CN103640019A - Multifunctional service robot - Google Patents
Multifunctional service robot Download PDFInfo
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- CN103640019A CN103640019A CN201310590830.XA CN201310590830A CN103640019A CN 103640019 A CN103640019 A CN 103640019A CN 201310590830 A CN201310590830 A CN 201310590830A CN 103640019 A CN103640019 A CN 103640019A
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Abstract
The invention relates to a multifunctional service robot. The service robot comprises an outer shell, a bottom-layer master controller, a motor and walking wheels, wherein the motor drives the walking wheels to rotate to enable the robot to move; the bottom-layer master controller comprises a controller, a motor driving unit and a power supply unit, a Linux system is arranged inside the controller, the controller is connected with a communication port, the motor driving unit controls rotating of the motor, and the power supply unit can provide working voltage for the controller and the motor driving unit; the robot is provided with a tablet computer, and various function operations allowing a user to choose are displayed on the front end interface of the tablet computer. The user can control the robot by choosing the function operations displayed on a touch screen of the tablet computer, the function operations displayed on the front end interface comprise a control function operation for controlling the robot, a music function operation, a teaching function operation, a product introduction and a service system monitoring function operation capable of providing information related to the robot, and the function operations are very easy and convenient to achieve and more humanized in design.
Description
Technical field
The present invention relates to a kind of multi-function service robot.
Background technology
Robot is the installations that automatically perform work.It both can accept mankind commander, can move again the program of layout in advance, also can be according to the principle guiding principle action of formulating with artificial intelligence technology.Its task is to assist or replace human work's work, for example home education, service trade, production industry, building industry, or dangerous work.Along with economical and scientific and technological development, people strengthen the demand of mechanical self energy, such as in hotel, the service location such as restaurant, dining room, dining room, more and more focus on self energyization service, but there is function singleness in existing service robot, self energy degree is low, complicated operation is inconvenient, lack voice message, the function of not leading the way, can not many robot coordinated operation, the service that provides lack hommization, software data upgrades the shortcomings such as complicated trouble.
Summary of the invention
The object of the present invention is to provide a kind of multi-function service robot of simple to operation, more humane design.
Above-mentioned purpose is achieved by the following technical solution:
A kind of multi-function service robot, comprise shell, bottom master controller, motor and road wheel, bottom master controller and motor are installed in the enclosure, road wheel is arranged on the bottom of shell and connects with motor, driven by motor road wheel rotates and moves for robot, it is characterized in that: this bottom master controller comprises, the controller of a built-in linux system, it is connected with and can carries out with external equipment the COM1 of information exchange; One electric-motor drive unit, the rotation of the driving signal control motor that it sends according to controller; One power supply unit, it provides operating voltage can to controller and electric-motor drive unit; This robot is furnished with a panel computer that can establish a communications link with COM1 so that this controller is controlled by panel computer, and the front-end interface of panel computer is shown the various feature operations of selecting for user.
Above technical scheme can be further improved by following measures:
Above-mentioned COM1 comprises the GPIO port of USB to TTL UART port, I2C interface, bluetooth interface and 6Pin, and panel computer is set up bluetooth with bluetooth interface and is connected.
Above-mentioned shell comprises a body and the head that is arranged on body top, and road wheel is arranged on the bottom of body, and in the top of body,, the place ahead of head is provided with an operating platform, operating platform is provided with the containing groove that can place for panel computer.
On above-mentioned body and head, be all provided with and be used to indicate robotary and/or as the lamp band of use attractive in appearance, in body, be provided with for playing the audio amplifier of voice and music, the front portion of body is provided with the indicator lamp that is used to indicate robot fault information, and lamp band, audio amplifier and indicator lamp are all connected with controller.
On above-mentioned shell, be provided with for detection of robot barrier situation around and keep away barrier sensor with what prevent robot collision obstacle, this is kept away barrier sensor and is connected with controller, and controller receives this and keeps away the information that hinders sensor feedback; Sound transducer for detection of robot voice signal is installed on shell, and this sound transducer is connected with controller, and controller receives this sound transducer feedack; The front portion of body is provided with the distance measuring sensor to the distance of robot for detection of robot the place ahead barrier, and this distance measuring sensor is connected with controller, and controller receives this distance measuring sensor feedack.
The main camera of generally taking pictures, recording a video and using as input equipment or the conduct of image recognition is installed on above-mentioned head, and this main camera is connected with controller.
The front portion of above-mentioned body is provided with as the input equipment of image recognition or as the secondary camera of generally taking pictures, recording a video and using, this pair camera is connected with controller.
Controller is connected with by I2C interface or bluetooth interface can be for the api interface of third party software control or sharing data.
Panel computer is connection server and exchange also, and server is realized robot for exchange and between Long-distance Control or exchange and robot, carried out transmission of video setting up telecommunication between panel computer and exchange.
Panel computer also connects smart mobile phone, and smart mobile phone and panel computer communicate for smart mobile phone robot is realized between control or smart mobile phone and robot and carries out transmission of video in LAN.
The present invention compared with prior art tool has the following advantages:
(1) this multi-function service robot, comprise shell, bottom master controller, motor and road wheel, bottom master controller and motor are installed in the enclosure, road wheel is arranged on the bottom of shell and connects with motor, driven by motor road wheel rotates and moves for robot, this robot is furnished with a panel computer that can establish a communications link with COM1 so that this controller is controlled by panel computer, the front-end interface of panel computer is shown the various feature operations of selecting for user, it is simple in structure, the feature operation of showing on user by selecting panel computer touch-screen, realization is to control of robot etc., the various feature operations that front-end interface is shown for example comprise the control feature operation that robot is controlled, can carry out media play, the music function operations such as music, the instructional function operation such as can carry out interactive teaching with pupil or learn to read with the aid of pictures, product introduction, correlation machine people's the service system monitoring function operations such as information can be provided, various functions operation is very simple and convenient, more humane design,
(2) above-mentioned COM1 comprises the GPIO port of USB to TTL UART port, I2C interface, bluetooth interface and 6Pin, panel computer is set up bluetooth with bluetooth interface and is connected, by these ports, realize setting up to communicate by letter with realizing with external equipment and control, a plurality of COM1s can be expanded with external equipment and set up the compatibility of communicating by letter, the bottom master controller of panel computer and robot is connected communication by bluetooth to be realized wireless messages and exchanges, and can effectively simplify communicating by letter between panel computer and bottom master controller;
(3) above-mentioned shell comprises a body and the head that is arranged on body top, road wheel is arranged on the bottom of body, in the top of body, the place ahead of head is provided with an operating platform, operating platform is provided with the containing groove that can place for panel computer, shell mechanism is simple, imitative like Humanity Design, be provided with operating platform and containing groove is set on this operating platform and be convenient to the placement of panel computer, be convenient to user's operation, more humane design;
(4) on above-mentioned body and head, be all provided with and be used to indicate robotary and/or as the lamp band of use attractive in appearance, in body, be provided with for playing the audio amplifier of voice and music, the front portion of body is provided with the indicator lamp that is used to indicate robot fault information, lamp band, audio amplifier and indicator lamp are all connected with controller, the flicker of lamp band can attract user and be convenient to man-machine communication, audio amplifier can provide voice message, more humane design;
(5) on above-mentioned shell, be provided with for detection of robot barrier situation around and keep away barrier sensor with what prevent robot collision obstacle, this is kept away barrier sensor and is connected with controller, and controller receives this and keeps away the information that hinders sensor feedback; Sound transducer for detection of robot voice signal is installed on shell, and this sound transducer is connected with controller, and controller receives this sound transducer feedack; The front portion of body is provided with the distance measuring sensor to the distance of robot for detection of robot the place ahead barrier, this distance measuring sensor is connected with controller, controller receives this distance measuring sensor feedack, a plurality of sensor cooperatings, controller is used for coordinating each sensor and motor coordination work, reach the object of control, and can realize the function of leading the way;
(6) the main camera of generally taking pictures, recording a video and using as input equipment or the conduct of image recognition is installed on above-mentioned head, this main camera is connected with controller; The front portion of above-mentioned body is provided with as the input equipment of image recognition or as the secondary camera of generally taking pictures, recording a video and using, this pair camera is connected with controller; Main camera and secondary camera can be used as the input equipment of image recognition, can increase the control function of robot, expand the scope of application, more humane design;
(7) controller is connected with the api interface that can supply third party software control or sharing data by I2C interface or bluetooth interface, api interface is application programming interface, robot bottom and software control lock out operation are provided, and making machine depart from software layer still can trouble free service; Third company is used robot customized software, and the API that can provide according to hardware, can have more sophisticated functions during design software; Now can be by some softwares of robot, sharing data is to social software or third party's hardware, as printed the functions such as picture;
(8) also connection server and exchange of panel computer, server is realized robot for exchange and between Long-distance Control or exchange and robot, is carried out transmission of video setting up telecommunication between panel computer and exchange, the functions such as server forwards, this application can be carried out remote call-in robot in any scene, and monitor, main camera and secondary camera can be sent to server by image information by WIFI, then are sent to exchange and are monitored by server;
(9) panel computer also connects smart mobile phone, smart mobile phone and panel computer communicate for smart mobile phone robot are realized between control or smart mobile phone and robot and carries out transmission of video in LAN, can in LAN, communicate by smart mobile phone and panel computer, after speech recognition by smart mobile phone, send data to panel computer, control after panel computer resolution data, make robot function wait until expansion, user-friendly.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention;
Fig. 2 is each parts installation site schematic diagram of the present invention;
Fig. 3 is another angle schematic perspective view of the present invention;
Fig. 4 is an angle schematic perspective view more of the present invention;
Fig. 5 is the schematic perspective view of hidden parts body of the present invention;
Fig. 6 is control principle schematic diagram of the present invention;
Fig. 7 is panel computer work flow chart of the present invention;
Fig. 8 is the front-end interface schematic diagram of panel computer of the present invention;
Fig. 9 is the demonstration program schematic diagram of panel computer of the present invention;
Figure 10 is the demonstration program schematic diagram of smart mobile phone end of the present invention.
Reference numeral: 1 bottom master controller, 2 motors, 3 road wheels, 4 panel computers, 51 bodies, 52 heads, 53 operating platforms, 54 containing grooves, 10 controllers, 101 COM1s, 20 electric-motor drive units, 30 power supply units, 40 lamp bands, 50 audio amplifiers, 60 indicator lamps, 70 are kept away barrier sensor, 80 sound transducers, 90 distance measuring sensors, 100 main cameras, 200 secondary cameras, 300API interface, 400 servers, 500 exchanges, 600 smart mobile phones.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As shown in Fig. 1 and Fig. 6, a kind of multi-function service robot, comprise shell, bottom master controller 1, motor 2 and road wheel 3, bottom master controller 1 and motor 2 are installed in the enclosure, road wheel 3 is arranged on the bottom of shell and connects with motor 2, motor 2 drives road wheel 3 to rotate and moves for robot
This bottom master controller 1 comprises, the controller 10 of a built-in linux system, and it is connected with and can carries out with external equipment the COM1 101 of information exchange; One electric-motor drive unit 20, the rotation of the driving signal control motor 2 that it sends according to controller 10; One power supply unit 30, it provides operating voltage can to controller 10 and electric-motor drive unit 30;
This robot is furnished with a panel computer 4 that can establish a communications link with COM1 101 so that this controller 10 is controlled by panel computer 4, and the front-end interface of panel computer 4 is shown the various feature operations of selecting for user.
Shell comprises a body 51 and the head 52 that is arranged on body 51 tops, road wheel 3 is arranged on the bottom of body 51, in the top of body 51,, the place ahead of head 52 is provided with an operating platform 53, operating platform 53 is provided with the containing groove 54 that can place for panel computer 4.The back of body 51 is provided with openable bonnet 511.
On body 51 and head 52, be all provided with and be used to indicate robotary and/or as the lamp band 40 of use attractive in appearance, in body 51, be provided with for playing the audio amplifier 50 of voice and music, the front portion of body 51 is provided with the indicator lamp 60 that is used to indicate robot fault information, lamp band 40, audio amplifier 50 and indicator lamp 60 are all connected with controller 10, and power supply unit 30 also can provide operating voltage to lamp band 40, audio amplifier 50 and indicator lamp 60.
On shell, be provided with for detection of robot barrier situation around and keep away barrier sensor 70 with what prevent robot collision obstacle, this is kept away barrier sensor 70 and is connected with controller 10, and this keeps away controller 10 receptions and hinder sensor 70 feedacks;
The front portion of body 51 is provided with the distance measuring sensor 90 to the distance of robot for detection of robot the place ahead barrier, and this distance measuring sensor 90 is connected with controller 10, and controller 10 receives these distance measuring sensor 90 feedacks.Power supply unit 30 also can be given and keep away barrier sensor 70, sound transducer 80 and distance measuring sensor 90 for operating voltage.
The main camera 100 of generally taking pictures, recording a video and using as input equipment or the conduct of image recognition is installed on head 52, and this main camera 100 is connected with controller 10.Head 52 is provided with diffuser, and main camera 100 is positioned at diffuser.
The front portion of body 51 is provided with as the input equipment of image recognition or as the secondary camera 200 of generally taking pictures, recording a video and using, this pair camera 200 is connected with controller.
Motor 2 is servomotor, and the bottom of body 51 is provided with two road wheels 2, and each road wheel 2 is all furnished with a servomotor.
As shown in Figure 7 to 10, the workflow scheme of Yi Geben multi-function service robot is provided, Android is one of system of occuping market share maximum now, its pattern of increasing income is subject to support and the use of each manufacturer, existing service robot is the application program based on the dull and stereotyped exploitation of Android, under powerful hardware and network support, can work in coordination with more function.
For example one of them controls function, can in LAN, communicate by smart mobile phone and panel computer, sends data to panel computer, control after panel computer resolution data after the speech recognition by smart mobile phone.If need Long-distance Control, only need to increase the functions such as a station server forwards.This application can be carried out remote call-in robot in any scene, and monitors.
Panel computer is connected with bottom master controller by bluetooth, communicates by letter, and software interface or agreement are provided according to agreement with bottom controller, allows the each several part in software can carry out bottom communication.Its workflow diagram, as shown in Fig. 7,8,9:
1. start and be connected with bluetooth local connection of background service management, preparation bluetooth connects robot and is connected with network monitoring client.
2. when starting background service, start the front-end interface of panel computer simultaneously, show various feature operations.As shown in Figure 8, such as comprising control feature operation that robot is controlled, can carry out the music function operations such as media play, music, can carry out interactive teaching with pupil or instructional function operation, the product introduction such as learn to read with the aid of pictures, can provide service system monitoring function operations such as information of correlation machine people etc.
As shown in figure 10, smart mobile phone end program can connect and communicate by letter in LAN, can carry out voice identification control function.
Can carry out abundanter customizing functions according to different field, as voice communication, video communication, also has some other functions as follows:
(1). remote upgrade management service
For different clients, or actual conditions, according to tailor-made software, carry out remote upgrade and management software, simultaneously can the co-operating of a plurality of robots.Utilize background server, extendible how powerful service.
Conventionally the feedback that program can be used according to user is carried out modification, increase or the deletion of some functions, now, to the client with being unfamiliar with robot software's application, only need to provide the scheme of modification to feed back to service company of robot, can in some cycles, complete renewal and the maintenance of software, and deliver to customer to carry out remote service upgrading, and do not need client to revise or the company of returning modifies.
(2). hardcore hierarchical design, utilize the api interface of this robot to control or sharing data to third party software.
Robot bottom and software control lock out operation are provided, and making machine depart from software layer still can trouble free service.Third company is used robot customized software, and the API that can provide according to hardware, can have more sophisticated functions during design software.
Now can be by some softwares of robot, sharing data is to social software or third party's hardware, as printed the functions such as picture.
(3). wireless network focus is provided, and robot platform communication.
Utilize the focus function of hardware, can provide other users to carry out facility online, when network is poor, can supply casual network function by body, and can give out information to faster online user by LAN.And by the online Robotic Dynamic information of obtaining of LAN, the line operate of going forward side by side.Or remote communication, Video chat.
At public area, provide free focus for online, and can obtain the data message that robot provides being equipped with on software or WEB browser, as supplied with the information of user's read machine people sensor, shared data etc., can radio operation for attendant, do not need to reclaim and safeguard separately, and can monitor robot, prevent accident, robot information upgrades in time.
(4). a plurality of robot coordinated operations, in real time monitoring.
By current sensor information and the view data of remote monitoring Duo Tai robot, dynamic creation contextual data, can substitute or supplement with hard-wired camera, reaches the functions such as security.
When operation scenario is larger, can upgrade by the information of Remote Acquisitioning Duo Tai robot, according to software Real-time Obtaining picture, can constructing virtual 3D scene.A plurality of robot coordinated operations, can in the light of actual conditions carry out dispatching distribution in time by control centre.
(5). nonspecific speech recognition, audio frequency broadcasting etc.
By voice command recognition, carry out simple alternating current operation, be applicable to the use of different crowd, user is controlled or is obtained data by voice command, audio playing function is according to feedback data results such as user commands, and sound or carry out broadcast announcement maybe can give a warning.Also can become mobile sound equipment, distribution diverse location, reaches certain sound effect simultaneously.Example:
In reality scene, as exhibition, often need some to safeguard and machine and instrument easy for installation, as when arranging new scene, old scene needs dismounting, replacing, maintenance etc., and for a part of machine, as programmable robot, directly operated from a distance saves time.Except hardware damage problem, all can not need to send professional to safeguard by remote debugging and upgraded machine people's software, bring user conveniently and reduce maintenance cost.And can again draft new plan according to user's demand, the software of upgrading and renewal robot.
Claims (10)
1.Yi Zhong multi-function service robot, comprise shell, bottom master controller (1), motor (2) and road wheel (3), bottom master controller (1) and motor (2) are installed in the enclosure, road wheel (3) is arranged on the bottom of shell and connects with motor (2), motor (2) drives road wheel (3) to rotate and moves for robot, it is characterized in that:
This bottom master controller (1) comprises, the controller of a built-in linux system (10), and it is connected with and can carries out with external equipment the COM1 (101) of information exchange; One electric-motor drive unit (20), the rotation of the driving signal control motor (2) that it sends according to controller (10); One power supply unit (30), it provides operating voltage can to controller (10) and electric-motor drive unit (30);
This robot is furnished with a panel computer (4) that can establish a communications link with COM1 (101) so that this controller (10) is controlled by panel computer (4), and the front-end interface of panel computer (4) is shown the various feature operations of selecting for user.
2. a kind of multi-function service according to claim 1 robot, it is characterized in that: COM1 (101) comprises the GPIO port of USB to TTL UART port, I2C interface, bluetooth interface and 6Pin, and panel computer (4) is set up bluetooth with bluetooth interface and is connected.
3. a kind of multi-function service according to claim 1 robot, it is characterized in that: the head (52) that shell comprises a body (51) and is arranged on body (51) top, road wheel (3) is arranged on the bottom of body (51), in the top of body (51),, the place ahead of head (52) is provided with an operating platform (53), operating platform (53) is provided with a containing groove (54) that can supply panel computer (4) to place.
4. a kind of multi-function service according to claim 3 robot, it is characterized in that: on body (51) and head (52), be all provided with and be used to indicate robotary and/or as the lamp band (40) of use attractive in appearance, audio amplifier (50) for playing voice and music is installed in body (51), the front portion of body (51) is provided with the indicator lamp (60) that is used to indicate robot fault information, and lamp band (40), audio amplifier (50) and indicator lamp (60) are all connected with controller (10).
5. a kind of multi-function service according to claim 3 robot, is characterized in that:
On shell, be provided with for detection of robot barrier situation around and hinder sensor (70) to prevent keeping away of robot collision obstacle, this is kept away barrier sensor (70) and is connected with controller (10), and controller (10) receives this and keeps away and hinder sensor (70) feedack;
Sound transducer (80) for detection of robot voice signal is installed on shell, and this sound transducer (80) is connected with controller (10), and controller (10) receives this sound transducer (80) feedack;
The front portion of body (51) is provided with the distance measuring sensor (90) to the distance of robot for detection of robot the place ahead barrier, this distance measuring sensor (90) is connected with controller (10), and controller (10) receives this distance measuring sensor (90) feedack.
6. a kind of multi-function service according to claim 3 robot, it is characterized in that: the main camera (100) of generally taking pictures, recording a video and using as input equipment or the conduct of image recognition is installed on head (52), and this main camera (100) is connected with controller (10).
7. a kind of multi-function service according to claim 3 robot, it is characterized in that: the front portion of body (51) is provided with as the input equipment of image recognition or as the secondary camera (200) of generally taking pictures, recording a video and using, this pair camera (200) is connected with controller.
8. a kind of multi-function service according to claim 2 robot, is characterized in that: controller (10) is connected with and can be controlled or the api interface (300) of sharing data for third party software by I2C interface or bluetooth interface.
9. according to a kind of multi-function service robot described in claim 1 to 8, it is characterized in that: panel computer (4) is gone back connection server (400) and exchange (500), server (400) is set up telecommunication and robot is realized between Long-distance Control or exchange (500) and robot and carry out transmission of video for exchange (500) between panel computer (4) and exchange (500).
10. according to a kind of multi-function service robot described in claim 1 to 8, it is characterized in that: panel computer (4) also connects smart mobile phone (600), smart mobile phone (600) and panel computer (4) communicate for smart mobile phone (600) robot are realized between control or smart mobile phone (600) and robot and carries out transmission of video in LAN.
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| CN106217385A (en) * | 2016-07-19 | 2016-12-14 | 东莞市优陌儿智护电子科技有限公司 | Three motors are accompanied and attended to robot |
| CN107127766A (en) * | 2017-05-24 | 2017-09-05 | 南京华设科技股份有限公司 | Intelligent grid service handling robot |
| CN107097241A (en) * | 2017-06-05 | 2017-08-29 | 江苏艾萨克机器人股份有限公司 | A kind of service robot and its control method |
| CN108668263A (en) * | 2018-01-31 | 2018-10-16 | 山东世纪元通智能科技有限公司 | A kind of network remote remote control system and its implementation |
| CN108656131A (en) * | 2018-05-31 | 2018-10-16 | 芜湖星途机器人科技有限公司 | Interaction robot |
| CN108838993A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Secure machine people |
| CN108838992A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | robot |
| CN108838995A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | More power supply robots |
| CN108942966A (en) * | 2018-08-27 | 2018-12-07 | 安徽星宇生产力促进中心有限公司 | A kind of reception counter of hotel service robot |
| CN112540615A (en) * | 2020-12-05 | 2021-03-23 | 重庆大学 | Universal platform for servicing robot functional components |
| CN112828901A (en) * | 2020-12-28 | 2021-05-25 | 香港中文大学深圳研究院 | Double-arm mobile robot platform for algorithm research |
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