CN101036838A - Intelligent robot friend for study and entertainment - Google Patents
Intelligent robot friend for study and entertainment Download PDFInfo
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- CN101036838A CN101036838A CN 200710039652 CN200710039652A CN101036838A CN 101036838 A CN101036838 A CN 101036838A CN 200710039652 CN200710039652 CN 200710039652 CN 200710039652 A CN200710039652 A CN 200710039652A CN 101036838 A CN101036838 A CN 101036838A
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Abstract
The invention belongs to the robot technology field, specifically a robot having abundant freedom of motion and in intelligent control, which is a novel study and entertainment platform tightly combined with the intelligent robot. The robot noumenon structure includes a head and neck, an arm, a body, a base etc, having nine independent freedom of motion. The system adopts the PID feed back control, accurately controls the speed pf the servo motor, thereby controlling the speed, the direction and the location of each arthrosis, which is a standard robot studying and playing operation interactive platform, and runs different application programs compatible with the standard interface of the control desk, and mainly includes the learning program about the study, the games and the robot. The invention combines the mobile anthropomorphic robot with the study and the entertainment, and the users can communicate with the robot by the information of the video and the frequency. During the studying and entertainment process, the robot can process the limb action and speech communication.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of possess abundant freedom of motion, and robot that can Based Intelligent Control, is a kind of novel study, amusement platform of combining closely with intelligent robot.Can be applicable to robot research and education playfellow, venue guide, home entertaining etc.
Background technology
At present, the anthropomorphic robot with its conventional machines people the humanoid outward appearance that can not compare and the dynamic behavior very big concern that caused people.Rely on the raising of core technology and the expansion of consumption market, the anthropomorphic robot has obtained significant progress in recent years, and the market price is also constantly descending.
For example, the present price of Robosapien V1 robot that Wow Wee company produces has only about 60 dollars, and by summer time in 2004, about 1,500,000 covers were sold.And its subsequent product, Robosapien V2 has 12 freedoms of motion, can finish abundant hommization action, since two thousand five, with the unit price that the is lower than 200 dollars market of selling well rapidly, the product of other companies such as the robot dog of Sony have been caused great pressure.The CosmoBot that AnthroTronix company produces is a kind of robot that integrates study and amusement, and it can be made a response to user's body action, language variation and remote signal etc.But present robot does not all have and computer platform combines, and its action all is based on the design objective in early stage and finishes through programming, and brightness still is not fully up to expectations.The reflection of head of a family's door, child has just lost interest after playing in a few days, and they think that it is a toy all the time, can't bring lasting recreation feeling of freshness and sense of accomplishment to them.
In addition, in education and the games system field based on the consumption market, the TheLearning Company (TLC) that has been purchased by Riverdeep September calendar year 2001 is the main publisher with satisfying the needs of consumers of being the theme of interactive mode and school eduaction software.Its product comprises hare browser, super mathematics, the strange toll bar etc. of stealing.LeapFrog is the main producer of educational toy, and it is the electronic teaching system of big child's design in 6 months to 36 months that its LittleTouch LeapPad learning system is one.The main production line of electronic game platform comprises the Game Cube and the portable Game Boy of Nintendo, the gaming platform of Sony and the Xbox of Microsoft etc.Domestic common have Bubukao's learning machine, Noah continent learning machine etc.But these study, games system do not have a and robot combines.
Progress and development at correlation techniques such as present anthropomorphic robot and study, Games Softwares, the present invention integrated anthropomorphic robot system and PC system, melting study and functions such as amusement in one, is a kind of portable interaction platform that collects Robotics and computer technology for the whole body.Its sporty three-dimensional contouring can not turned off the back at power supply again and be disappeared as the game role of two dimension.Thereby some reaction that it can perceive the user allows the user learn in recreation and amusement, thereby increases work efficiency.The user can come and robot carries out alternately by seeing, listen, touching, but this be a kind of with exchange similar but incomplete same impression with the people.The vision physically that this anthropomorphic robot brings, sense of touch and action impression be with screen on the virtual robot role diverse.This new-type platform has been complied with robot toy and learning machine in development in future trend.
Summary of the invention
The object of the present invention is to provide a kind of portable interaction platform that integrates dynamic moulding and amusement, game function, also claim the intelligence learning robot friend.
Intelligence learning, amusement robot playfellow that the present invention proposes, system is made up of anthropomorphic robot's body construction, environment sensing module, behavior control module, main control module, communication module and system's display interface, wherein:
1, anthropomorphic robot's body construction has a plurality of freedoms of motion, and it comprises neck, body, arm and portable movable base etc.
2, behavior control module, mainly form by LED display board, neck, elbow joint, shoulder joint, waist joint and driving wheel etc., its function is that the brain decision-making is outputed on motor or the loudspeaker, react to external world, robot can be finished advance, retreat, motor function such as turning, have abundant limb action.All actions are carried out transmission by motor and decelerator, and sound sends by loudspeaker.
3, environment sensing module comprises visually-perceptible module (camera), sense of hearing sensing module (microphone), Multifunction Sensor module (as infrared sensor, sonar sensor, temperature sensor etc.).
4, main control module mainly comprises embedded type CPU, RTOS real time operating system, internal memory, external memory etc.Mutual by with external environment condition realized the related of sensor senses information and robot limb action, thus the intelligent behavior of realization robot.
5, communication module adopts GPRS or wireless ethernet etc., realizes and the terminal two-way communication by wireless communication mode, and can surf the Net and remote control, can surf the Net and download software and lastest imformation, also can visit other equipment etc.
6, the display interface of system is the LCD of widescreen, and has sensitive touch panel, and the user can be undertaken by touch panel with robot alternately.
This is the robot learning and the game operation interaction platform of a standard, can move multiple application program different, can be compatible mutually with the standard interface of this console.Summary is got up, and mainly comprises the learning program of study, games and robot, and the simplest situation is the state output equipment of robot as just study, Games Software.The learning program of robot obtains information by intelligent sensing module and expresses on display screen or by robot itself.The present invention combines the anthropomorphic robot of movable type with study, amusement etc., the user can be undertaken alternately by information such as video, audio frequency and robot, and in the process of study and amusement, robot can carry out limb action and speech exchange.
Interaction platform of the present invention can be played the part of multiple role: such as the private teacher, and study, play fellow and learner etc.
One, private teacher
Under this pattern, private teacher role will play the part of in robot, and as a genuine private tutor, robot should have following function:
1,, can award according to child's present level and performance as award person and foster.Obtained a slight progress such as child, robot can be by dancing or singing and award.Progress in various degree can give award in various degree.
2, help the study of head of a family's managing children and allow it pick up good habits of study.By the performance that allocating task is reminded their operation, this function can be provided with in advance.
3, carry out the purpose test of all kinds of sections by video or audible feedback, the help child obtains progress in study.
Two, study, play fellow
Under this pattern, user's playfellow will play the part of in robot, have with child and adult to carry out good mutual ability:
1, as a kind of partner of stimulable type, it is identical that consanguinity is taught situation, can award to child's progress, and such award meeting is more interesting more naturally, and a lot of award methods can be arranged.
2, play games with child, can play the part of different roles respectively.Such recreation can be simple or complicated, for example a musical composition or a musical combinations recreation etc.
Three, learner
Under this pattern, a learner's role plays the part of in robot, and the user then plays the part of teacher's role.Educating other people is the most effective a kind of learning method in fact.Perform some actions by the professor robot, the user can learn and grasp method how to control robot.Under this pattern, robot should have following learning ability:
1, finish the performance of limbs according to user's input, such as dancing, singing, or recitation of poems etc.;
2, understand user's instruction style and can carry out some correlation functions thus.For example, the user teaches robot and how to carry out arithmetical operation, finishes the work as requested then, can put question to it later etc.
As the extention of study, converter tools, the present invention has remarkable advantages.It allows the same concrete object with human characteristics of child exchange, and can allow child acquire a lot of abundant, attractive knowledge.Real interchange can be tempered child's enthusiasm better, and child will come the corresponding actions that their notice is transferred to robot from fluorescent screen, thereby avoid watching attentively for a long time the consequence that fluorescent screen brings.
This invention makes the user cultivate a kind of interpersonal relation with robot because robot is a necessary being, just with child can and pet between to set up a kind of close relationship the same.Set up a kind of intimate and relation of trusting, it is better that child will learn.
Description of drawings
Fig. 1 system functional block diagram of the present invention.
Fig. 2 robot architecture's schematic diagram of the present invention (forward sight).
Fig. 3 robot architecture's schematic diagram of the present invention (side-looking)
Fig. 4 control principle figure of the present invention.
Number in the figure: the 1LED display board, 2 is the neck cradle head, 3 is robot arm, 4 is liquid crystal widescreen display screen, and 5 is camera, and 6 is infrared sensor, 7 is the robot chassis, and 8 is the robot chest, and 9 is the robot elbow joint, 10 is robot shoulder joint, and 11 is sonar sensor, and 12 is robot head, 13 is the robot computing unit, 14 is joint of robot waist, and 15 is another joint of robot waist, and 16 is the robot driving wheel, 17 is the robot supporting roller, 18 is the CAN interface card, and 19 is master control borad, and 20 is the motor closed-loop control, 21 is DC servo motor, 22 is encoder, and 23 is driver, and 24 is controller, 31 is the environment sensing module, 32 is main control module, and 33 are the behavior control module, and 34 is communication module.
The specific embodiment
Further describe the present invention below in conjunction with accompanying drawing and enforcement.
As shown in Figure 1, whole system is made up of several sections such as environment sensing module, main control module, behavior control module and communication modules:
1. environment sensing module
Mainly form by vision, the sense of hearing, infrared sensor, sonar sensor etc.
Obtain dynamic image by camera, carry out real-time analysis and handle, as automatic extraction low-level visual features, visual scene is analyzed, understood and discerns, realize the growth of basic visual performance.
Obtain acoustic information and finish the sound preliminary treatment by microphone etc., realize basic auditory function, for example auditory localization, speech quality strengthen, extract elementary audio frequency characteristics automatically, sound are carried out real-time analysis, understanding and identification, and the result is submitted to brain.
Survey the movement of objects of different distance by sensors such as infrared, sonars, and make different decision-makings according to the distance of distance.
2. main control module
Mainly form by embedded type CPU, RTOS, internal memory, external memory, network, communication etc.By with the online interaction of internal and external environment study, realize the related of behavior acts such as sensor senses information and motor, thereby realize the growth of high-rise knowledge.
3. behavior control module
Mainly synthesized by motor, encoder, sound and loudspeaker etc. formed.Major function is that the brain decision-making is outputed on motor or the loudspeaker, and environment is reacted to external world.For example, control motor action rotatable head, movable arm and keep away the barrier walking, the exportable sound waveform of control pronunciation mechanism arrives sound horn etc.
4. communication module
Adopt GPRS or wireless ethernet etc., realize two-way communication with terminal, can surf the Net and remote control etc. by wireless communication mode.
Body construction of the present invention mainly comprises part-structures such as head 12, neck 2, chest 8, two arms 3 and chassis 7 as shown in Figures 2 and 3.At head 12 places, LED display board 1 is housed, possess different expressions and show.Neck 2 has 1 freedom of motion, and the LCD 4 of 15 inches widescreens is equipped with in the front portion of chest 8, and computing units 13 such as the cpu motherboard of double-core, internal memory, external memory are equipped with at the rear portion of chest 8.The waist of robot is two movable joints 14 and 15, can realize functions such as the leaning forward of body, layback.The base 7 of robot is the differential driving and the changement of a two-wheel 16, has 2 to support supporting roller 17 at the rear portion on chassis.Each arm 3 of robot has elbow joint 9 and 10 two freedoms of motion of shoulder joint.Among the present invention, have 9 freedoms of motion: neck rotates (1), waist (2), the left and right wheels (2) of base, the elbow joint and the shoulder joint (4) of left and right sides arm, and is corresponding to 9 servomotor controls.
Control system requires to be decomposed into to 9 servomotors transmission control commands according to entire machine people's freedom of motion.Fig. 4 is the control principle figure of servomotor.Control system realizes being connected with the communication of PC master control borad 19 by CAN interface card 18, and the motion of 9 servomotors of Synchronization Control.Independently PID closed loop control 20 is all adopted in 9 servomotor controls, at the front end of servomotor 21, photoelectric encoder 22 is housed, and it is a kind of sensor that the geometry of machinery displacement on the motor output shaft is converted to pulse or digital quantity by opto-electronic conversion.Just can reflect current rotating speed of motor by the number of calculating per second photoelectric encoder output pulse.Photoelectric encoder 22 sends to controller 24 in real time with the speed or the positional information of motor; control the voltage that is added on the motor together by pulsewidth modulation (PWM) technology and microprocessor; relevant information is flowed to driver 23 with overcurrent protection function; the final speed and convenient together operation of servomotor 21 to require that drives is to reach desirable position.
Claims (4)
1, intelligence learning, amusement robot playfellow, be the robot learning and the game operation interaction platform of a standard, can move multiple application program different, can be compatible mutually with the standard interface of this console, the learning program of the mainly study of these application programs, games and robot itself, it is characterized in that system is made up of anthropomorphic robot's body construction, environment sensing module, main control module, behavior control module, communication module and display interface, wherein:
(1) anthropomorphic robot's body construction has a plurality of freedoms of motion, and it comprises neck, body, arm and portable movable base;
(2) behavior control module, form by LED display board, neck, elbow joint, shoulder joint, waist joint and driving wheel, its function is that brain decision-making is outputed on motor or the loudspeaker, reacts to external world, robot can be finished advance, retreats, the turning motion function; All actions are carried out transmission by motor and decelerator, and sound sends by loudspeaker;
(3) environment sensing module comprises visually-perceptible module, sense of hearing sensing module and Multifunction Sensor module;
(4) main control module mainly comprises embedded type CPU, RTOS real time operating system, internal memory, external memory; Mutual by with external environment condition realized the related of environment sensing module perception information and robot limb action, thus the intelligent behavior of realization robot;
(5) communication module adopts GPRS or wireless ethernet, realizes and the terminal two-way communication by wireless communication mode, and can surf the Net and remote control;
(6) display interface of system is the LCD of widescreen, and has sensitive touch panel, and user and robot are undertaken by touch panel alternately.
2, robot friend according to claim 1 is characterized in that described visually-perceptible module is made up of camera, and described sense of hearing sensing module is made up of microphone, and described function sensor is made up of infrared sensor, sonar sensor and temperature sensor.
3, robot friend according to claim 2, it is characterized in that locating at head (12), LED display board (1) is housed, neck (2) has 1 freedom of motion, the LCD (4) of 15 inches widescreens is equipped with in the front portion of chest (8), the cpu motherboard of double-core is equipped with at the rear portion of chest (8), internal memory, the computing unit of external memory (13), the waist of robot is two movable joints (14 and 15), the base of robot (7) is the differential driving and the changement of a two-wheel (16), have 2 to support supporting roller (17) at the rear portion on chassis, each arm (3) of robot has elbow joint (9) and (10) two freedoms of motion of shoulder joint.
4; robot friend according to claim 3; it is characterized in that control system passes through CAN interface card (18) and realize being connected with the communication of PC master control borad (19); and the motion of 9 servomotors of Synchronization Control; independently PID closed loop control (20) is all adopted in 9 servomotor controls; front end in servomotor (21); photoelectric encoder (22) is housed; it is a kind of sensor that the geometry of machinery displacement on the motor output shaft is converted to pulse or digital quantity by opto-electronic conversion; photoelectric encoder (22) sends to controller (24) in real time with the speed or the positional information of motor; control the voltage that is added on the motor together by pulse modulation technology and microprocessor; relevant information is flowed to driver (23) with overcurrent protection function; the final speed and convenient together operation of servomotor (21) to require that drives is to reach desirable position.
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| CN 200710039652 CN101036838A (en) | 2007-04-19 | 2007-04-19 | Intelligent robot friend for study and entertainment |
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| CN 200710039652 CN101036838A (en) | 2007-04-19 | 2007-04-19 | Intelligent robot friend for study and entertainment |
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| CN102147985A (en) * | 2010-02-09 | 2011-08-10 | 鑫承科技股份有限公司 | Automatic flash card robot and flash card teaching method |
| CN102495638A (en) * | 2011-12-01 | 2012-06-13 | 王鹏勃 | Multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled and achieving method thereof |
| CN102514011A (en) * | 2011-12-28 | 2012-06-27 | 王鹏勃 | Multi-degree-of-freedom robot controlled by accurate organism sensing and achieving method thereof |
| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| CN104667531A (en) * | 2015-02-09 | 2015-06-03 | 河南师范大学 | Intelligent interesting doll |
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| CN105082150A (en) * | 2015-08-25 | 2015-11-25 | 国家康复辅具研究中心 | Robot man-machine interaction method based on user mood and intension recognition |
| CN105093986A (en) * | 2015-07-23 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Humanoid robot control method based on artificial intelligence, system and the humanoid robot |
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| CN106584480A (en) * | 2016-12-31 | 2017-04-26 | 天津菲戈博特智能科技有限公司 | Robot and facial recognition method and voice control method thereof |
| CN106695839A (en) * | 2017-03-02 | 2017-05-24 | 青岛中公联信息科技有限公司 | Bionic intelligent robot for toddler education |
| CN107229965A (en) * | 2016-03-25 | 2017-10-03 | 深圳光启合众科技有限公司 | The anthropomorphic system of intelligent robot and the method for simulation anti-amnesic effect |
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| CZ307125B6 (en) * | 2015-11-30 | 2018-01-24 | Vysoká Škola Báňská-Technická Univerzita Ostrava | Motion control of anthropomorphic robotic systems with many degrees of freedom based on principles of independent motion control in the direction of characteristic vectors of the linearized dynamic Lagrange equation and the anthropomorphic robotic system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102147985A (en) * | 2010-02-09 | 2011-08-10 | 鑫承科技股份有限公司 | Automatic flash card robot and flash card teaching method |
| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| CN102495638A (en) * | 2011-12-01 | 2012-06-13 | 王鹏勃 | Multiple degree of freedom robot dinosaur capable of being accurately recognized and controlled and achieving method thereof |
| CN102514011A (en) * | 2011-12-28 | 2012-06-27 | 王鹏勃 | Multi-degree-of-freedom robot controlled by accurate organism sensing and achieving method thereof |
| CN104918756A (en) * | 2012-12-28 | 2015-09-16 | （株）未来机器人 | Personal robot |
| CN104918756B (en) * | 2012-12-28 | 2016-12-07 | （株）未来机器人 | Proprietary machine people |
| CN105247536A (en) * | 2013-02-07 | 2016-01-13 | 马卡里 | Automatic attack device and system used in laser shooting game |
| CN105247536B (en) * | 2013-02-07 | 2021-11-05 | 马卡里 | Automatic attack device and system for laser shooting game |
| CN104667531A (en) * | 2015-02-09 | 2015-06-03 | 河南师范大学 | Intelligent interesting doll |
| CN105093986A (en) * | 2015-07-23 | 2015-11-25 | 百度在线网络技术（北京）有限公司 | Humanoid robot control method based on artificial intelligence, system and the humanoid robot |
| CN105126355A (en) * | 2015-08-06 | 2015-12-09 | 上海元趣信息技术有限公司 | Child companion robot and child companioning system |
| CN105082150A (en) * | 2015-08-25 | 2015-11-25 | 国家康复辅具研究中心 | Robot man-machine interaction method based on user mood and intension recognition |
| CN105107206A (en) * | 2015-09-17 | 2015-12-02 | 苏州拾向梦数字媒体有限公司 | Miniature short-distance information communication robot capable of being placed on desktop |
| CZ307125B6 (en) * | 2015-11-30 | 2018-01-24 | Vysoká Škola Báňská-Technická Univerzita Ostrava | Motion control of anthropomorphic robotic systems with many degrees of freedom based on principles of independent motion control in the direction of characteristic vectors of the linearized dynamic Lagrange equation and the anthropomorphic robotic system |
| CN107229965A (en) * | 2016-03-25 | 2017-10-03 | 深圳光启合众科技有限公司 | The anthropomorphic system of intelligent robot and the method for simulation anti-amnesic effect |
| CN105719518A (en) * | 2016-04-26 | 2016-06-29 | 迟同斌 | Intelligent early education machine for children |
| CN107436682A (en) * | 2016-05-26 | 2017-12-05 | 华硕电脑股份有限公司 | Control method, electronic installation and non-momentary computer-readable recording medium |
| CN106074045A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of double-core Two-wheeled is freely lifted robot electric sick bed controller |
| CN107791254A (en) * | 2016-09-06 | 2018-03-13 | 吴战车 | The mobile phone robot that can be moved can be walked |
| CN106584480A (en) * | 2016-12-31 | 2017-04-26 | 天津菲戈博特智能科技有限公司 | Robot and facial recognition method and voice control method thereof |
| CN106695839A (en) * | 2017-03-02 | 2017-05-24 | 青岛中公联信息科技有限公司 | Bionic intelligent robot for toddler education |
| CN111984345A (en) * | 2017-03-11 | 2020-11-24 | 陕西爱尚物联科技有限公司 | Robot software system and robot thereof |
| CN107596698A (en) * | 2017-09-27 | 2018-01-19 | 深圳市天博智科技有限公司 | A kind of control system and implementation method of Intelligent bionic machinery dog |
| CN107596698B (en) * | 2017-09-27 | 2018-08-24 | 深圳市天博智科技有限公司 | A kind of control system and implementation method of Intelligent bionic machinery dog |
| CN110349463A (en) * | 2019-07-10 | 2019-10-18 | 南京硅基智能科技有限公司 | A kind of reverse tutoring system and method |
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