot cruises in a room by the Scaned map in whole room out, and by the user demarcation to room, robot can pass through map and record bedroom respectively, the region scopes such as parlor, in such user calls the robot in another room, robot can make optimum path planning by map so that it arrives user at one's side.Additionally, the scanning by real time room being carried out of these 360 degree of laser scanners 41, the barrier that emergent or furniture move to some extent can be made instant judgement, optimal solution found out jointly by crash sensor 15 and the ultrasonic sensor 13 at associating chassis place so that robot makes correct avoiding action.
The schematic diagram of the second layer platform of a kind of home-services robot that Fig. 5 provides for the embodiment of the present invention, as shown in Figure 5, in a preferred embodiment of the invention, described second layer platform 2 also includes the gyroscope 24 being connected with described slave computer 23, for when described home-services robot tilts, sending tilt signals to described slave computer 23, tilt signals herein includes robot walking position now and attitude information.After slave computer receives the tilt signals that gyroscope sends, first can carry out a computing and judgement in slave computer, namely differentiate whether current angle of inclination can cause the dangerous angle that robot is fallen down, if it is not, continue to go ahead；If it does, the motor that slave computer will signal to the first platform drives plate, drive motor is not further continued for marching forward, but allow motor rollback return, state before non-run-off the straight just now, path planning of then rerunning again avoids this slope at the moment, process of detouring.That is, in other embodiments of the present invention, the slave computer 23 that described second layer platform 2 is arranged is used for controlling the functions such as the various sensors of robot, domain motion, and gyroscope 24 provides walking position and attitude information, corrects walking posture and mileage further.
The schematic diagram of the ground floor platform of a kind of home-services robot that Fig. 4 provides for the embodiment of the present invention, as shown in Figure 4, in a preferred embodiment of the invention, the first described platform 1 front portion is also configured with crash sensor 15, the connection support that the first described platform 1 is connected with described second layer platform 2 is additionally provided with the first ultrasonic sensor 13, described connection support is provided with installing hole, for adjusting the installation site of described ultrasonic sensor 13.Particularly two ultrasonic sensors 13 of left and right end side are arranged on the surface of PU wheel 14, are to ensure that PU wheel 14 is not subjected to barrier impact in traveling process and occurs PU to take turns the situations such as 14 damages.
In a preferred embodiment of the invention, described crash sensor 15 is three, and the first described ultrasonic sensor 13 is six.
In a preferred embodiment of the invention, angle between described crash sensor 15 is adjacent is 120 degree, and the crash sensor 15 described in each is provided with two travel switches 151 (Fig. 4 does not draw) so that robot can know which position met on which sensor accurately.Such as when it encounters barrier, robot first does backward movement, then turns, if wherein left crash sensor sends the order allowing robot turn right with avoiding obstacles after receiving signal, all the other are similar.
In a preferred embodiment of the invention, chassis can use two direct current generators 17 to drive two wheel additional location wheels that robot is realized three-point fix.Concrete, wheel can be taken turns for PU.The location wheel 19 that the rear of robot is installed, so that the center of gravity of robot is maintained at PU wheel 14 and positions within the triangle that wheel 19 forms, the center of gravity of the overall architecture of robot is all in this triangle so that the good stability of robot.
The sensor for avoidance of the local layout more than robot abdominal part or abdominal part only focused on by service robot of the prior art, under environmental aspect in family uses, the shoes of such as people, thresholds etc. it may happen that situation about can't detect, and likely can make robot make erroneous judgement lower than the place of robot abdominal part.The present invention is directed to this situation uniform crash sensor on the chassis portion and ground floor platform of robot so that erroneous judgement will not occur in robot.
As shown in Figure 4, angle between described crash sensor 15 is adjacent can be 120 degree, and the crash sensor 15 described in each is provided with two travel switches 151 (Fig. 4 does not draw) so that robot can know which position met on which sensor accurately.Such as when it encounters barrier, robot first does backward movement, then turns, if wherein left crash sensor sends the order allowing robot turn right with avoiding obstacles after receiving signal, all the other are similar.
The schematic diagram of the layer 5 platform of a kind of home-services robot that Fig. 8 provides for the embodiment of the present invention, as shown in Figure 8, described human-computer interaction device includes Kinect53 and the panel computer 51 being connected with described Kinect53, the 5th described platform 5 also includes the omnipotent sized rack 52 being connected with described panel computer 51, for adjusting the installation site of described panel computer 51.Service-delivery machine of the prior art is developed per capita for the purpose of specific crowd, functionally cannot meet the demand of full age bracket crowd, service robot in the present invention adopts human-computer interaction device, it is possible to the crowd for any age bracket talks with it, accepts instruction action.Concrete, described human-computer interaction device includes Kinect53 and panel computer 51.Namely Kinect and panel computer are installed on the 2DOF joint of the cervical region of top as head, it is achieved main man-machine interaction content.
In a preferred embodiment of the invention, described cervical region driving joint includes inward turning outward turning unit 6, the stretching, extension flexing unit 7 being connected by The Cloud Terrace 54 with described inward turning outward turning unit 6.Concrete, layer 5 platform is provided with cervical region driving joint, the inward turning outward turning unit 6 of cervical region driving joint respectively ± 60 degree and stretch flexing unit 7, passes through The Cloud Terrace 54 and is connected between them.The teamwork of the two unit makes robot head movable as people's generic flexible, after the calling hearing user, the direction that sound is transmitted by robot judges, and first turn back as people, then adjust posture entirety again to turn to, advance towards user, or following owner advances, and substantially increases the interactive experience to people.Neck joint is also equipped with Kinect53 and panel computer 51.Wherein the effect of Kinect53 has: carry out recognition of face, panel computer 51 can be passed through time judgement is domestic household and send different greetings, can being undertaken registering the relative being categorized as resident family or friend by domestic household time judgement is stranger, then being taken pictures and send time without registration judges with resident family.Additionally Kinect53 also can differentiate actions such as making robot execution forward-reverse stopping according to the different gestures of user.Panel computer 51 then adjusts suitable installation site by omnipotent sized rack 52, make it carry out the main part of finishing man-machine interaction as host computer, as voice broadcast, calendar prompting, indoor patrol, chat, recognition of face and take pictures, the detection of gesture identification, Falls Among Old People, a series of functions of Intelligent housing etc..
The schematic diagram of the inward turning outward turning unit in the layer 5 platform of a kind of home-services robot that Fig. 9 provides for the embodiment of the present invention, as shown in Figure 9, in a preferred embodiment of the invention, described inward turning outward turning unit 6 includes outer wall sleeve 61, be fixed in described outer wall sleeve 61 steering wheel 62 and bearing 64, described steering wheel 62 is for according to described action command, driving described bearing 64 to drive described The Cloud Terrace 54 left rotation and right rotation.
In a preferred embodiment of the invention, described inward turning outward turning unit 6 also includes the first angular transducer 63 being arranged on described steering wheel 62 bottom, the main positional information powering on to slave computer 23 after feeding back robot accident power down again.Slave computer can adjust action command according to the positional information of this unit.
Stretch flexing unit not only wants load to play the weight of all components and parts in whole head in whole head movement, stable the trying one's best also keeping enough at the volley is not vibrated, also to ensure that when man-machine interaction the screen of Kinect53 and panel computer 51 wants proper alignment to user, therefore be a most important core in neck joint.The schematic diagram of the stretching, extension flexing unit of layer 5 platform in a kind of home-services robot that Figure 10 provides for the embodiment of the present invention, as shown in Figure 10, in a preferred embodiment of the invention, described stretching, extension flexing unit 7 includes guide rail slide block 74, the swivel link 75 that the contiguous block 73 that the leading screw 72 that motor 71 arranges in pairs or groups is connected with described leading screw 72 is connected with described contiguous block 73 with described motor 71 phase, described swivel link 75 drives load bracket 77, and described stretching, extension flexing unit 7 is additionally provided with the second angular transducer 76.
Namely, described stretching, extension flexing unit 7 adopts motor 71 to drive, owing to this motor 71 step angle is higher, therefore collocation uses and can bear a leading screw 72 of enough bending stresses under a load so that accurate can control its walking position and reach cervical region accurately and the purpose that aligns of user.Described leading screw 72 is provided with contiguous block 73, described contiguous block 73 connects guide rail and slide block 74 and the swivel link 75 of both sides, it can move reciprocatingly back and forth in the motor process come back and bow on leading screw 72, and motor 71 also can swing up and down therewith simultaneously.Described swivel link 75 transmits moment of torsion to the head centre of gyration, drives load bracket 77 to drive end rotation.Owing to whole stretching, extension flexing unit is under open loop situations, therefore add special angular transducer i.e. the second angular transducer 76 as the negative feedback of this unit, being sent by the angle information of head to slave computer 23, slave computer can adjust action command according to the angle information of this unit.
The schematic diagram of the ground floor platform of a kind of home-services robot that Fig. 4 provides for the embodiment of the present invention, as shown in Figure 4, in a preferred embodiment of the invention, the rear portion of the first described platform 1 is provided with charging contact 11 and battery 12, when the electricity of described battery 12 reaches lower limit, described battery 12 sends charging signals to described slave computer 23.
The schematic diagram of the second layer platform of a kind of home-services robot that Fig. 5 provides for the embodiment of the present invention, as shown in Figure 5, in a preferred embodiment of the invention, the rear of described second layer platform 2 is provided with infrared receiver emitter 21 and the second ultrasonic sensor 22.In a preferred embodiment of the invention, described infrared receiver emitter 21 is five, is uniformly distributed by 45 degree of angles.
The schematic diagram of the third layer platform of a kind of home-services robot that Fig. 6 provides for the embodiment of the present invention, it will be appreciated from fig. 6 that in a preferred embodiment of the invention, described third layer platform 3 is additionally provided with power supply adaptor 32.This layer also can arrange the cabling that some parts are unnecessary.
The front elevation of a kind of home-services robot that Fig. 1 provides for the embodiment of the present invention, the back view of a kind of home-services robot that Fig. 2 provides for the embodiment of the present invention, as seen from Figure 1, Figure 2, described home-services robot also includes charging pile 0, and described charging pile 0 is provided with infrared transmitter 01 and spring contact 02.
When the electricity of robot is not enough time, described infrared transmitter 01 is used for sending infrared signal, described infrared receiver emitter 21 is for receiving described infrared signal, and described infrared signal is sent to described slave computer 23, the second described ultrasonic sensor 22 is for sending ultrasonic signal to described slave computer 23, described slave computer 23 is for according to described charging signals, ultrasonic signal and infrared signal output charging action command, order about described home-services robot to be charged to described battery 12 with described spring contact 02 by described charging contact 11.
Namely, when the electricity of robot is not enough time, five infrared receiver emitters 21 can start to catch the another one infrared transmitter 01 being in slit place in charging pile 0 and launch the infrared signal of coming, after capturing infrared signal, these five infrared receiver emitters 21 can interact send instruction make robot adjust attitude, finally with face charging pile 0 direction advance.When the charging contact 11 of robot touches spring contact 02 of charging pile time, start to charge up process.Therefore, home-services robot provided by the invention has the function of automatic charging.
As it has been described above, the invention provides the service robot of a kind of high interactive experience towards full age bracket.This robot adopts laminated type structural design, is divided into 5 layers of platform from the bottom up, is connected with support between platform, installs simple structure stable, it is simple to safeguard.On the 2DOF joint of the cervical region of top (i.e. layer 5 platform), Kinect is installed and panel computer is used as head, it is achieved main man-machine interaction content.Come robot three-point fix at the additional location wheel of chassis (i.e. ground floor platform) upper use two wheels of two DC motor Driver, there are 3 crash sensors in front, chassis, there are 5 uniform ultrasonic sensors at support place, mainly does avoidance and uses；Second layer platform is evenly equipped with the fired infrared receiver of 5 automatic chargings and gyroscope and main control chip；Each sound transducer place unnecessary cabling and adapter etc. before and after third layer platform；4th layer of platform is provided with 360 degree of laser scanners, mainly does map structuring and path planning and avoidance uses；5th layer of stage+module has the neck joint of 2DOF, supports head to realize inward turning outward turning and to stretch flexing action.Compared with the home-services robot of prior art, have abundant function and significantly high integrated level.
Fig. 3 is the hardware structure figure that in embodiment provided by the invention, robot is overall, from the figure 3, it may be seen that this service robot mainly has following characteristics:
1, the overall laminated type structural design that adopts, and adopt optimum support bracket selection and structure to build by finite element analysis so that robot assembles simple, Stability Analysis of Structures, it is simple to later maintenance or peripheral expanded case；
2, controlling multiple sensors by slave computer, the multiple data merging collection makes optimization process, reaches the effect of associating high accuracy avoidance；
3, by the laser scanner self-path planning to robot and map structuring that not chummery is carried out, making by interactive voice or touch screen, robot host computer to be sent traveling instruction by user, any appointment position in any room can be walked to walk to according to this order by robot；
4, robot can be issued an instruction to the Smart Home in control room by user, and signal is wirelessly transmitted to the intelligent gateway in charging pile by this part by robot, then is carried out the Smart Home in control room by intelligent gateway；
5, this robot has huge and robustness software architecture, make user can pass through touch screen, voice and gesture complete the human-computer interaction function abundant with robot, such as voice broadcast, calendar prompting, indoor patrol, chat, recognition of face and take pictures, the detection of gesture identification, Falls Among Old People, Intelligent housing etc..
In figure 3, sound acquisition module is the mike on layer 5 platform in the panel computer of installation.Touch display screen and refer to the panel computer (this panel computer inherently touch screen) installed on the cervical region 2DOF joint of layer 5 platform.Image capture module refers to the infrared detector in Kinect and depth camera.Drawing positioning navigation module refers to 360 degree of laser scanners.Handheld terminal refers to the APP relevant to this robot installed in the middle of Client handset or ipad etc..WIFI routing module refers to the wireless network installed in client own home, plays robot, handheld terminal and Smart Home by this net connection.Host computer is the panel computer of layer 5 platform.Slave computer is the robot main control chip of second layer platform, i.e. slave computer.Speaker module is the speaker in the panel computer of layer 5 platform.Power module is battery and the self-contained electric power detection chip of battery.Automatic charging module lays respectively at two places, infrared transmitter in first charging pile and spring contact；It two is 5 infrared remote receivers and second ultrasonic sensor of robot second layer platform back array, and the both positive and negative polarity contact in ground floor platform.Listen and argue that a module refers respectively to the sound transducer before and after third layer platform and the sound array in Kinect, wherein the sound transducer before and after the 3rd platform is mainly rough differentiation sound source before robot or behind, the sound array in Kinect is then relatively accurately differentiate the angle that sound passes over.Motor drive module is in ground floor platform two motors and motor drives plate.Automatic obstacle-avoiding module is the work in combination between crash sensor, the first ultrasonic sensor and 360 laser scanners.
The man-machine interactive system that service robot provided by the invention adopts can be talked with it for the crowd of any age bracket, accepts instruction action.Smart Home and safety-protection system are also melted into a whole by the present invention, rarely has the robot that can serve household and security protection on the market at present, such as make robot send signal to be opened by curtain by robot sends the order opening curtain, also or go on patrol in the empty room of nobody home, it has been found that stranger carries out taking pictures and sending and owner etc..The sensor for avoidance of the local layout more than robot abdominal part or abdominal part only focused on by existing service robot, under environmental aspect in family uses, the shoes of such as people, thresholds etc. it may happen that situation about can't detect, and likely can make robot make erroneous judgement lower than the place of robot abdominal part.The present invention is directed to this situation at the uniform crash sensor of the chassis portion of robot so that erroneous judgement will not occur in robot.
Existing service robot majority is listening sound to distinguish also more stiff in this man-machine interaction experience of position, simply makes the action advanced to target of turning after sound namely being detected.And the present invention taking into full account, raising robot is in the interactive experience of people, after the calling hearing user, the direction that sound is transmitted by robot judges, and first turn back as people, then adjust posture entirety again to turn to, advance towards user, or following owner advances.
Existing service-delivery machine adopts box-type per capita, the piecemeal of case type or global design, and mounting process complexity improves cost, and whole housing is unloaded just passable by later maintenance or need when changing parts, inefficiency.The present invention then adopts laminated type structural design, not only assembles simple, and Stability Analysis of Structures is also convenient for later stage high efficiency maintenance and expanded case.
The key point of the present invention with being intended to protection point is:
1) laminated type structural design；
2) the associating high-precision independent avoidance of 360 degree of laser scanners, crash sensor and ultrasonic sensor；
3) 360 degree of laser scanners are utilized to create map in real time and make optimum path planning；
4) contact automatic charging system；
5) listen and argue a system；
6) 2DOF cervical region driving joint；
Compared with prior art, it is an advantage of the current invention that:
1) it is mounted with that crash sensor can detect relatively low barrier at subaerial chassis place；
2) function of automatic charging is had；
3) gyroscope is used to correct walking posture and mileage further；
4) have and listen sound to distinguish bit function；
5) use 360 degree of laser scanners create map without dead angle in real time and make optimum path planning, and combine differentiation barrier with ultrasonic sensor with crash sensor so that the high-precision avoiding barrier of robot；
6) use 2DOF cervical region driving joint, improve the man-machine experience of user, and carry Kinect and panel computer to make better human-computer interaction function；
7) laminated type structural design, installs simple, Stability Analysis of Structures, high maintenance.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, can be completed by the hardware that computer program carrys out instruction relevant, described program can be stored in general computer read/write memory medium, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-OnlyMemory, ROM) or random store-memory body (RandomAccessMemory, RAM) etc..
Those skilled in the art are it will also be appreciated that the various functions that the embodiment of the present invention is listed are to realize depending on the designing requirement of specific application and whole home-services robot by hardware or software.Those skilled in the art can for every kind of specific application, it is possible to use various methods realize described function, but this realization is understood not to exceed the scope of embodiment of the present invention protection.
Applying specific embodiment in the present invention principles of the invention and embodiment are set forth, the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, all will change in specific embodiments and applications, in sum, this specification content should not be construed as limitation of the present invention.
Claims (14)
1. a home-services robot, it is characterized in that, described home-services robot adopts laminated type structure, respectively ground floor platform (1), second layer platform (2), third layer platform (3), the 4th layer of platform (4) and layer 5 platform (5) from the bottom to top, it is connected by connection support between each platform
Described third layer platform (3) is provided with sound transducer (31), for Real-time Collection acoustical signal；
The 4th layer of described platform (4) is provided with laser scanner (41), the space residing for home-services robot described in real time scan, generates corresponding map；
The 5th described platform (5) is provided with human-computer interaction device, for gathering the command signal of user's input；
Described second layer platform (2) is provided with slave computer (23), for according to described command signal, acoustical signal and described map output action instruction；
Described the first platform (1) is provided with direct current generator (17), and the motor being connected with described direct current generator (17) drives plate (16), wheel (14) and location wheel (19)；
Described direct current generator (17) drives plate (16) to receive described action command by described motor, described wheel (14) is driven according to described action command, roll to drive described location to take turns (19), and then described home-services robot is moved；
The 5th described platform (5) also includes the cervical region driving joint being connected with described human-computer interaction device, for rotating according to described action command.
2. home-services robot according to claim 1, it is characterized in that, described second layer platform (2) also includes the gyroscope (24) being connected with described slave computer (23), for when described home-services robot tilts, sending tilt signals to described slave computer (23).
3. home-services robot according to claim 1, it is characterized in that, described the first platform (1) front portion is also configured with crash sensor (15), the connection support that described the first platform (1) is connected with described second layer platform (2) is additionally provided with the first ultrasonic sensor (13), described connection support is provided with installing hole, is used for adjusting the installation site of described ultrasonic sensor (13).
4. home-services robot according to claim 3, is characterized in that, described crash sensor (15) is three, and described the first ultrasonic sensor (13) is six.
5. home-services robot according to claim 4, it is characterized in that, angle between described crash sensor (15) is adjacent is 120 degree, and is provided with two travel switches (151) on each described crash sensor (15).
6. home-services robot according to claim 1, it is characterized in that, described human-computer interaction device includes Kinect (53) and the panel computer (51) being connected with described Kinect (53), the 5th described platform (5) also includes the omnipotent sized rack (52) being connected with described panel computer (51), is used for adjusting the installation site of described panel computer (51).
7. home-services robot according to claim 1, it is characterized in that, described cervical region driving joint includes inward turning outward turning unit (6), stretching, extension flexing unit (7) being connected by The Cloud Terrace (54) with described inward turning outward turning unit (6).
8. home-services robot according to claim 7, it is characterized in that, described inward turning outward turning unit (6) includes outer wall sleeve (61), be fixed in described outer wall sleeve (61) steering wheel (62) and bearing (64), described steering wheel (62) is for according to described action command, driving described bearing (64) to drive described The Cloud Terrace (54) left rotation and right rotation.
9. home-services robot according to claim 8, is characterized in that, described inward turning outward turning unit (6) also includes the first angular transducer (63) being arranged on described steering wheel (62) bottom.
10. home-services robot according to claim 7, it is characterized in that, described stretching, extension flexing unit (7) includes motor (71), the leading screw (72) arranged in pairs or groups mutually with described motor (71), the contiguous block (73) being connected with described leading screw (72), the guide rail slide block (74) being connected with described contiguous block (73), swivel link (75), described swivel link (75) drives load bracket (77), described stretching, extension flexing unit (7) is additionally provided with the second angular transducer (76).
11. home-services robot according to claim 1, it is characterized in that, the rear portion of described the first platform (1) is provided with charging contact (11) and battery (12), when the electricity of described battery (12) reaches lower limit, described battery (12) sends charging signals to described slave computer (23).
null12. home-services robot according to claim 11，It is characterized in that，The rear of described second layer platform (2) is provided with infrared receiver emitter (21) and the second ultrasonic sensor (22)，Described home-services robot also includes charging pile (0)，Described charging pile (0) is provided with infrared transmitter (01) and spring contact (02)，Described infrared transmitter (01) is used for sending infrared signal，Described infrared receiver emitter (21) is for receiving described infrared signal，And described infrared signal is sent to described slave computer (23)，Described the second ultrasonic sensor (22) is for sending ultrasonic signal to described slave computer (23)，Described slave computer (23) is for according to described charging signals、Ultrasonic signal and infrared signal output charging action command，Order about described home-services robot to be charged to described battery (12) by described charging contact (11) and described spring contact (02).
13. home-services robot according to claim 12, it is characterized in that, described infrared receiver emitter (21) is five, is uniformly distributed by 45 degree of angles.
14. home-services robot according to claim 1, it is characterized in that, described third layer platform (3) is additionally provided with power supply adaptor (32).
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