CN102699914B - Robot - Google Patents
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- CN102699914B CN102699914B CN201210149760.XA CN201210149760A CN102699914B CN 102699914 B CN102699914 B CN 102699914B CN 201210149760 A CN201210149760 A CN 201210149760A CN 102699914 B CN102699914 B CN 102699914B
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Abstract
The invention discloses a robot which comprises a robot body and a remote interactive platform. The remote interactive platform is communicated with the robot body through a wireless communication network platform, the robot body comprises a moving device and a function module which is arranged above the moving device, the moving device comprises mechanical legs, a base plate, direct current brushless motors, direct current brushless motor drivers, driving wheels and universal wheels, the base plate is arranged at lower ends of the mechanical legs, the direct current brushless motors are arranged in the base plate, the driving wheels are connected with the direct current brushless motors, and the function module comprises a multiple-degree-of-freedom mechanical waist, a mechanical neck, a mechanical head, mechanical arms and mechanical hands. The robot is exquisite in structure, flexible in movement and high in simulation degree, portions of the robot can perform multiple-degree-of-degree movement, and the robot supports wireless remote control and information transmission and is capable of well achieving various functions of route planning, autonomous navigation, face recognition, man-machine conversation, guests receiving and the like.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to the emulation of a kind of remote controlled height, high flexibility and robot interactive by force.
Background technology
The reception mode that sales industry is traditional in person receives client by employee, and to client's products Presentation information, which wastes human resources; In order to the work of alternative people, various guest-meeting robot starts to receive publicity.
Virtual reality technology (be called for short VR), also known as virtual reality, the computer advanced man-machine interface be the property immersed, interactivity and imagination being essential characteristic.It has fully utilized computer graphics, emulation technology, multimedia technology, artificial intelligence technology, computer networking technology, parallel processing technique and multi-sensor technology, the sense organ function such as vision, the sense of hearing, sense of touch of simulation people, people is enable to be immersed in the virtual word of Practical computer teaching, and real-time, interactive can be carried out with it by the natural mode such as language, gesture, create a kind of Multi information space of getting married, have broad application prospects.
Chinese patent 98202179.8 discloses a kind of Robot model, comprise housing, base, shoulder joint driver, elbow joint driver, waist joint driver, hip joint driver, knee joint driver, large arm skeleton, shank skeleton, light sensor, sound-producing device, Programmable Logic Controller and power source drive device, Chinese patent 200410046644.0 discloses a kind of Robot model, by humanoid housing, base, electric device, sound circuit and Drive and Control Circuit composition, described humanoid housing can automatic apish welcome's action under the control of electric device and Drive and Control Circuit, described sound circuit can play welcome's language automatically, above-mentioned two kinds of designs have language performance function, some simple welcome's actions can be performed, be mainly used in demonstrating clothes, effect is better than clothes hanger or model display, cost is performed lower than model team, but cannot Long-distance Control, the robot Each part degree of freedom of motion is low, interactive difference.
Chinese patent 200710171273.2 discloses a kind of guest-meeting robot, comprise base, be arranged on the shell on base, the control circuit of integrated speech circuit is provided with in described shell, power supply, electric device is provided with in base, electric device is electrically connected with control circuit, single-chip microcomputer and memory is integrated with in described control circuit, described base bottom is provided with road wheel and route sensor, road wheel is connected by transmission mechanism with electric device, described shell is also provided with touch-screen, described route sensor and touch-screen are all electrically connected with control circuit, in addition, the front of described shell is installed with a wheelchair, this design has welcome, lead the way, voice message and the function such as to help the disabled, and have certain human-computer interaction, but also cannot Long-distance Control, dexterity of action is inadequate, especially waist, neck, the degree of freedom of motion of head and arm is low, fidelity is not high.
In addition; Chinese patent 201010553200.1 discloses a kind of greeting robot system; comprise robot carrier and remote interaction platform; both are by wireless communication, and robot carrier comprises main control module, human-computer interaction module, wireless communication module, motion module, power module and sensor assembly; Described main control module is connected with described human-computer interaction module, wireless communication module, motion module, sensor assembly and power module respectively; Described remote interaction platform is for showing the demand information of guest.Although this design can Long-distance Control, and there is recognition of face, human-computer dialogue, automatic obstacle avoiding and navigation feature, but its motion module only can realize movement action, cannot realize the multifreedom motion of waist, neck, head and arm, the fidelity of action is still not high.
Meanwhile, the technical scheme in above-mentioned each disclosed patent document is all without effectively utilizing virtual reality technology, and designed robot is to the spatial perception deficiency of around actual environment, and the accuracy of navigation is not high with the validity of keeping away barrier.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of robot, delicate structure, flexible movements, fidelity are high, Each part can multiple degrees of freedom movable, support Wireless remote control and information transmission, can realizing route planning well, independent navigation, recognition of face, human-computer dialogue and welcome the several functions such as to receive guests.
To achieve these goals, the technical solution used in the present invention is: a kind of robot, comprise robot body and carried out the remote interaction platform of communication by cordless communication network platform and robot body, described robot body comprises the functional module above mobile device and mobile device, described mobile device comprises pedipulator, the chassis of pedipulator lower end, be arranged on the DC brushless motor of inside chassis, driver for brushless DC motor, the driving wheel be connected with DC brushless motor and universal wheel, described functional module comprises multivariant mechanical waist, machinery neck, machinery head, mechanical arm and manipulator.
As a preferred technical solution of the present invention, described mechanical purse is drawn together at least three line handspikes I in parallel, is arranged on the base plate of line handspike I bottom by candan universal joint, successively by spherical bearing and spring be arranged on described line handspike I top top board, be set in spring outside revolve cylinder and the motor driver for controlling described line handspike I, described mechanical neck comprises the neck position plate that bearing, at least three is set on the line handspike II above bearing and is horizontally installed on described line handspike II top, described mechanical head comprises two oral plates be symmetricly set on above the plate of described neck position, upper lip between two oral plates and lower lip is arranged on by transverse axis, with upper lip and all tangent cam of lower lip, be coupling with cam and be arranged on the reducing motor on oral plate sidewall, extension spring between upper lip and lower lip, the supporting plate on oral plate top, steering wheel I on supporting plate, the pitching frame controlled by steering wheel I, be arranged on the steering wheel II on pitching frame, the tumbler controlled by steering wheel II and two cameras be arranged on tumbler, described mechanical arm comprises the upper arm be connected with described mechanical neck, the underarm, the wrist be connected with underarm, the high pulling torque DC speed-reducing being arranged on upper arm inside, gear, the DC speed-reducing being arranged on underarm inside and the gear that are connected with upper arm by rotating shaft, described manipulator comprises palm, finger and control gloves, described palm comprises connecting plate, palm shell and is arranged on to be slapped in shell and the pendulum finger device be connected with described finger, and described finger comprises at least two articulations digitorum manus and is arranged on the device of counting on one's fingers between adjacent articulations digitorum manus.
As a preferred technical solution of the present invention, described pendulum finger device comprises reducing motor I, the fixed mount of reducing motor I, the gear I be coupling with reducing motor I, the ring gear I, the coding disk I, the rocking bar that with ring gear I be connected and the thrust bearing that be arranged on described finger and described palm shell between that are connected coaxial with ring gear I that engage with gear I.
As a preferred technical solution of the present invention, described device of counting on one's fingers comprises connecting axle between adjacent articulations digitorum manus, reducing motor II, the gear II be coupling with reducing motor II, to engage with gear II and the ring gear II coaxial with described connecting axle and the coding disk II that is coupling with ring gear II, and described ring gear II is fixedly connected with the inwall of described articulations digitorum manus.
As a preferred technical solution of the present invention, induction module, human-computer interaction module block, wireless telecommunications mould, power module, video module, audio-frequency module and face recognition module that described robot body also comprises main control module and is connected with described main control module respectively, described main control module comprises embedded industrial computer and single-chip microcomputer, and described human-computer interaction module comprises the touch screen module and display module that are arranged on described mechanical waist side.
As a preferred technical solution of the present invention, described induction module comprises virtual reality technology module, bend sensor, ultrasonic sensor, infrared sensor, gyroscope, photoelectric encoder, potentiometer, electronic ruler, touch sensor and acceleration transducer, described bend sensor is arranged on described control gloves, described gyroscope is arranged on the top board of described mechanical waist, described photoelectric encoder is connected with described driving wheel, described electronic ruler is arranged on the sidewall of described line handspike I and line handspike II, described potentiometer be arranged on described mechanical arm inner and respectively with described high pulling torque DC speed-reducing, DC speed-reducing and single-chip microcomputer are connected.
As a preferred technical solution of the present invention, described wireless communication module carries out communication by described cordless communication network platform and described remote interaction platform, and described cordless communication network platform adopts ZigBee platform.
As a preferred technical solution of the present invention, described power module comprises battery, reserve battery and DC voltage-stabilizing module.
As a preferred technical solution of the present invention, described video module comprises the video frequency collection card and grader that are connected with described camera, described audio-frequency module comprises sound identification module and voice module, and described face recognition module comprises and being connected and the image storage module be arranged in embedded industrial computer and image comparison module with described camera.
The beneficial effect adopting technique scheme to produce is: delicate structure of the present invention, flexible movements, fidelity is high, support Wireless remote control and information transmission, can plan by realizing route well, independent navigation, recognition of face, human-computer dialogue and welcome such as to receive guests at the several functions, Each part can multiple degrees of freedom movable, specifically, mobile device can make robot body move freely, machinery waist and mechanical neck not only can stretch, and can to arbitrarily angled inclination, machinery head can pitching and rotation, mechanical arm and manipulator can swing and bend.
Accompanying drawing explanation
Fig. 1 is Principle of Communication figure of the present invention.
Fig. 2 is the signal control principle drawing of robot body.
Fig. 3 is the structural representation of robot body.
Fig. 4 is the upward view of mobile device.
Fig. 5 is the structural representation of mechanical waist.
Fig. 6 is the structural representation of mechanical neck.
Fig. 7 is the side view of mechanical head.
Fig. 8 is the stereogram of mechanical head.
Fig. 9 is the structural representation of mechanical arm.
The structural representation of Figure 10 manipulator.
In figure: 1, pedipulator 2, machinery waist 21, line handspike I 22, candan universal joint 23, base plate 24, spherical bearing 25, spring 26, revolve cylinder 27, top board 28, electronic ruler 3, machinery neck 31, bearing 32, line handspike II 33, neck position plate 4, mechanical 41, oral plate 42, transverse axis 43, upper lip 44, lower lip 45, cam 46, supporting plate 47, steering wheel I 48, pitching frame 49, steering wheel II 410, tumbler 411, camera 412, reducing motor 5, mechanical arm 51, upper arm 52, underarm 53, wrist 54, high pulling torque DC speed-reducing 55, DC speed-reducing 6, manipulator 61, connecting plate 62, palm shell 63, articulations digitorum manus 64, reducing motor I 65, fixed mount 66, gear I 67, ring gear I 68, rocking bar 69, connecting axle 610, reducing motor II 611, gear II 612, ring gear II 7, chassis 71, DC brushless motor 72, driving wheel 73, universal wheel 74, photoelectric encoder.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Simultaneously referring to accompanying drawing 1, 3 and 4, the structure of the present invention's detailed description of the invention is comprised robot body and is carried out the remote interaction platform of communication by cordless communication network platform and robot body, robot body comprises the functional module above mobile device and mobile device, mobile device comprises pedipulator 1, the chassis 7 of pedipulator 1 lower end, be arranged on the DC brushless motor 71 of inside, chassis 7, driver for brushless DC motor, the driving wheel 72 be connected with DC brushless motor 71 and universal wheel 73, functional module comprises multivariant mechanical waist 2, machinery neck 3, mechanical 4, mechanical arm 5 and manipulator 6, remote interaction platform is used for control machine human agent and utilizes dimensional orientation and the track route of virtual reality technology display device human agent, driver for brushless DC motor can drive DC brushless motor 71 to rotate, then driving wheel 72 is driven to roll, the rolling through gear drive photoelectric encoder 74 can be made to work of driving wheel 72, photoelectric encoder 74 can detect and feed back the amount of spin information of DC brushless motor 71, the effect that universal wheel 73 plays auxiliary moving and turns to.
Referring to accompanying drawing 5, machinery waist 2 comprises the line handspike I 21 of six cover parallel connections, the base plate 23 of line handspike I 21 bottom is arranged on by candan universal joint 22, the top board 27 on line handspike I 21 top is arranged on successively by spherical bearing 24 and spring 25, what be set in spring 25 outside revolves cylinder 26 and the motor driver for controlling line handspike I 21, six cover line handspikes I 21 cooperatively interact, certain stroke is completed separately according to instruction, the mechanical integral telescopic of waist 2 or the inclination of any direction can be realized, can lay down time idle and revolve cylinder 26, the elasticity of spring 25 is utilized robot body to be folded up at mechanical waist place, be convenient to deposit, save space.
Referring to accompanying drawing 6, machinery neck 3 comprises the neck position plate 33 that bearing 31, three is set on the line handspike II 32 above bearing 31 and is horizontally installed on line handspike II 32 top, three cover line handspikes II 32 cooperatively interact, complete certain stroke according to instruction separately, realize the inclination of the flexible of mechanical neck 3 or any direction.
Referring to accompanying drawing 7 and 8, comprise two oral plates 41 be symmetricly set on above neck position plate 33 for mechanical 4, upper lip 43 between two oral plates 41 and lower lip 44 is arranged on by transverse axis 42, with upper lip 43 and all tangent cam 45 of lower lip 44, be coupling with cam 45 and be arranged on the reducing motor 412 on oral plate 41 sidewall, extension spring between upper lip 43 and lower lip 44, the supporting plate 46 on oral plate 41 top, steering wheel I 47 on supporting plate 46, the pitching frame 48 controlled by steering wheel I 47, be arranged on the steering wheel II 49 on pitching frame 48, the tumbler 410 controlled by steering wheel II 49 and two cameras 411 be arranged on tumbler 410, reducing motor 412 is with moving cam 45 synchronous axial system, coordinate the recovery function of extension spring, upper lip 43 and lower lip 44 is made to realize opening and closing action, oral plate 41 and transverse axis 42 are for fixing upper lip 43, lower lip 44 and reducing motor 412, in addition, steering wheel I 47 adjusts the luffing angle of camera 411 by controlling pitching frame 48, and steering wheel II 49 realizes the left-right rotation of camera 411 by controlling tumbler 410.
Referring to accompanying drawing 9, mechanical arm 5 comprises the upper arm 51 be connected with mechanical neck 3, the underarm 52, the wrist 53 be connected with underarm 52, the high pulling torque DC speed-reducing 54 being arranged on upper arm 51 inside, gear, the DC speed-reducing 55 being arranged on underarm 52 inside and the gear that are connected with upper arm 51 by rotating shaft, high pulling torque DC speed-reducing 54 and DC speed-reducing 55 can be rotated by driven gear, and then realize the flexor of upper arm 51 and underarm 52.
Referring to accompanying drawing 10, manipulator 6 comprises palm, finger and control gloves, palm comprises connecting plate 61, palm shell 62 and is arranged on the pendulum finger device be connected in palm shell 62 and with finger, and finger comprises at least two articulations digitorum manus 63 and is arranged on the device of counting on one's fingers between adjacent articulations digitorum manus 63, pendulum finger device comprise reducing motor I 64, the fixed mount 65 of reducing motor I 64, the gear I 66 be coupling with reducing motor I 64, the ring gear I 67 engaged with gear I 66, with the ring gear I 67 coaxial coding disk I, the rocking bar 68 be connected with ring gear I 67 that are connected and be arranged on the thrust bearing pointed and slap between shell 62, reducing motor I 64 successively driven gear I 66, ring gear I 67 and rocking bar 68 moves, and points and is driven by the rocking bar 68 of correspondence and carry out rocking action, device of counting on one's fingers comprises the connecting axle 69 between adjacent articulations digitorum manus 63, reducing motor II 610, the gear II 611 be coupling with reducing motor II 610, engage with gear II 611 and the ring gear II 612 coaxial with connecting axle 69 and the coding disk II that is coupling with ring gear II 612, ring gear II 612 is fixedly connected with the inwall of articulations digitorum manus 63, reducing motor II 610 successively driven gear II 611 and ring gear II 612 moves, ring gear II 612 can drive articulations digitorum manus 63 to relatively rotate around connecting axle 69, and then show as the bending action of articulations digitorum manus 63, coding disk I and coding disk II can be measured the amount of spin of ring gear I 66 and ring gear II 611 respectively and carry out information feed back.
Referring to accompanying drawing 2, robot body also comprises main control module and the induction module be connected with main control module respectively, human-computer interaction module, wireless telecommunications mould, power module, video module, audio-frequency module and face recognition module, main control module comprises embedded industrial computer and single-chip microcomputer, human-computer interaction module comprises the touch screen module and display module that are arranged on mechanical waist side, for showing product information.
Induction module comprises virtual reality technology module, bend sensor, ultrasonic sensor, infrared sensor, gyroscope, photoelectric encoder 74, potentiometer, electronic ruler 28, touch sensor and acceleration transducer, virtual reality technology module can construct the Virtual Space corresponding to practical work space of robot body, and make optimum track route in conjunction with the Detection Information of sensor each in induction module, thus realize precision navigation and automatic obstacle avoiding, the locus of robot body and routing information simultaneous display are at remote interaction platform, bend sensor is arranged on and controls on gloves, the hand motion information done after user puts on one's gloves is bent sensor and detects and be transferred to manipulator 6 and make the latter make synchronization action, ultrasonic sensor is used for range measurement and the position measurement of distant object, infrared sensor is used for range measurement and the position measurement of close-in target, both work in coordination can accurate lock target location, the function that realize target is followed the tracks of, gyroscope is arranged on the top board 27 of mechanical waist 2, for the angle of inclination of angular speed during measuring robots bulk motion and mechanical waist 2, photoelectric encoder 74 is connected with driving wheel 72, for feeding back the amount of spin signal of DC brushless motor 71, electronic ruler 28 is arranged on the sidewall of line handspike I 21 and line handspike II 32, for feeding back the telescopic displacement amount of line handspike I 21 and line handspike II 32, potentiometer be arranged on mechanical arm 5 inner and respectively with high pulling torque DC speed-reducing 54, DC speed-reducing 55 and single-chip microcomputer are connected, for exporting the voltage becoming certain relation with required displacement, touch sensor is for judging whether robot body contacts object, acceleration transducer is used for acceleration when measuring robots main body is advanced, the information that each for induction module sensor detects is carried out comprehensively by embedded industrial computer, by virtual reality technology, guest-meeting robot walked in specific region accurately and control display position information on touch screen module.
Wireless communication module carries out communication by cordless communication network platform and remote interaction platform, and cordless communication network platform adopts ZigBee platform, and defer to Zigbee protocol, maximum transmission distance is 1200m, power module comprises battery, reserve battery and DC voltage-stabilizing module, the power supply that battery provides, by DC voltage-stabilizing module step-down rectifier, obtains the voltage of 5V, 12V, 19V, for guest-meeting robot work provides energy, when battery does not have electricity, stand-by power supply starts power supply, video module comprises the video frequency collection card and grader that are connected with camera 411, camera 411 is responsible for gathering image information, by obtaining the information of spatio-temporal distribution to the observation of concrete things, design category device under the condition of known training sample generic, sample to be checked is through pretreatment, selection and enter grader after extracting feature, identified to the sample identified by this grader, obtain classification results or recognition result, and corresponding information is transferred to embedded industrial computer, then send corresponding actions instruction or feedback information after differentiating process by software, audio-frequency module comprises sound identification module and voice module, sound identification module is used for storing, identify and export vocabulary, voice module utilizes speech identifying function to convert the voice signal received to TEXT system, sound identification module comprises speech sample training system and speech recognition system, be responsible for gathering acoustic information around, specific acoustic information is transferred to embedded industrial computer, corresponding actions instruction or feedback information is sent after differentiating process by corresponding software, voice module automatic gain control circuit, microphone preamplifier, speaker drive circuit, oscillator, internal memory, high tone quality audio record circuit and sound synthetic system, under the unified cooperation control of embedded industrial computer, sound, can realize singing, greet and basic talk, face recognition module comprises and being connected and the image storage module be arranged in embedded industrial computer and image comparison module with camera, can identify old and new customers and talks with frequent customer or set up customer profile for new client.
Delicate structure of the present invention, flexible movements, fidelity are high, support Wireless remote control and information transmission, can realizing route planning well, independent navigation, recognition of face, human-computer dialogue and welcome the several functions such as to receive guests, Each part can multiple degrees of freedom movable, specifically, mobile device can make robot body move freely, machinery waist 2 and mechanical neck 3 not only can stretch, and can to arbitrarily angled inclination, machinery head can pitching and rotation, and mechanical arm 5 and manipulator 6 can swing and bend.
Foregoing description only proposes, not as the single restrictive condition to its technical scheme itself as the enforceable technical scheme of the present invention.
Claims (8)
1. a robot, comprise robot body, carried out the remote interaction platform of communication by cordless communication network platform and robot body, it is characterized in that: described robot body comprises the functional module above mobile device and mobile device, described mobile device comprises pedipulator, the chassis of pedipulator lower end, the DC brushless motor being arranged on inside chassis, driver for brushless DC motor, the driving wheel be connected with DC brushless motor and universal wheel, and described functional module comprises multivariant mechanical waist, mechanical neck, mechanical head, mechanical arm and manipulator;
Described mechanical purse is drawn together at least three line handspikes I in parallel, is arranged on the base plate of line handspike I bottom by candan universal joint, successively by spherical bearing and spring be arranged on described line handspike I top top board, be set in spring outside revolve cylinder and the motor driver for controlling described line handspike I;
Described mechanical neck comprises the neck position plate that bearing, at least three is set on the line handspike II above bearing and is horizontally installed on described line handspike II top;
Described mechanical head comprises two oral plates be symmetricly set on above the plate of described neck position, upper lip between two oral plates and lower lip is arranged on by transverse axis, with upper lip and all tangent cam of lower lip, be coupling with cam and be arranged on the reducing motor on oral plate sidewall, extension spring between upper lip and lower lip, the supporting plate on oral plate top, steering wheel I on supporting plate, the pitching frame controlled by steering wheel I, be arranged on the steering wheel II on pitching frame, the tumbler controlled by steering wheel II and two cameras be arranged on tumbler,
Described mechanical arm comprises the upper arm be connected with described mechanical neck, the underarm, the wrist be connected with underarm, the high pulling torque DC speed-reducing being arranged on upper arm inside, gear, the DC speed-reducing being arranged on underarm inside and the gear that are connected with upper arm by rotating shaft;
Described manipulator comprises palm, finger and control gloves, described palm comprises connecting plate, palm shell and is arranged on to be slapped in shell and the pendulum finger device be connected with described finger, and described finger comprises at least two articulations digitorum manus and is arranged on the device of counting on one's fingers between adjacent articulations digitorum manus.
2. robot according to claim 1, is characterized in that: described pendulum finger device comprises reducing motor I, the fixed mount of reducing motor I, the gear I be coupling with reducing motor I, the ring gear I, the coding disk I, the rocking bar that with ring gear I be connected and the thrust bearing that be arranged on described finger and described palm shell between that are connected coaxial with ring gear I that engage with gear I.
3. robot according to claim 2, it is characterized in that: described in device of counting on one's fingers comprise connecting axle between adjacent articulations digitorum manus, reducing motor II, the gear II be coupling with reducing motor II, to engage with gear II and the ring gear II coaxial with described connecting axle and the coding disk II that is coupling with ring gear II, described ring gear II is fixedly connected with the inwall of described articulations digitorum manus.
4. robot according to claim 3, it is characterized in that: induction module, human-computer interaction module block, wireless telecommunications mould, power module, video module, audio-frequency module and face recognition module that described robot body also comprises main control module and is connected with described main control module respectively, described main control module comprises embedded industrial computer and single-chip microcomputer, and described human-computer interaction module comprises the touch screen module and display module that are arranged on described mechanical waist side.
5. robot according to claim 4, it is characterized in that: described induction module comprises virtual reality technology module, bend sensor, ultrasonic sensor, infrared sensor, gyroscope, photoelectric encoder, potentiometer, electronic ruler, touch sensor and acceleration transducer, described bend sensor is arranged on described control gloves, described gyroscope is arranged on the top board of described mechanical waist, described photoelectric encoder is connected with described driving wheel, described electronic ruler is arranged on the sidewall of described line handspike I and line handspike II, described potentiometer be arranged on described mechanical arm inner and respectively with described high pulling torque DC speed-reducing, DC speed-reducing and single-chip microcomputer are connected.
6. robot according to claim 5, is characterized in that: described wireless communication module carries out communication by described cordless communication network platform and described remote interaction platform, and described cordless communication network platform adopts ZigBee platform.
7. robot according to claim 6, is characterized in that: described power module comprises battery, reserve battery and DC voltage-stabilizing module.
8. robot according to claim 7, it is characterized in that: described video module comprises the video frequency collection card and grader that are connected with described camera, described audio-frequency module comprises sound identification module and voice module, and described face recognition module comprises and being connected and the image storage module be arranged in embedded industrial computer and image comparison module with described camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210149760.XA CN102699914B (en) | 2012-05-15 | 2012-05-15 | Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210149760.XA CN102699914B (en) | 2012-05-15 | 2012-05-15 | Robot |
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| CN102699914A CN102699914A (en) | 2012-10-03 |
| CN102699914B true CN102699914B (en) | 2015-01-21 |
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| CN201210149760.XA Expired - Fee Related CN102699914B (en) | 2012-05-15 | 2012-05-15 | Robot |
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