CN107255969B - Endowment robot supervisory systems - Google Patents
Endowment robot supervisory systems Download PDFInfo
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- CN107255969B CN107255969B CN201710508312.7A CN201710508312A CN107255969B CN 107255969 B CN107255969 B CN 107255969B CN 201710508312 A CN201710508312 A CN 201710508312A CN 107255969 B CN107255969 B CN 107255969B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present patent application discloses a kind of endowment robot supervisory systems, including self learning system, the self learning system is used to carry out self-teaching to off-limits instruction, further include: selftest module, selftest module are used to emulate Self-learning control instruction by analog simulator to judge whether Self-learning control instruction has logic error；Background monitoring module, background monitoring module is used to receive the Self-learning control instruction of selftest module transmission, backstage technical staff judges after inputting corresponding user instruction that whether Self-learning control instruction, which can control robot, is made correct behavior reaction by analogue simulation.This programme can remotely monitor endowment robot working condition, guarantee the normal work of robot, improve the interaction capabilities of endowment machine person to person.
Description
Technical field
The present invention relates to robot communication technical field more particularly to a kind of endowment robot supervisory systems.
Background technique
With the continuous development of robot automtion, behavior robot is increasingly valued by people, especially for
The endowment of old user services humanoid robot, and since one-child family increasingly increases, children look after and accompany the time of old man
It is limited, children can be substituted by the endowment service robot to a certain extent and solve the problems, such as that the elderly shortage of staff takes care of.
Endowment service type robot behavior response rule is all worked out in advance when leaving the factory, and these are according to previous day
The behavior reaction rule that often summary of experience comes out is likely to not adapt to miscellaneous running environment, cannot be directed to the spy of user
Point and demand interact, and cannot preferably incorporate people's lives.With advances in technology, robot increases self study function
Can, to off-limits instruction can continuous summing up experience in the process of running, self-teaching.
However, above-mentioned endowment robot cannot verify learning outcome during self study, do not know final
Whether learning outcome is correct, and because endowment robot has accessed external network, there are hacker attacks to distort instruction situation, the two
The execution of right instructions will be influenced, and then influences the interaction of the elderly and robot of supporting parents.
Summary of the invention
It is long-range to be carried out to endowment robot working condition the invention is intended to provide a kind of endowment robot supervisory systems
Monitoring guarantees the normal work of robot, improves the interaction capabilities of endowment machine person to person.
Base case provided by the invention is: endowment robot supervisory systems, including self learning system, the self study
System is used to carry out self-teaching to off-limits instruction, further includes:
Selftest module, selftest module are used to emulate Self-learning control instruction by analog simulator to judge Self-learning control
Whether instruction has logic error:
When judging result be have logic error, then logic error result is fed back into self learning system, self learning system weight
New study modification Self-learning control instruction；
When judging result is no logic error, then sends Self-learning control and instruct to next module；
Background monitoring module, background monitoring module are used to receive the Self-learning control instruction of selftest module transmission, backstage skill
Art personnel judge after inputting corresponding user instruction whether Self-learning control instruction can control robot by analogue simulation
Make correct behavior reaction:
If the behavior reaction made is correct, judges that Self-learning control instruction is correct, Self-learning control is instructed and is stored
Into the database of robot control store instruction；
If the behavior reaction made is incorrect, Self-learning control instruction errors are judged, backstage technical staff is to self-study
It practises control instruction to be modified, and revised control instruction is stored into the database of control store instruction.
The working principle of base case: after self learning system carries out self-teaching to off-limits instruction, by self study
The control instruction of completion is sent to selftest module, and selftest module emulates Self-learning control instruction by analog simulator to judge certainly
Whether study control instruction has logic error:
When judging result be have logic error, then logic error result is fed back into self learning system, self learning system weight
New study modification Self-learning control instruction；
When judging result is no logic error, then sends Self-learning control and instruct to background monitoring module, background monitoring mould
After block receives Self-learning control instruction, backstage technical staff is judged after inputting corresponding user instruction by analogue simulation, from
Whether study control instruction, which can control robot, is made correct behavior reaction:
If the behavior reaction made is correct, judges that Self-learning control instruction is correct, Self-learning control is instructed and is stored
Into the database of robot control store instruction；
If the behavior reaction made is incorrect, Self-learning control instruction errors are judged, backstage technical staff is to self-study
It practises control instruction to be modified, and revised control instruction is stored into the database of control store instruction.
The beneficial effect of base case is:
Selftest module can effectively detect whether Self-learning control instruction has logic error, to carry out to endowment robot
Supervision, provides more optimized, reasonable help for old man, also mitigates the workload of backstage technical staff；
Self-study control instruction operation result functional verification of the background monitoring module to no logic error, effectively ensures self study
The correctness of control instruction, the interactive function of enhancing the elderly and robot of supporting parents.
It further, further include random inspection module, random inspection module is used to randomly select the instruction of user's sending and obtains
It takes the control instruction in the corresponding database of user instruction to be sent to background monitoring module to be verified, backstage technical staff passes through
Analogue simulation, after judging the user instruction that input is randomly selected, whether corresponding control instruction, which can control robot, is made just
True behavior reaction:
If the behavior reaction made is correct, judge that control instruction is correct；
If the behavior reaction made is incorrect, control instruction mistake is judged, show that control instruction is tampered, backstage skill
Art personnel are modified control instruction, and revised control instruction is stored into the database of control store instruction.
The utility model has the advantages that because endowment robot accessed external network, distorted instruction there are hacker attack the case where, by with
Machine sampling observation control instruction carries out whether background authentication instruction is tampered, thus ensure that the correctness of control quality is correct, enhancing
The interaction of the elderly and endowment robot.
It further, further include electricity monitoring module, electricity monitoring module is used to monitor the electricity of the battery of endowment robot,
And information about power is fed back into background monitoring module.The utility model has the advantages that background monitoring personnel can understand endowment robot electricity in real time
The electricity in pond charges for robot in time when robot is out of power fastly, avoids making troubles because of the use out of power to the elderly.
Further, the electricity monitoring module includes electricity quantity display module and loudspeaker, and the electricity quantity display module is real-time
Show that the electricity of battery, the loudspeaker are low for voice prompting electricity.The utility model has the advantages that electricity quantity display module real-time display battery
Electricity, can be convenient and check remaining electricity, when not enough power supply, charge in time, and voice prompting is carried out by loudspeaker
Electricity is low, can effectively remind the elderly's not enough power supply, need to charge, and avoids making troubles because of the use out of power to the elderly.
Further, the electricity monitoring module further includes gsm module, and gsm module is used to information about power feeding back to nurse
The mobile phone terminal of personnel.The utility model has the advantages that because some the elderlys can not quick acquistion endowment robot application method, information about power is logical
Cross the mobile phone that gsm module is sent to caregiver, by information about power caregiver can in time give robot charge, avoid because
Use out of power to the elderly is made troubles.
It further, further include positioning device, positioning device is used for the positioning of robot, and location information is fed back to backstage
Monitoring module.The utility model has the advantages that the position of nurse the elderly can be determined, to old age by positioning of the positioning device to robot
People carries out monitoring position, and the elderly is prevented to wander away, and some programs " can be run and be flown ", the endowment machine not controlled by route
People positions, and looks for convenient for personnel.
Detailed description of the invention
Fig. 1 is the schematic front view of present invention endowment robot supervisory systems embodiment.
Specific embodiment
Below by specific embodiment, the present invention is described in further detail:
Appended drawing reference in Figure of description includes: self learning system 1, selftest module 2, background monitoring module 3, random pumping
Examine module 4, electricity monitoring module 5, electricity quantity display module 51, loudspeaker 52, gsm module 53, positioning device 6.
Support parents robot with supervisory systems embodiment substantially as shown in Figure 1:
Base case provided by the invention is: endowment robot supervisory systems, including self learning system 1, the self-study
Learning system 1 is used to carry out self-teaching to off-limits instruction, further includes:
Selftest module 2, selftest module 2 are used to emulate Self-learning control instruction by analog simulator to judge self study control
Whether system instruction has logic error:
When judging result be have logic error, then logic error result is fed back into self learning system 1, self learning system 1
Relearn modification Self-learning control instruction；
When judging result is no logic error, then sends Self-learning control and instruct to next module；
The analogue system that the hardware of selftest module 2 is made up of handler mould board and periphery I/O plate isa bus, I/O plate
Between processor data exchange can be carried out by shared drive/optical fiber interface.In software aspects, using Mathworks company
Stateflow carry out command simulation.
Selftest module 2 and background monitoring module 3 are all provided with network interface card, and the transmission of Self-learning control instruction is carried out by network.
Background monitoring module 3, background monitoring module 3 are used to receive the Self-learning control instruction of the transmission of selftest module 2, backstage
Technical staff judges after inputting corresponding user instruction whether Self-learning control instruction can control machine by analogue simulation
People makes correct behavior reaction:
If the behavior reaction made is correct, judges that Self-learning control instruction is correct, Self-learning control is instructed and is stored
Into the database of robot control store instruction；
If the behavior reaction made is incorrect, Self-learning control instruction errors are judged, backstage technical staff is to self-study
It practises control instruction to be modified, and revised control instruction is stored into the database of control store instruction.
If the behavior reaction made is incorrect, Self-learning control instruction errors are judged, backstage technical staff is to self-study
It practises control instruction to be modified, and revised control instruction is stored into the database of control store instruction.
The hardware of background monitoring module 3 includes central processing unit, and central processing unit is using the stronger MIPS processing of compatibility
Device imitates the control instruction made referrals to using the Simbad robot simulation platform based on Java3D technology in software aspects
True simulation.
It further include random inspection module 4, random inspection module 4 is used to randomly select the instruction of user's sending and obtains user
It instructs the control instruction in corresponding database to be sent to background monitoring module 3 to be verified, backstage technical staff passes through emulation
Simulation, after judging the user instruction that input is randomly selected, whether corresponding control instruction, which can control robot, is made correctly
Behavior reaction:
If the behavior reaction made is correct, judge that control instruction is correct；
If the behavior reaction made is incorrect, control instruction mistake is judged, show that control instruction is tampered, backstage skill
Art personnel are modified control instruction, and revised control instruction is stored into the database of control store instruction.
Random inspection module 4 includes processor, and processor is used domestic Godson CPU, referred to based on systematic sampling to control
Order is sampled verifying, and because endowment robot has accessed external network, there are the risks that instruction is distorted in hacker attack, by random
Sampling observation control instruction carries out whether background authentication instruction is tampered, to ensure that the correctness of control quality is correct, enhances
The interaction of the elderly and endowment robot.
System further includes electricity monitoring module 5, and electricity monitoring module 5 is used to monitor the electricity of the battery of endowment robot,
And information about power is fed back into background monitoring module 3, electricity monitoring module 5 includes electricity quantity display module 51 and loudspeaker 52, institute
The electricity of 51 real-time display battery of electricity quantity display module is stated, loudspeaker 52 is low for voice prompting electricity.Electricity monitoring module 5 is also
Including gsm module, gsm module is used to feed back to information about power the mobile phone terminal of caregiver.
Because some the elderlys can not quickly acquistion endowment robot application method, information about power by gsm module transmission
To the mobile phone of caregiver, by information about power, caregiver can charge to robot in time, avoid because out of power to the elderly
Use make troubles.Some new things are received than faster old man, the electricity of 51 real-time display of electricity quantity display module is passed through
Pond electricity can be convenient and check remaining electricity, when not enough power supply, charge in time, and carries out voice by loudspeaker 52 and mention
Show that electricity is low, such as: " electricity is low, please charges in time " can effectively remind the elderly's not enough power supply, need to charge.Background monitoring people
Member can understand the electricity of endowment robot battery in real time, when robot is out of power fastly, charge in time for robot.
Wherein electricity monitoring module 5 carries Godson CPU and carries out the monitoring of data electricity, and electricity monitoring module 5 is surveyed including electricity
Circuit is measured, the voltage by monitoring battery obtains real time electrical quantity information.
It further include positioning device 6, positioning device 6 is used for the positioning of robot, and location information is fed back to background monitoring
Module 3, wherein locating module is positioned using GPS, the positioning by positioning device 6 to robot, can determine that nurse is old
The position of year people carries out monitoring position to the elderly, the elderly is prevented to wander away, and some programs " can be run and be flown ", not by
The endowment robot of route control is positioned, and is looked for convenient for personnel.
In use, the control that self study is completed is referred to after self learning system 1 carries out self-teaching to off-limits instruction
Order is sent to selftest module 2, and selftest module 2 emulates Self-learning control instruction by analog simulator to judge that Self-learning control refers to
Whether enable has logic error:
When judging result be have logic error, then logic error result is fed back into self learning system 1, self learning system 1
Relearn modification Self-learning control instruction；
When judging result is no logic error, then sends Self-learning control and instruct to background monitoring module 3, background monitoring mould
After block 3 receives Self-learning control instruction, backstage technical staff is judged after inputting corresponding user instruction by analogue simulation,
Whether Self-learning control instruction, which can control robot, is made correct behavior reaction:
If the behavior reaction made is correct, judges that Self-learning control instruction is correct, Self-learning control is instructed and is stored
Into the database of robot control store instruction；
The present embodiment selftest module 2 can effectively detect whether Self-learning control instruction has logic error, after also mitigating
The workload of platform technical staff；3 pairs of the background monitoring module self-study control instruction operation result functional verifications without logic error, have
Effect ensures the correctness of Self-learning control instruction, the interactive function of enhancing the elderly and robot of supporting parents.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific structure and characteristic are not made herein in scheme
Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date
Ordinary technical knowledge can know the prior art all in the field, and have using routine experiment hand before the date
The ability of section, one skilled in the art can improve and be implemented in conjunction with self-ability under the enlightenment that the application provides
This programme, some typical known features or known method should not become one skilled in the art and implement the application
Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, can also make
Several modifications and improvements out, these also should be considered as protection scope of the present invention, these all will not influence the effect that the present invention is implemented
Fruit and patent practicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification
The records such as body embodiment can be used for explaining the content of claim.
Claims (6)
1. robot supervisory systems of supporting parents, including self learning system, the self learning system are used for off-limits instruction
Carry out self-teaching, which is characterized in that further include selftest module and background monitoring module；
Selftest module, selftest module are used to emulate Self-learning control instruction by analog simulator to judge that Self-learning control instructs
Whether logic error is had:
When judging result be have logic error, then logic error result is fed back into self learning system, self learning system is learned again
Practise modification Self-learning control instruction；
When judging result is no logic error, then sends Self-learning control and instruct to background monitoring module；
Background monitoring module, background monitoring module are used to receive the Self-learning control instruction of selftest module transmission, backstage technology people
Member judges after inputting corresponding user instruction that whether Self-learning control instruction, which can control robot, is made by analogue simulation
Correct behavior reaction:
If the behavior reaction made is correct, judges that Self-learning control instruction is correct, Self-learning control instruction is stored to machine
In the database of device people's control store instruction；
If the behavior reaction made is incorrect, Self-learning control instruction errors are judged, backstage technical staff is to self study control
System instruction is modified, and revised control instruction is stored into the database of control store instruction.
2. endowment robot according to claim 1 supervisory systems, it is characterised in that: it further include random inspection module,
Random inspection module is used to randomly select the instruction of user's sending and obtains the control instruction in the corresponding database of user instruction
It is sent to background monitoring module to be verified, by analogue simulation, the user for judging that input is randomly selected refers to backstage technical staff
After order, whether corresponding control instruction can control robot and makes correct behavior reaction:
If the behavior reaction made is correct, judge that control instruction is correct；
If the behavior reaction made is incorrect, control instruction mistake is judged, show that control instruction is tampered, backstage technology people
Member is modified control instruction, and revised control instruction is stored into the database of control store instruction.
3. endowment robot according to claim 2 supervisory systems, it is characterised in that: it further include electricity monitoring module,
Electricity monitoring module is used to monitor the electricity of the battery of endowment robot, and information about power is fed back to background monitoring module.
4. endowment robot according to claim 3 supervisory systems, it is characterised in that: the electricity monitoring module includes
Electricity quantity display module and loudspeaker, the electricity of the electricity quantity display module real-time display battery, the loudspeaker are mentioned for voice
Show that electricity is low.
5. endowment robot according to claim 4 supervisory systems, it is characterised in that: the electricity monitoring module also wraps
Gsm module is included, gsm module is used to feed back to information about power the mobile phone terminal of caregiver.
6. -5 any endowment robot supervisory systems according to claim 1, it is characterised in that: further include positioning dress
It sets, positioning device is used for the positioning of robot, and location information is fed back to background monitoring module.
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| CN201710508312.7A CN107255969B (en) | 2017-06-28 | 2017-06-28 | Endowment robot supervisory systems |
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| CN201710508312.7A CN107255969B (en) | 2017-06-28 | 2017-06-28 | Endowment robot supervisory systems |
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| CN107255969B true CN107255969B (en) | 2019-10-18 |
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