CN109648579A - Intelligent robot, cloud server and intelligent robot system - Google Patents
Intelligent robot, cloud server and intelligent robot system Download PDFInfo
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- CN109648579A CN109648579A CN201910047605.9A CN201910047605A CN109648579A CN 109648579 A CN109648579 A CN 109648579A CN 201910047605 A CN201910047605 A CN 201910047605A CN 109648579 A CN109648579 A CN 109648579A
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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
Abstract
This application involves a kind of intelligent robots, comprising: robot body；The intelligent monitoring device being set on robot body；The control mainboard being set in robot body；It is set to the execution unit in robot body or on robot body；Intelligent monitoring device includes: image capture module, for acquiring the image information around the robot body；Voice acquisition module, for acquiring the voice messaging around robot body；Environmental parameter sensor, the ambient parameter information for environment where acquiring robot body；Control mainboard is used for: receiving the information of intelligent monitoring device acquisition, and information is sent to cloud server by the first communication interface, so that cloud server generates control instruction according to information；And the control instruction that cloud server is sent is received by the first communication interface, and according to control instruction, the execution of execution unit is controlled by the second communication interface.The application makes robot more intelligent, is more suitable for family's use.
Description
Technical field
This application involves robotic technology field more particularly to a kind of intelligent robots, cloud server and intelligence machine
People's system.
Background technique
With the development of science and technology, robot is also more and more extensive in the application of all trades and professions.For example, being applied to life
Sweeping robot, reading partner robot of service field etc..These robots improve people's lives quality to a certain extent.
But these robots are all based on the robot that can only carry out a certain specific operation lived and designed in a certain respect mostly,
As sweeping robot can only sweep the floor according to the program that people set in the processor of robot in advance, reading partner robot is only
Speech exchange can be carried out according to the audio-frequency information of the preparatory typing of people and people.Although these robots can be people to a certain extent
Service for life, but intelligent lower, application prospect is limited, is unable to satisfy family's use demand.
Summary of the invention
To be overcome the problems, such as present in the relevant technologies at least to a certain extent, the application provide a kind of intelligent robot,
Cloud server and intelligent robot system.
According to the embodiment of the present application in a first aspect, providing a kind of intelligent robot, comprising:
Robot body；
The intelligent monitoring device being set on the robot body；
The control mainboard being set in the robot body；
It is set to the execution unit in the robot body or on the robot body；
The intelligent monitoring device includes:
Image capture module, for acquiring the image information around the robot body；
Voice acquisition module, for acquiring the voice messaging around the robot body；
Environmental parameter sensor, the ambient parameter information for environment where acquiring the robot body；
The first communication interface and the second communication interface are provided in the control mainboard；
First communication interface is used to connect external cloud server, to carry out the control mainboard and the cloud
Communication between server；
Second communication interface is for connecting the execution unit, to carry out the control mainboard and the execution unit
Between communication；
The control mainboard is used for: receiving the information of the intelligent monitoring device acquisition, and by the information described in
First communication interface is sent to the cloud server, so that the cloud server generates control instruction according to the information；
And the control instruction that the cloud server is sent is received by first communication interface, and according to the control instruction,
The execution of the execution unit is controlled by second communication interface.
Optionally, the environmental parameter sensor includes at least one in following item:
Temperature sensor, humidity sensor, smoke detector, optical sensor.
Optionally, the execution unit includes at least one in following item:
Steering engine is acted for controlling the robot；
Voice playing device, for playing voice；
Infrared launcher, for emitting infrared light to controlled smart home device；
Alarm device, for carrying out sound and/or light alarm.
Optionally, first communication interface includes: wifi interface.
Optionally, second communication interface includes: UART interface.
According to the second aspect of the embodiment of the present application, a kind of cloud server is provided, comprising:
Third communication interface receives the intelligence by the communication connection for establishing communication connection with intelligent robot
The information of energy robot acquisition；
4th communication interface, for establishing communication connection with application server, by being answered described in communication connection reception
The control information sent with server；
5th communication interface, for establishing communication connection with smart home device, by described in communication connection reception
The equipment operation information that smart home device is sent；
Processor, information, the control information, the equipment operation information for being acquired according to the intelligent robot
In it is one or more, obtain one or more in robot control instruction, feedback information and equipment control instruction, and pass through
The robot control instruction is sent to the intelligent robot by the third communication interface, and/or, pass through the four-way
The feedback information is sent to application server by communication interface, and/or, the equipment is controlled by the 5th communication interface
Instruction is sent to the smart home device.
Optionally, the information of the intelligent robot acquisition includes: the image information around intelligent robot；
The processor is specifically used for:
Described image information is received by the third communication interface, and described image information is handled to obtain first
Control instruction, first control instruction include the mobile step count information and moving direction information of intelligent robot；
First control instruction is sent to the intelligent robot by the third communication interface, so that the intelligence
Energy robot receives first control instruction, and executes corresponding actions according to first control instruction.
Optionally, the information of the intelligent robot acquisition further include: the environmental parameter letter of environment where intelligent robot
Breath；
The processor is specifically used for:
Timing sends inquiry request to the intelligent robot, so that the intelligent robot returns to the inquiry request pair
The ambient parameter information answered；
The ambient parameter information is handled, the second control instruction is obtained, second control instruction includes intelligence
Fitment controls information；
Second control instruction is sent to the intelligent robot, so that the intelligent robot receives described second
Control instruction, and corresponding smart home device is controlled according to second control instruction.
Optionally, the control information includes: audio；
The processor is specifically used for:
Receive the audio；
Extract the characteristic value information of the audio；
Judged in the database of cloud server according to the characteristic value information with the presence or absence of the letter for including with the audio
Cease identical audio data, and in the presence of obtain the corresponding text information of the audio data, and by the text information pair
The third control instruction answered is sent to intelligent robot, so that the intelligent robot is grasped according to the third control instruction
Make；
Audio data, text corresponding with the audio data are previously stored in the database of the cloud server
Information and third control instruction corresponding with the text information.
According to the third aspect of the embodiment of the present application, a kind of intelligent robot system is provided, comprising: intelligent robot and cloud
Hold server.
The intelligent robot includes:
Robot body；
The intelligent monitoring device being set on the robot body；
The control mainboard being set in the robot body；
It is set to the execution unit in the robot body or on the robot body；
The intelligent monitoring device includes:
Image capture module, for acquiring the image information around the robot body；
Voice acquisition module, for acquiring the voice messaging around the robot body；
Environmental parameter sensor, the ambient parameter information for environment where acquiring the robot body；
The first communication interface and the second communication interface are provided in the control mainboard；
First communication interface is used to connect external cloud server, to carry out the control mainboard and the cloud
Communication between server；
Second communication interface is for connecting the execution unit, to carry out the control mainboard and the execution unit
Between communication；
The control mainboard is used for: receiving the information of the intelligent monitoring device acquisition, and by the information described in
First communication interface is sent to the cloud server, so that the cloud server generates control instruction according to the information；
And the control instruction that the cloud server is sent is received by first communication interface, and according to the control instruction,
The execution of the execution unit is controlled by second communication interface.
Optionally, the environmental parameter sensor includes at least one in following item:
Temperature sensor, humidity sensor, smoke detector, optical sensor.
Optionally, the execution unit includes at least one in following item:
Steering engine is acted for controlling the robot；
Voice playing device, for playing voice；
Infrared launcher, for emitting infrared light to controlled smart home device；
Alarm device, for carrying out sound and/or light alarm.
Optionally, first communication interface includes: wifi interface.
Optionally, second communication interface includes: UART interface.
The cloud server, comprising:
Third communication interface receives the intelligence by the communication connection for establishing communication connection with intelligent robot
The information of energy robot acquisition；
4th communication interface, for establishing communication connection with application server, by being answered described in communication connection reception
The control information sent with server；
5th communication interface, for establishing communication connection with smart home device, by described in communication connection reception
The equipment operation information that smart home device is sent；
Processor, information, the control information, the equipment operation information for being acquired according to the intelligent robot
In it is one or more, obtain one or more in robot control instruction, feedback information and equipment control instruction, and pass through
The robot control instruction is sent to the intelligent robot by the third communication interface, and/or, pass through the four-way
The feedback information is sent to application server by communication interface, and/or, the equipment is controlled by the 5th communication interface
Instruction is sent to the smart home device.
Optionally, the information of the intelligent robot acquisition includes: the image information around intelligent robot；
The processor is specifically used for:
Described image information is received by the third communication interface, and described image information is handled to obtain first
Control instruction, first control instruction include the mobile step count information and moving direction information of intelligent robot；
First control instruction is sent to the intelligent robot by the third communication interface, so that the intelligence
Energy robot receives first control instruction, and executes corresponding actions according to first control instruction.
Optionally, the information of the intelligent robot acquisition further include: the environmental parameter letter of environment where intelligent robot
Breath；
The processor is specifically used for:
Timing sends inquiry request to the intelligent robot, so that the intelligent robot returns to the inquiry request pair
The ambient parameter information answered；
The ambient parameter information is handled, the second control instruction is obtained, second control instruction includes intelligence
Fitment controls information；
Second control instruction is sent to the intelligent robot, so that the intelligent robot receives described second
Control instruction, and corresponding smart home device is controlled according to second control instruction.
Optionally, the control information includes: audio；
The processor is specifically used for:
Receive the audio；
Extract the characteristic value information of the audio；
Judged in the database of cloud server according to the characteristic value information with the presence or absence of the letter for including with the audio
Cease identical audio data, and in the presence of obtain the corresponding text information of the audio data, and by the text information pair
The third control instruction answered is sent to intelligent robot, so that the intelligent robot is grasped according to the third control instruction
Make；
Audio data, text corresponding with the audio data are previously stored in the database of the cloud server
Information and third control instruction corresponding with the text information.
The technical solution that embodiments herein provides can include the following benefits:
Since intelligent monitoring device being arranged on robot body, and the intelligent monitoring device includes: Image Acquisition mould
Therefore block, voice acquisition module and environmental parameter sensor can pass through the image around robot body described in Image Acquisition
Information acquires the voice messaging around the robot body by voice acquisition module, and, pass through environment parameter sensing
Device, the ambient parameter information of environment where acquiring the robot body；Again because being provided with control master in robot body
Plate, is provided with the first communication interface and the second communication interface in control mainboard, and the external cloud of the first communication interface connection takes
Business device, so that can be communicated between control mainboard and cloud server；Second communication interface is connected in robot sheet
Execution unit on internal or robot body, communicates control mainboard with execution unit；Therefore, control master
After plate receives the collected above-mentioned various information of intelligent monitoring device, various information can be sent by the first communication interface
To the cloud server, so that the cloud server generates control instruction according to various information, and, pass through the first communication
The control instruction that interface cloud server is sent, and execution unit is controlled by the second communication interface according to control instruction
It executes.It is by the connection that is arranged between above-mentioned component and component so that robot functional diversities, more intelligent, it is more suitable
Family uses.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Fig. 1 is a kind of structural schematic diagram of intelligent robot shown according to an exemplary embodiment.
Fig. 2 is a kind of structural schematic diagram of the intelligent robot shown according to another exemplary embodiment.
Fig. 3 is a kind of architecture diagram of the cloud server shown according to another exemplary embodiment.
Fig. 4 is a kind of flow chart of the natural language processing method shown according to another exemplary embodiment.
Fig. 5 is a kind of Entity-Relationship figure of the grammatical and semantic database shown according to another exemplary embodiment.
Fig. 6 is a kind of Entity-Relationship figure of the intelligent home information database shown according to another exemplary embodiment.
Fig. 7 is a kind of structural schematic diagram of the intelligent robot system proposed according to another exemplary embodiment.
Fig. 8 is a kind of flow diagram of the Study of Intelligent Robot Control method shown according to another exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent system and method for some aspects be described in detail in claims, the application.
Fig. 1 is a kind of structural schematic diagram of intelligent robot shown according to an exemplary embodiment.
The present embodiment is by taking the execution of intelligent robot side as an example.
As shown in Figure 1, intelligent robot provided in this embodiment includes:
Robot body 1；
The intelligent monitoring device 2 being set on the robot body 1；
The control mainboard 3 being set in the robot body 1；
It is set to the execution unit 4 in the robot body 1 or on the robot body；
The intelligent monitoring device 2 includes:
Image capture module 21, for acquiring the image information around the robot body；
Voice acquisition module 22, for acquiring the voice messaging around the robot body；
Environmental parameter sensor 23, the ambient parameter information for environment where acquiring the robot body；
The first communication interface and the second communication interface are provided in the control mainboard 3；
First communication interface is used to connect external cloud server, to carry out the control mainboard and the cloud
Communication between server；
Second communication interface is for connecting the execution unit, to carry out the control mainboard and the execution unit
Between communication；
The control mainboard 3 is used for: receiving the information of the intelligent monitoring device acquisition, and by the information described in
First communication interface is sent to the cloud server, so that the cloud server generates control instruction according to the information；
And the control instruction that the cloud server is sent is received by first communication interface, and according to the control instruction,
The execution of the execution unit is controlled by second communication interface.
Wherein, image capture module can be, but not limited to be one or more camera；Voice acquisition module can with but
It is not limited to one or more microphone；Control mainboard can be, but not limited to be raspberry pie.
It should be noted that raspberry pie is a kind of miniature mainboard computer, in this application, raspberry pie is equivalent to host computer,
It is the control centre of entire robot.
In the present embodiment, since intelligent monitoring device being arranged on robot body, and the intelligent monitoring device includes:
Therefore image capture module, voice acquisition module and environmental parameter sensor can pass through robot body described in Image Acquisition
The image information of surrounding, acquires the voice messaging around the robot body by voice acquisition module, and, pass through environment
Parameter sensors, the ambient parameter information of environment where acquiring the robot body；Again because being provided in robot body
Control mainboard is provided with the first communication interface and the second communication interface in control mainboard, and outside the connection of the first communication interface
Cloud server, so that can be communicated between control mainboard and cloud server；Second communication interface is connected in machine
Execution unit in device human body or on robot body, communicates control mainboard with execution unit；Therefore,
After control mainboard receives the collected above-mentioned various information of intelligent monitoring device, various information can be connect by the first communication
Mouthful it is sent to the cloud server, so that the cloud server generates control instruction according to various information, and, by the
One communication interface receives the control instruction that cloud server is sent, and is executed according to control instruction by the control of the second communication interface
The execution of component.It is by the connection that is arranged between above-mentioned component and component so that robot functional diversities, more intelligent, more
Add and is suitable for home use.
Further, the environmental parameter sensor includes at least one in following item:
Temperature sensor, humidity sensor, smoke detector, optical sensor.
Wherein, the temperature value of environment, humidity sensor can acquire machine where temperature sensor can acquire robot
The humidity value of environment where people, the smokescope value of environment where smoke detector can acquire robot, optical sensor can
To acquire the illumination intensity value of robot place environment.
Further, the execution unit includes at least one in following item:
Steering engine is acted for controlling the robot；
Voice playing device, for playing voice；
Infrared launcher, for emitting infrared light to controlled smart home device；
Alarm device, for carrying out sound and/or light alarm.
Wherein, voice playing device can be, but not limited to be loudspeaker.
Wherein, steering engine is a kind of driver of position (angle) servo, needs angle constantly to change and can suitable for those
With the control system of holding, in the application, steering engine can make the positions such as arm, leg, head and the body of robot flexibly move
Make.
Further, first communication interface includes: wifi interface.
Further, second communication interface includes: UART interface.
Wherein, the communication connection relationship between raspberry pie and robot is as follows:
It is used since raspberry pie default opens UART serial ports to bluetooth, it, will therefore, it is necessary to modify raspberry pie system file
Bluetooth is tied to the mini serial ports of ttyS0, and UART serial ports is then restored to TX (transmission) and RX (reception) mode.By raspberry pie
TX interface is connected with the RX interface of robot, the RX interface of raspberry pie is connected with the TX interface of robot, and then robot is grounded,
So just complete docking for raspberry pie and robot.
Since raspberry pie (control mainboard) correspondence with foreign country channel only only has bluetooth, wifi and onboard serial ports, (UART is connect
Mouthful).UART interface is distributed to robot by us；Bluetooth is tied to the mini serial ports of ttyS0, and frequency is unstable, therefore can only make
It is transmitted with wifi combination OpenWRT open source router.
It should be noted that OpenWRT is mainly used for constructing the middle control platform routing gateway of smart home, all intelligence are realized
Communication between energy household and robot and cloud server.
In specific application scenarios, control mainboard calls the image letter around camera acquisition intelligence machine human body
Breath gets and sends cloud server for image information by the first communication interface after image information, and cloud server is to figure
As information carries out processing and analysis obtains move, robot moving direction information and mobile step number are included in a kind of instruction
Then the move is sent to control mainboard by the first communication interface by information, control mainboard is according to moving direction information
Steering engine is controlled by the second communication interface with mobile step count information to execute.For example, in the image that camera obtains, robot sheet
There are barrier (for example, stool) immediately ahead of body, cloud server is in the move for obtain after processing analysis to image
In include information be first to move right 4 steps, then move forward, alternatively, being first moved to the left three steps, moving forward.So that
The automatic obstacle avoidance of robot.
Wherein, the method that cloud server is analyzed and processed image are as follows: be converted to the image of acquisition from RGB mode
HSV mode, and binaryzation (being set as gray level image) is carried out by 6 HSV parameters to the picture of HSV mode.By binaryzation
The image that obtains afterwards carries out Straight Line Identification and figure identification, compares preset data, and then current location information, current is calculated
The information and moving direction information for the mobile step number that robot is obtained relative to deviation, the primary Calculation of normal place, thus
To next avoiding action.
It is understood that each step distance across of robot can be taking human as presetting.
In another application scene, voice acquisition module acquires the voice messaging around robot, and control mainboard is got
Cloud server is sent by the first communication interface by voice messaging after voice messaging, cloud server to the voice messaging into
Row processing, judge to whether there is in the database of cloud server and the voice messaging expressed by the identical voice of semanteme, if
In the presence of, then control mainboard is sent by control instruction corresponding with the identical voice of semanteme of above-mentioned voice messaging in database,
Control mainboard controls execution unit according to control instruction and carries out corresponding operating.
It is understood that being previously stored with a plurality of voice in the database of cloud server and a plurality of voice is right respectively
The control instruction answered.
In another application scene, temperature sensor acquires institute, robot humidity value in the environment, control mainboard acquisition
It is sent to cloud server to the humidity value and by the humidity value, cloud server judges whether the humidity value is default less than first
Humidity value, and the first intelligentized Furniture control instruction is generated when less than the first default humidity value, and be sent to control mainboard, it controls
Mainboard controls infrared launcher according to the first equipment control instruction and sends infrared signal unlatching air humidifier to empty humidifier；
Later, humidity sensor continues the humidity value in real-time detection environment, when humidity value is greater than the second default humidity value in environment,
Cloud server generates the second equipment control instruction and is sent to control mainboard, and control mainboard is according to the second equipment control instruction control
Infrared launcher processed sends infrared signal again to air humidifier and closes air humidifier.
For another example, smoke detector detection robot smokescope value in the environment, diabolo mainboard get the cigarette
Mistiness angle value is simultaneously sent to cloud server, and cloud server judges whether the smokescope value is greater than the first default smokescope
Value, and generate the first alarm signal when being greater than the first default smokescope value, and is sent to control mainboard, control mainboard according to
First alarm signal controls alarm equipment alarm, meanwhile, cloud server can also send client for the first alarm signal, to mention
Wake up user.Further, the second alarm signal, control master are generated when smokescope value is greater than the second default smokescope value
Plate is alarmed according to the second alarm signal to security protection control centre, and remotely broadcasts home address；It is sent simultaneously to client above-mentioned
Second alarm signal is to remind user.
Further, referring to fig. 2, intelligent robot further include: display screen 5；
The display screen 5 is for showing that current time, weather, the temperature value in environment, humidity value, smokescope value etc. are believed
Breath, in order to which user checks at any time.
The present embodiment further enriches robot function, avoids complicated robot control method, either old man
Or child can execute various movements by simple voice control robot, be more suitable family's use.
Fig. 3 is a kind of structural schematic diagram of the cloud server shown according to another exemplary embodiment.
The present embodiment is by taking cloud server side as an example.
As shown in figure 3, cloud server provided in this embodiment includes:
Third communication interface 31, for establishing communication connection with intelligent robot, by described in communication connection reception
The information of intelligent robot acquisition；
4th communication interface 32, for establishing communication connection with application server, by described in communication connection reception
The control information that application server is sent；
5th communication interface 33 receives institute by the communication connection for establishing communication connection with smart home device
State the equipment operation information of smart home device transmission；
Processor 34, information, the control information, equipment operation letter for being acquired according to the intelligent robot
It is one or more in breath, it obtains one or more in robot control instruction, feedback information and equipment control instruction, and leads to
It crosses the third communication interface and the robot control instruction is sent to the intelligent robot, and/or, pass through the described 4th
The feedback information is sent to application server by communication interface, and/or, by the 5th communication interface by the equipment control
System instruction is sent to the smart home device.
Wherein, application server can be, but not limited to include: the corresponding server of wechat, alternatively, the corresponding service of short message
Device.
In the present embodiment, communication connection is established by the third communication interface and intelligent robot of cloud server, is passed through
The collected information of the available intelligent robot of this communication connection；It is taken by the 4th communication interface and application of cloud server
Business device establishes communication connection, and receives the control information that application server is sent by this communication connection；Pass through cloud server
The 5th communication interface and intelligentized Furniture equipment establish communication connection, this communication connection can be passed through and receive intelligentized Furniture equipment
Operation information；Again because cloud server further includes processor, and processor is to the collected information of above-mentioned intelligent robot, control
Information and equipment operation information processed is handled to obtain robot control instruction, feedback information and equipment control instruction and is sent to
Intelligent robot or application server or intelligentized Furniture equipment.So that intelligent robot, application server and intelligent family
It occupies equipment and executes corresponding operating.In this way, intelligent robot can be controlled by application server, then intelligent robot is made to become control
The middle control platform of smart home device processed, simplifies the complexity of operation.
Further, the information of the intelligent robot acquisition includes: the image information around intelligent robot；
The processor is specifically used for:
Described image information is received by the third communication interface, and described image information is handled to obtain first
Control instruction, first control instruction include the mobile step count information and moving direction information of intelligent robot；
First control instruction is sent to the intelligent robot by the third communication interface, so that the intelligence
Energy robot receives first control instruction, and executes corresponding actions according to first control instruction.
Further, the information of the intelligent robot acquisition further include: the environmental parameter of environment where intelligent robot
Information；
The processor is specifically used for:
Timing sends inquiry request to the intelligent robot, so that the intelligent robot returns to the inquiry request pair
The ambient parameter information answered；
The ambient parameter information is handled, the second control instruction is obtained, second control instruction includes intelligence
Fitment controls information；
Second control instruction is sent to the intelligent robot, so that the intelligent robot receives described second
Control instruction, and corresponding smart home device is controlled according to second control instruction.
Further, the control information includes: audio；
The processor is specifically used for:
Receive the audio；
Extract the characteristic value information of the audio；
Judged in the database of cloud server according to the characteristic value information with the presence or absence of the letter for including with the audio
Cease identical audio data, and in the presence of obtain the corresponding text information of the audio data, and the text information is sent out
Application server is given, so that the application server is operated according to the text information；
Audio data and corresponding with the audio data is previously stored in the database of the cloud server
Text information.
In the specific implementation, the corresponding application server of wechat passes through application programming interface (Application
Programming Interface, API) with cloud server establish communication connection, by wechat to cloud server send control
Information processed, for example, sending the operation information of inquiry intelligentized Furniture equipment (for example, runing time by wechat cloud server
Deng), cloud server will send inquiry request to intelligentized Furniture equipment by the 5th communication interface, and return to cloud server
Corresponding operation information is returned, which is sent to wechat end again by cloud server, and user can see intelligentized Furniture
The operation information of equipment.
Meanwhile user can also by wechat to cloud server distribution of machine people go on patrol information, cloud server according to
The robot goes on patrol information and sends patrol instruction to intelligent robot by third communication interface, and intelligent robot refers to according to patrol
Order starts to go on patrol, and sends cloud server for collected information, for example, environment where robot temperature, humidity, with
And image around robot etc..Cloud server generates corresponding control instruction simultaneously according to the collected information of intelligent robot
It is sent to intelligent robot, so that intelligent robot executes corresponding operating according to control instruction.
For example, optical sensor acquire in real time robot illumination intensity value in the environment, control mainboard obtain illumination
Intensity value is simultaneously sent to cloud server, after the processor of cloud server receives illumination intensity value, by illumination intensity value with
Default intensity of illumination threshold value is compared, and the finger for opening electric light is generated when the illumination intensity value is less than default intensity of illumination threshold value
It enables, and the instruction for opening electric light is sent to robot, the control mainboard of robot controls after receiving the instruction for opening electric light
Infrared launcher emits infrared signal, which includes to open the information of electric light, after electric light receives the infrared signal
It automatically turns on.
It is understood that user can also server setting timing be planned beyond the clouds according to actual needs, so that cloud
Server timing sends patrol instruction to intelligent robot or sends inquiry request to intelligentized Furniture equipment.
Wherein, the control information that application server is sent to cloud server may include: text information, alternatively, voice
Information.
If what is sent is text information, the file that text information is converted to xml format is sent to cloud server by wechat,
The file for the xml format that wechat is transmitted is automatically parsed with php and obtains user's natural language by cloud server, then by reverse
Maximum matching algorithm (RMM method) handles natural language, obtains the robotic semanteme of natural language, then in the database
Call corresponding action parameter.
It should be noted that reverse maximum matching method matches scanning since the end of document processed, most end is taken every time
The fixed quantity character at end is as matching field, if it fails to match, removes a word of matching field foremost, continuation
Match.Correspondingly, the dictionary for word segmentation that it is used is backward dictionary, and each entry therein mode will be stored in reverse order.
Referring to fig. 4, it is natural language algorithm process flow chart, method is:
The first step receives character string str.
Second step, it is the number in database that character string strtemp, n that length is n are taken out since the end character string str
According to the length of longest character string in dictionary.
Third step judges that strtemp with the presence or absence of in the data dictionary in database, if it is executes the 5th step,
Otherwise n=n-1 is executed.Then judge whether n is equal to 0, if it is, output strtemp；Otherwise the 4th step is executed.
4th step retrieves the character string strtemp that length is n since the end character string str, then executes third
Step.
5th step, str=str-strtemp return to the first step, meanwhile, using strtemp as when previous matching result
Output.
It should be noted that in the specific implementation, reverse maximum matching algorithm both can be used and divided natural language
A kind of partitioning algorithm based on relationship also can be used in word.
If what is sent is voice messaging, after cloud server gets voice messaging, the MFCC algorithms library of open source is called,
The characteristic value for extracting voice is converted by MFCC, characteristic value is compared with the Standard Eigenvalue in database, if feature
Be worth it is identical, think two sections of voices include same information, then by the corresponding text information of the Standard Eigenvalue use above-mentioned text
This information processing method finally obtains corresponding control instruction.
It should be noted that user is when sending voice, but speak standard Chinese pronunciation, it may also be said to dialect.As long as recording in advance,
And audio-frequency information, the corresponding text information of audio and the corresponding control instruction of text information are stored in cloud server
In database, cloud server can also identify the feature of audio and match corresponding control instruction.
Correspondingly, including grammatical and semantic database, intelligent home information library and algorithm in the database of cloud server
The Relational databases such as library.
Wherein, grammatical and semantic database main purpose is to record grammer habit common in Chinese, by colloquial nature
Language by primary key relationships be converted to format standard can be by the class machine language of grammatical and semantic analysis.
As shown in figure 5, being the Entity-Relationship figure of grammatical and semantic database, pass through user semantic matching library and number
Matching library matches standard language (the machine language for having identical semanteme with the natural language of user in machine semantic matches library
Speech).In figure, machine semantic matches library, number matching library and user semantic matching library peripheral English alphabet meaning
Respectively as shown in table 1, table 2 and table 3.
Table 1
Table 2
Table 3
It should be noted that the standard language in natural language and database is many-to-one relationship, that is, a variety of nature languages
The corresponding same standard language of speech.For example, the problem of about inquiry current time, user is with natural language may there are many expression
" several points ", " when being now " etc., corresponding standard language can be " current time ", when user's natural language
When the problem of proposing above-mentioned query time, the processor in cloud server calls corresponding algorithms library analysis analysis nature language
Speech, and its corresponding standard language " current time " is matched based on the analysis results, correspondence is then transferred according to standard language text
Control instruction
Wherein, all transmission information of smart home is contained in intelligent home information library, robot is gone on patrol every time and intelligence
The transmission information of energy home equipment is stored in smart home database.Entity-Relationship figure such as Fig. 6 of smart home database
Shown, there are transitive dependencies and multivalued dependence in database, only meet first normal form, but in logical design and specific programming
During, it is ensured that there is not Database error.One information, which uploads, records a corresponding smart home data, therefore believes
Breath uploads record and smart home upload information is one-to-one relationship；The wechat that one token links corresponding a period of time connects
Enter, so it is the relationship more than 1 pair that token and information, which upload record,；The registration that one information uploads the corresponding user of record is asked
It asks, therefore information uploads record and smart home user's registration information is one-to-one relationship；One information uploads record and corresponds to
One smart home device registration information, therefore information uploads record and smart home device hardware information is one-to-one pass
System.
In figure, smart home upload information module, wechat access API/token module, smart home device hardware information
Module, information upload containing for logging modle and smart home device hardware information modular peripheral English alphabet (data dictionary)
Justice is respectively as shown in table 4,5,6,7.
Table 4
Table 5
Table 6
Table 7
Table 8
Fig. 7 is a kind of structural schematic diagram of the intelligent robot system proposed according to another exemplary embodiment.This implementation
Example is by taking the interaction of intelligent robot side and cloud server side executes as an example.
As shown in fig. 7, intelligent robot system provided in this embodiment includes:
Intelligent robot 71 and cloud server 72；
Wherein, the intelligent robot 71 includes:
Robot body；
The intelligent monitoring device being set on the robot body；
The control mainboard being set in the robot body；
It is set to the execution unit in the robot body or on the robot body；
The intelligent monitoring device includes:
Image capture module, for acquiring the image information around the robot body；
Voice acquisition module, for acquiring the voice messaging around the robot body；
Environmental parameter sensor, the ambient parameter information for environment where acquiring the robot body；The control
The first communication interface and the second communication interface are provided on mainboard；
First communication interface is used to connect external cloud server, to carry out the control mainboard and the cloud
Communication between server；
Second communication interface is for connecting the execution unit, to carry out the control mainboard and the execution unit
Between communication；
The control mainboard is used for: receiving the information of the intelligent monitoring device acquisition, and by the information described in
First communication interface is sent to the cloud server, so that the cloud server generates control instruction according to the information；
And the control instruction that the cloud server is sent is received by first communication interface, and according to the control instruction,
The execution of the execution unit is controlled by second communication interface.
Further, the environmental parameter sensor includes at least one in following item:
Temperature sensor, humidity sensor, smoke detector, optical sensor.
Further, the execution unit includes at least one in following item:
Steering engine is acted for controlling the robot；
Voice playing device, for playing voice；
Infrared launcher, for emitting infrared light to controlled smart home device；
Alarm device, for carrying out sound and/or light alarm.
Further, first communication interface includes: wifi interface.
Further, second communication interface includes: UART interface.
The cloud server 72 includes:
Third communication interface receives the intelligence by the communication connection for establishing communication connection with intelligent robot
The information of energy robot acquisition；
4th communication interface, for establishing communication connection with application server, by being answered described in communication connection reception
The control information sent with server 73；
5th communication interface, for establishing communication connection with smart home device, by described in communication connection reception
The equipment operation information that smart home device is sent；
Processor, information, the control information, the equipment operation information for being acquired according to the intelligent robot
In it is one or more, obtain one or more in robot control instruction, feedback information and equipment control instruction, and pass through
The robot control instruction is sent to the intelligent robot by the third communication interface, and/or, pass through the four-way
The feedback information is sent to application server by communication interface, and/or, the equipment is controlled by the 5th communication interface
Instruction is sent to the smart home device.
Further, the information of the intelligent robot acquisition includes: the image information around intelligent robot；
The processor is specifically used for:
Described image information is received by the third communication interface, and described image information is handled to obtain first
Control instruction, first control instruction include the mobile step count information and moving direction information of intelligent robot；
First control instruction is sent to the intelligent robot by the third communication interface, so that the intelligence
Energy robot receives first control instruction, and executes corresponding actions according to first control instruction.
Further, the information of the intelligent robot acquisition further include: the environmental parameter of environment where intelligent robot
Information；
The processor is specifically used for:
Timing sends inquiry request to the intelligent robot, so that the intelligent robot returns to the inquiry request pair
The ambient parameter information answered；
The ambient parameter information is handled, the second control instruction is obtained, second control instruction includes intelligence
Fitment controls information；
Second control instruction is sent to the intelligent robot, so that the intelligent robot receives described second
Control instruction, and corresponding smart home device is controlled according to second control instruction.
Further, the control information includes: audio；
The processor is specifically used for:
Receive the audio；
Extract the characteristic value information of the audio；
Judged in the database of cloud server according to the characteristic value information with the presence or absence of the letter for including with the audio
Cease identical audio data, and in the presence of obtain the corresponding text information of the audio data, and by the text information pair
The third control instruction answered is sent to intelligent robot, so that the intelligent robot is grasped according to the third control instruction
Make；
Audio data, text corresponding with the audio data are previously stored in the database of the cloud server
Information and third control instruction corresponding with the text information.
Wherein, application server includes: the corresponding server of wechat, alternatively, the corresponding server of short message.
Wherein, intelligentized Furniture equipment includes: intelligent refrigerator, intelligent air condition, intelligent window opener, air humidifier, intelligent door
Prohibit the equipment such as switch, intelligent electric lamp, intelligent curtain.
It should be noted that using over the horizon communication system as the communication mode of intelligentized Furniture equipment.Due to leading in the market
The control mode of the household electrical appliances of stream is infrared ray, and the access for using infrared ray to can be convenient as the connection type of the bottom is existing
Commercialization smart home, to greatly expand the function of current smart home.Only it is to be understood that the infrared communication of target product
Format can be directly accessed in current smart home in the case where not reprogramming code.
In concrete application scene, when intelligent entrance guard, which switchs, to be opened, control mainboard (raspberry pie) transfers camera acquisition
Surrounding image information, the image information that control mainboard will acquire are sent to cloud server, the processor in cloud server
Image is handled, judges whether there is mobile target in image, and judges whether mobile target is a suspect, when being judged as
Warning message is generated when being a suspect, is sent to wechat end to remind user.
It is understood that intelligent entrance guard switch may be mounted at the first-class position of window, door, in window or door opening
When issue infrared signal.
In another application scene, children can control robot dancing etc. by clients such as mobile phones.Children can lead to
Wechat selection song is crossed, cloud server chooses dancing corresponding with the song title according to selected song from database
Instruction and broadcasting song instruction are sent to robot, and the control mainboard in robot instructs and plays song according to dancing and instructs control
Steering engine processed makes robot dance and control voice playing module broadcasting song.
It should be noted that being stored with the correlation that robot carries out fundamental operation in the control mainboard (raspberry pie) of robot
Act and carry out the embedded OS of these movements.
In the present embodiment, it may be implemented through wechat, short message is realized and robot interactive, it is not necessary to pass through other equipment control again
Robot processed reduces the quantity of console device while simplifying the complexity of operation；Further, it is set in cloud server
It is equipped with timing patrol function, robot can be gone on patrol automatically, can be judged during patrol by the realtime graphic that camera acquires
Front obstacle classification monitors the state in each room in real time to realize the operations such as the leap to barrier, detour；Into
One step, by various sensors, the environmental parameter of environment, automatically controls according to environmental parameter where being capable of real-time acquisition robot
Related intelligentized Furniture equipment, and connection owner；It further, can be in door and window by being communicated with intelligent entrance guard switch
Surrounding image is obtained automatically by camera when unlatching, judging whether there is can be with personnel, and passes through wechat when there is a suspect
It is warned to owner；Further, the application devises speech identifying function, and no matter whether the voice that user sends has an accent, all
Can identify voice and transfer in contrast in control instruction come control robot carry out corresponding operating；Further, this Shen
It please gather the functions such as robot dancing, it can be for entertainment for children.The application enriches the function of robot by operation above,
And make robot more intelligent, it is more suitable for family's use.
Fig. 8 is a kind of flow diagram of Study of Intelligent Robot Control method shown in another exemplary embodiment.
As shown in figure 8, method provided in this embodiment the following steps are included:
Step S81, receives the information of intelligent monitoring device acquisition, and the information is sent to by the first communication interface
Cloud server, so that the cloud server generates control instruction according to the information；
Step S82 receives the control instruction that the cloud server is sent by first communication interface, and according to institute
Control instruction is stated, the execution of execution unit is controlled by the second communication interface；
Wherein, on the intelligent monitoring device setting robot body.
The intelligent monitoring device includes:
Image capture module, for acquiring the image information around the robot body；
Voice acquisition module, for acquiring the voice messaging around the robot body；
Environmental parameter sensor, the ambient parameter information for environment where acquiring the robot body；
First communication interface and second communication interface are arranged in control mainboard；
The control mainboard is arranged in robot body；
The execution unit is arranged in the robot body or is arranged on the robot body.
Further, the environmental parameter sensor includes at least one in following item:
Temperature sensor, humidity sensor, smoke detector, optical sensor.
Further, the execution unit includes at least one in following item:
Steering engine is acted for controlling the robot；
Voice playing device, for playing voice；
Infrared launcher, for emitting infrared light to controlled smart home device；
Alarm device, for carrying out sound and/or light alarm.
Further, first communication interface includes: wifi interface.
Further, second communication interface includes: UART interface.
About the method in above-described embodiment, wherein the specific embodiment of each step is in above-mentioned related system
It is described in detail in embodiment, no detailed explanation will be given here.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple "
Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of intelligent robot characterized by comprising
Robot body；
The intelligent monitoring device being set on the robot body；
The control mainboard being set in the robot body；
It is set to the execution unit in the robot body or on the robot body；
The intelligent monitoring device includes:
Image capture module, for acquiring the image information around the robot body；
Voice acquisition module, for acquiring the voice messaging around the robot body；
Environmental parameter sensor, the ambient parameter information for environment where acquiring the robot body；
The first communication interface and the second communication interface are provided in the control mainboard；
First communication interface is used to connect external cloud server, to carry out the control mainboard and the cloud service
Communication between device；
Second communication interface is for connecting the execution unit, to carry out between the control mainboard and the execution unit
Communication；
The control mainboard is used for: receiving the information of the intelligent monitoring device acquisition, and the information is passed through described first
Communication interface is sent to the cloud server, so that the cloud server generates control instruction according to the information；And
The control instruction that the cloud server is sent is received by first communication interface, and according to the control instruction, is passed through
Second communication interface controls the execution of the execution unit.
2. intelligent robot according to claim 1, which is characterized in that the environmental parameter sensor includes in following item
At least one of:
Temperature sensor, humidity sensor, smoke detector, optical sensor.
3. intelligent robot according to claim 1, which is characterized in that the execution unit include in following item at least
One:
Steering engine is acted for controlling the robot；
Voice playing device, for playing voice；
Infrared launcher, for emitting infrared light to controlled smart home device；
Alarm device, for carrying out sound and/or light alarm.
4. intelligent robot according to claim 1, which is characterized in that first communication interface includes: wifi interface.
5. intelligent robot according to claim 1, which is characterized in that second communication interface includes: UART interface.
6. a kind of cloud server characterized by comprising
Third communication interface receives the intelligent machine by the communication connection for establishing communication connection with intelligent robot
The information of device people acquisition；
4th communication interface receives the application by the communication connection and takes for establishing communication connection with application server
The control information that business device is sent；
5th communication interface receives the intelligence by the communication connection for establishing communication connection with smart home device
The equipment operation information that home equipment is sent；
Processor, in the information, the control information, the equipment operation information for being acquired according to the intelligent robot
It is one or more, obtain it is one or more in robot control instruction, feedback information and equipment control instruction, and by described
The robot control instruction is sent to the intelligent robot by third communication interface, and/or, it is connect by the 4th communication
Application server is sent to mouthful by the feedback information, and/or, by the 5th communication interface by the equipment control instruction
It is sent to the smart home device.
7. cloud server according to claim 6, which is characterized in that
The information of the intelligent robot acquisition includes: the image information around intelligent robot；
The processor is specifically used for:
Described image information is received by the third communication interface, and described image information is handled to obtain the first control
Instruction, first control instruction include the mobile step count information and moving direction information of intelligent robot；
First control instruction is sent to the intelligent robot by the third communication interface, so that the intelligent machine
Device people receives first control instruction, and executes corresponding actions according to first control instruction.
8. cloud server according to claim 6, which is characterized in that
The information of the intelligent robot acquisition further include: the ambient parameter information of environment where intelligent robot；
The processor is specifically used for:
Timing sends inquiry request to the intelligent robot, so that the intelligent robot return inquiry request is corresponding
Ambient parameter information；
The ambient parameter information is handled, the second control instruction is obtained, second control instruction includes intelligentized Furniture
Device control message；
Second control instruction is sent to the intelligent robot, so that the intelligent robot receives second control
Instruction, and corresponding smart home device is controlled according to second control instruction.
9. cloud server according to claim 6, which is characterized in that
The control information includes: audio；
The processor is specifically used for:
Receive the audio；
Extract the characteristic value information of the audio；
Judged in the database of cloud server according to the characteristic value information with the presence or absence of the information phase for including with the audio
With audio data, and in the presence of obtain the corresponding text information of the audio data, and it is the text information is corresponding
Third control instruction is sent to intelligent robot, so that the intelligent robot is operated according to the third control instruction；
Audio data, text envelope corresponding with the audio data are previously stored in the database of the cloud server
Breath and third control instruction corresponding with the text information.
10. a kind of intelligent robot system characterized by comprising
Intelligent robot as described in any one in claim 1-5；And
Cloud server as claim in any one of claims 6-9.
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| CN111384778A (en) * | 2019-10-18 | 2020-07-07 | 北京潞电电气设备有限公司 | Intelligent operation and maintenance system for power distribution network equipment |
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| CN114281044A (en) * | 2021-12-24 | 2022-04-05 | 工业云制造(四川)创新中心有限公司 | Industrial robot remote monitoring method and system based on cloud manufacturing |
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Application publication date: 20190419 |