CN104111655A - Remote control based smart home service robot system - Google Patents
Remote control based smart home service robot system Download PDFInfo
- Publication number
- CN104111655A CN104111655A CN201410382285.XA CN201410382285A CN104111655A CN 104111655 A CN104111655 A CN 104111655A CN 201410382285 A CN201410382285 A CN 201410382285A CN 104111655 A CN104111655 A CN 104111655A
- Authority
- CN
- China
- Prior art keywords
- module
- main control
- instruction
- robot body
- smart home
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention provides a remote control based smart home service robot system. The remote control based smart home service robot system comprises a robot body, a network camera, a wireless fidelity (WiFi) to serial port module, a main control module, an ultrasonic distance measurement module, an infrared distance measurement, a nine-degree-of-freedom movement module and an execution device, wherein the network camera is used for shooting environmental information in front of the robot body, the WiFi to serial port module is used for converting a first instruction into a serial port instruction and sending the serial port instruction to the main control module, the ultrasonic distance measurement module is used for detecting distances between obstacles in multiple directions of the robot body and the robot body, the nine-degree-of-freedom movement module is used for detecting an angle of the front of the robot body, the main control module is used for sending a second instruction to the execution module, and the execution module executes corresponding actions according to the second instruction so as to perform automatic obstacle avoidance and control household appliances. The remote control based smart home service robot system is capable of adjusting and controlling indoor household appliances and the like and providing families with convenient functions of household appliances control, automatic obstacle avoidance, and security guards against theft.
Description
Technical field
The present invention relates to field of intelligent control technology, particularly a kind of Smart Home server machine robot system based on Long-distance Control.
Background technology
The fast development of internet has driven the raising of social progress and people's living standard, along with people are more and more higher to the requirement of self domestic environment, people are day by day deep to Smart Home research, the kind of Smart Home Related product is also increasingly various, allows people experience gradually the superior of Smart Home.Especially at " Internet of Things ", become under the situation of research boom in global range, Smart Home brings new opportunities and challenges will to people's living environment as " Internet of Things " important application direction.
But, traditional Smart Home is mainly based on static treatment family information, and this mode lacks real-time and accuracy, if want in the family, old man and child is nursed, need personnel in Real-time Obtaining man and the information of equipment, this is that traditional home equipment cannot be realized.
Summary of the invention
Object of the present invention is intended at least solve one of described technological deficiency.
For this reason, the object of the invention is to propose a kind of Smart Home service robot system based on Long-distance Control.
To achieve these goals, it is a kind of based on remote control intelligent household service robot system that embodiments of the invention provide, comprise: robot body, IP Camera, WiFi turns serial port module, main control module, ultrasound measurement module, infrared distance measurement module, nine-degree of freedom motion module and actuating unit, wherein, described IP Camera is installed on described robot body's top, for the environmental information in described robot body the place ahead is taken, and the video flowing of described environmental information and audio stream are sent to outside terminal device, the first instruction is analyzed and generated to described terminal device to described video flowing and audio stream, described WiFi turns serial port module and is connected to described terminal device and described main control module, for being serial ports instruction by described the first instruction transformation, and is sent to described main control module, described ultrasound measurement module is installed on described robot body's leading flank top and is connected to described infrared distance measurement module, for detection of the barrier in described robot body's multiple directions and described robot body's distance, generates supersonic sounding information, described infrared distance measurement module is installed on described robot body's leading flank bottom and is connected to described nine-degree of freedom motion module, for detection of the barrier in described robot body the place ahead and described robot body's distance, generates infrared distance measurement information, described nine-degree of freedom motion module is connected to described main control module, for detection of the residing angle in described robot body dead ahead, generates angle information, described main control module, for described the first instruction receiving and described supersonic sounding information, infrared distance measurement information and angle information are carried out to comprehensive analysis processing to generate the second instruction, is sent to described actuating unit by described the second instruction, described actuating unit is carried out and is moved to carry out the control of automatic obstacle-avoiding and home appliance accordingly according to described the second instruction.
In one embodiment of the invention, also comprise: ARM flush bonding module, described ARM flush bonding module is installed on described robot body's surface, and on described ARM flush bonding module, touch-screen is installed, described ARM flush bonding module is used for receiving video flowing and the audio stream from described IP Camera, and provides web search and audio-video playing function by described touch-screen.
In yet another embodiment of the present invention, also comprise, ZigBee module, described ZigBee module is connected to described main control module and described terminal device, for the instruction sending according to described terminal device, by Zigbee protocol, to the home appliance and the security module that embed ZigBee node, send detection instruction, obtain the status information of described home appliance and security module, and described status information is sent to described main control module, described main control module is by analyzing described status information and in conjunction with described supersonic sounding information, infrared distance measurement information and angle information, control described actuating unit and carry out corresponding control action to control the state of described household electrical appliance and security module.
In another embodiment of the present invention, described actuating unit comprises: motion and driver module, wherein, described motion comprises: the first DC servo motor, the second DC servo motor and angle sheave, wherein, scrambler and the first driving wheel are installed in described the first DC servo motor, and are installed on the dead slot place in described robot body's left side, chassis; Scrambler and the second driving wheel are installed in described the second DC servo motor, and are installed on the dead slot place on described robot body's right side, chassis; Described angle sheave is installed on described robot body's chassis front end; Described driver module is connected with the second DC servo motor with described the first DC servo motor respectively, and is connected with described main control module by card extender.
In another embodiment of the present invention, described actuating unit also comprises: mechanical arm, described mechanical arm is connected to main control module, comprise: base, arm, paw, the third and fourth DC servo motor, wherein, described arm is installed on described base, described the 3rd DC servo motor is installed on described arm to drive described arm to move up and down, described the 4th DC servo motor is installed on described paw to drive described paw open and close movement, and described the third and fourth DC servo motor is connected to described main control module by card extender.
In one embodiment of the invention, described main control module communicates by IC bus IIC agreement and described ultrasound measurement module, described infrared distance measurement module and described nine-degree of freedom motion module.
In another embodiment of the present invention, described ultrasound measurement module detects described robot body's the barrier of the place ahead, left front and right front and described robot body's distance.
In another embodiment of the present invention, also comprise: voice module, described voice module is connected with main control module with described terminal device, for the user with described terminal device, carries out interactive voice, and sends warning message according to the instruction of described main control module.
In yet another embodiment of the present invention, described main control module, also for after described actuating unit execution, is sent to described terminal device by status information after execution.
In another embodiment of the present invention, described terminal device is mobile phone, panel computer or personal computer PC.
According to the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention, overcome traditional Smart Home based on static treatment family information, the deficiency that lacks real-time, mobility, a kind of high-intelligentization is provided, integrate technology of Internet of things, Video Supervision Technique, Robotics, there is high real-time and movability robot.The present invention is based on video monitoring, wireless senser, ultrasound wave location, Mobile Intelligent Robot distant control function and automatic inspection function, and can carry out regulation and control to indoor home appliance etc., the functions such as family's electric control easily, automatic obstacle-avoiding and safe antitheft are provided for family.In addition, the Smart Home service robot system based on Long-distance Control of the present invention can accessing external network, and communicate with external network, thereby realize the network multinomial function of enriching, such as: on-line search, online amusement etc., existing multi-functional household service.
The aspect that the present invention is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage accompanying drawing below combination obviously and is easily understood becoming the description of embodiment, wherein:
Fig. 1 is according to the principle of work schematic diagram of the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention;
Fig. 2 is the structural drawing of the Smart Home service robot system based on Long-distance Control according to an embodiment of the invention;
Fig. 3 is the PC terminal control interface schematic diagram according to the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention;
Fig. 4 controls interface schematic diagram according to the mobile terminal of the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention;
Fig. 5 is the principle of work schematic diagram of the Smart Home service robot system based on Long-distance Control in accordance with another embodiment of the present invention;
Fig. 6 is according to the hardware connection diagram of the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention;
Fig. 7 is according to the workflow diagram of the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Below by the embodiment being described with reference to the drawings, be exemplary, be intended to for explaining the present invention, and can not be interpreted as limitation of the present invention.
Fig. 1 is according to the principle of work schematic diagram of the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention.As can be seen from Figure 1, the Smart Home service robot system 100 based on Long-distance Control of the present invention can communicate with terminal device 200, cloud server 300 and home gateway 400.
Specifically, the Smart Home service robot system 100 based on Long-distance Control of the present invention can send to the environmental information collecting terminal device 200 and cloud server 300.Terminal device 200 can, by above-mentioned environmental information being analyzed to the corresponding steering order of rear generation, then send to steering order Smart Home service robot system 100.Cloud server 300 can be stored to the environmental information from Smart Home service robot system 100 with from the instruction of terminal device 200.Smart Home service robot system 100 completes corresponding control action according to the steering order of terminal device 200 and the environmental information collecting.In addition, Smart Home service robot system 100 can detect by the home appliance 500 of 400 pairs of access networks of home gateway and the state of security module 600, thereby grasps in real time the state of equipment in family.Wherein, home appliance 500 is such as being light fixture, air-conditioning equipment etc.
As shown in Figure 2, the Smart Home service robot system 100 based on Long-distance Control of the embodiment of the present invention, comprising: robot body 1, IP Camera 2, WiFi turn serial port module 3, main control module 4, ultrasound measurement module 5, infrared distance measurement module 6, nine-degree of freedom motion module 7 and actuating unit 8.
Particularly, IP Camera 2 is installed on robot body 1 top, for the environmental information in robot body 1 the place ahead is taken, and the video flowing of this environmental information and audio stream is sent to outside terminal device 200.The first instruction is analyzed and generated to 200 pairs of video flowings of terminal device and audio stream, and for example data acquisition instruction, for gathering robot body 1 the range information of barrier in the place ahead and angle information etc.In an example of the present invention, terminal device 200 is mobile phone, panel computer or personal computer PC.
First, IP Camera 2 and main control module 4 are all built-in with application program for mobile terminal, PC final drive program and application program, and driver and application program are supported WinXP, Win7 and Win8.PC end application design tool is VS2010.And main control module 4 comprises application program for mobile terminal support Android 2.3, Android 4.0, Android 4.1 and Android 4.2 simultaneously.Wherein, application program for mobile terminal design tool can adopt eclipse.
Because IP Camera 2 comprises application program for mobile terminal and PC end application, thereby can be connected to route by WiFi, send the video flowing of the environmental information collecting and audio stream information to mobile terminal or PC terminal, thereby mobile terminal or PC terminal can obtain robot the place ahead ranging information, keep away barrier information and angle information etc. to control the motion of intellect service robot system 100.By the application program in mobile terminal or PC terminal, to main control module 4, send the first instruction, with the control being realized actuating unit 8 by main control module 4, adjust service robot motion state.
Fig. 3 is the PC terminal control interface schematic diagram according to the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention.
As shown in Figure 3, user can be by this PC terminal control interface of operation, pace, astern speed, left-hand rotation speed and the right-hand rotation speed etc. of intellect service robot system 100 are set, and the above-mentioned result that arranges all sends to intellect service robot system 100 to carry out with the form of the first instruction.In addition, the relevant information of the sensor that user can also monitor by this PC terminal control interface real-time monitoring intelligent service robot system 100 of operation, left, middle, right ultrasonic wave number for example, the infrared value in the place ahead etc., and send instructions to intellect service robot system 100, control its execution and get it filled etc.
Fig. 4 controls interface schematic diagram according to the mobile terminal of the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention.
As shown in Figure 4, user can control interface by this mobile terminal of operation, Smart Home service robot system 100 is set and advances, left, to the right or retreat, carry out different types of medicine function such as get it filled, the above-mentioned result that arranges all sends to intellect service robot system 100 to carry out with the form of the first instruction.
WiFi turns serial port module 3 and is connected to terminal device 200 and main control module 4, for future self terminal equipment the first instruction transformation of 200 be serial ports instruction, and be sent to main control module 4.That is, WiFi turns serial port module 3 and resolves the first instruction that in PC computers or mobile terminal, application program sends and be converted to serial ports instruction and send main control module 4 to.
By PC terminal or mobile terminal, by route, to main control module 4, send data acquisition instruction, the first instruction.WiFi turns serial port module 3 and the first instruction is resolved to serial ports instruction sends main control module 4 to.Main control module 4 turns serial port module 3 by WiFi and sends instruction, sends to ultrasound measurement module 5, infrared distance measurement module 6, nine-degree of freedom motion module 7 to start image data.
Ultrasound measurement module 5 is installed on robot body 1 leading flank top and is connected to infrared distance measurement module 6, for detection of the distance between the barrier in robot body 1 multiple directions and robot body 1, generates supersonic sounding information.For example, ultrasound measurement module can detect robot body 1 the barrier of the place ahead, left front and right front and robot body 1 distance.Wherein, ultrasound measurement module 5 comprises power end, microprocessor, ultrasonic range finder sensor, charactron, ADC A/D conversion system etc.With reference to figure 6, ultrasound measurement module 5 communicates by IIC (Inter-Integrated Circuit, IC bus) agreement with main control module 4.
Infrared distance measurement module 6 is installed on robot body 1 leading flank bottom, and is connected to nine-degree of freedom motion module 7, for detection of the barrier in robot body 1 the place ahead and robot body 1 distance, generates infrared distance measurement information.With reference to figure 6, infrared distance measurement module 6 communicates by IIC agreement with main control module 4.Infrared distance measurement module 6 is connected to sensor control panel by interface board, and sensor control panel further accesses to master control borad by interface board, and main control module 4.
Nine-degree of freedom motion module 7 is connected to main control module 4, for detection of robot body 1 the residing angle in dead ahead, generates angle information.With reference to figure 6, nine-degree of freedom motion module 7 communicates by IIC agreement with main control module 4.It should be noted that, the master control borad in Fig. 6 is main control module 4.
Nine-degree of freedom motion module 7 accesses to master control borad by interface board.Wherein, nine-degree of freedom motion module 7 comprises power end, microprocessor, nine-degree of freedom sensor, charactron, ADC A/D conversion system etc., for detection of robot body's 1 residing angle in dead ahead.
In an example of the present invention, the microprocessor of ultrasound measurement module 5 and nine-degree of freedom motion module 7 is AtmelMega8 microprocessor.
Main control module 4, for the first instruction receiving and supersonic sounding information, infrared distance measurement information and angle information are carried out to comprehensive analysis processing to generate the second instruction, is sent to actuating unit 8 by the second instruction.Actuating unit 8 is carried out and is moved to carry out the control of automatic obstacle-avoiding and home appliance accordingly according to the second instruction.Wherein, main control module 4 comprises: microprocessor, EEPROM, timer, interrupt system, serial ports, AD/DA system, I/O port, power end, filtering circuit, drive chip, the formations such as 10P mouth, to the instruction receiving and ultrasound measurement module 5, state infrared distance measurement module 6, the data message that nine-degree of freedom motion module 7 detects carries out comprehensive analysis processing, send the second instruction to actuating unit 8, thereby control actuating unit 8 and complete one or multinomial work: for example: security protection detects, conveyance article, home entertaining, family's electric control, patient's condition monitoring, children education, safety inspection, autokinetic movement, line walking motion, voice reminder, WiFi communication, GPS location, Internet video, entrance guard management, intelligent security guard, administration of energy conservation, chronic diseases management etc.In an example of the present invention, the microprocessor of main control module 4 is AtmelMega128 microprocessor.
Actuating unit 8 comprises motion and driver module.Wherein, motion comprises: the first DC servo motor, the second DC servo motor and angle sheave.Scrambler and the first driving wheel are installed in the first DC servo motor, and are installed on the dead slot place in robot body 1 left side, chassis.Scrambler and the second driving wheel are installed in the second DC servo motor, and are installed on the dead slot place on robot body 1 right side, chassis.Angle sheave is installed on robot body 1 chassis front end.Driver module is connected with the second DC servo motor with the first DC servo motor respectively, and is connected with main control module 4 by card extender, for the action of actuation movement mechanism.Wherein, driver module comprises: the formations such as microprocessor, EEPROM, timer, interrupt system, serial ports, AD system, I/O port, power end, filtering circuit, driving chip, 5P mouth.For example, motion and driver module can, under the control of main control module 4, be realized autokinetic movement and line walking motion etc.
In one embodiment of the invention, actuating unit 8 further comprises: mechanical arm, wherein mechanical arm is connected to main control module 4.
Mechanical arm comprises base, arm, paw, the third and fourth DC servo motor.Wherein, arm is installed on base, the 3rd DC servo motor is installed on arm to drive described arm to move up and down, and the 4th DC servo motor is installed on paw to drive described paw open and close movement, and the third and fourth DC servo motor is connected to main control module 4 by card extender.For example, mechanical arm can be realized conveyance article at the control line of main control module 4, article is removed to B place from A etc.
The instruction of thinking old man's take temperature is below example, and the work of the Smart Home service robot system based on Long-distance Control of the present invention is described.
First, from Fig. 3 and Fig. 4, can find out, the first instruction that user sends by PC terminal or mobile terminal, is generally extra instruction, and command content is generally user and wishes the target of finally reaching, for example, for old man starts take temperature.Complete this instruction, need robot that thermometer is transported to old man.
First user sends above-mentioned the first instruction by PC terminal or mobile terminal, and the content of the first instruction is to be old man's take temperature.It is serial ports instruction by this first instruction transformation that WiFi turns serial port module 3, and sends to main control module 4.Main control module 4 receives after this serial ports instruction, and the requirement of knowing user is to be old man's take temperature, moves to old man and locates, and pass old man by thermometer by analyzing the known actuating unit 8 of need to controlling.Based on this, main control module 4 is according to above-mentioned serial ports instruction, and in conjunction with supersonic sounding information, infrared distance measurement information and angle information, judge old man's position and the position of the place ahead barrier, first the motion of controlling actuating unit moves to the deposit position of thermometer, by mechanical arm, takes out thermometer.And then move to old man's position, by thermometer, pass old man.Wherein, thermometer is owing to being conventional carrying article, so the deposit position of thermometer can be stored in main control module 4 by program in advance, main control module 4 is the deposit position to thermometer according to record move directly, takes out thermometer.
As shown in Figure 5, in one embodiment of the invention, Smart Home service robot system based on Long-distance Control of the present invention also comprises: ARM flush bonding module 9, wherein ARM flush bonding module 9 is installed on robot body 1 surface, and on ARM flush bonding module 9, touch-screen is installed.Wherein, the size of touch-screen can be 7 cun.
IP Camera 2 further can send the video flowing of environmental information and audio stream to ARM flush bonding module 9.Video flowing and audio stream that ARM flush bonding module 9 receives from IP Camera 2, and provide web search and audio-video playing function by touch-screen.
In one embodiment of the invention, ARM flush bonding module 9 comprises that microprocessor, storer, USB wireless network card are connected and is arranged on service robot top, receive video flowing and audio stream information that IP Camera 2 sends by route, also can carry out the functions such as internet searching, Entertainment, movie, broadcasting music simultaneously.Wherein, can to adopt model be the processor of Cotex-A8 to the microprocessor of ARM flush bonding module 9.
In yet another embodiment of the present invention, Smart Home service robot system based on Long-distance Control of the present invention also comprises: ZigBee module 10 is connected to main control module 4 by serial ports, for the instruction sending according to terminal device 200, by Zigbee protocol, to the home appliance and the security module that embed ZigBee node, send detection instruction, obtain the status information of home appliance and security module, and above-mentioned status information is sent to main control module 4.
Particularly, by PC terminal or mobile terminal, by route, to main control module 4, send data acquisition instruction, WiFi turns serial port module 3 and instruction is resolved to serial ports instruction sends main control module 4 to.Main control module 4 turns serial port module 3 by WiFi and sends instruction, sends to the ZigBee node in Smart Home to start image data.Be that the instruction that in terminal device 200, application program sends can make ZigBee module 10 control the household electrical appliance that embed ZigBee node, detect the status information of household electrical appliance and security module.For example, security module can comprise flame detection sensor, inflammable gas detecting sensor and ADC A/D conversion system etc.
Main control module 4 is by analyzing the status information of household electrical appliance and security module and in conjunction with supersonic sounding information, infrared distance measurement information and angle information, control actuating unit 8 and carry out corresponding control action, thereby control the state of household electrical appliance and security module.Family's electric control, security protection measuring ability carry out ZigBee networking by ZigBee module 10 and form, and wherein conveyance article, patient's condition monitoring, children education, security check function are completed by the PC end application of developing with C# or the application program for mobile terminal of being developed by eclipse respectively.
Further, the Smart Home service robot system based on Long-distance Control of the present invention also comprises: voice module 11, wherein voice module 11 is connected with main control module 4 with terminal device 200.Wherein, voice module 11 can comprise power end, loudspeaker, microprocessor and amplifying circuit etc., carries out exchange of speech, and send warning message according to the instruction of main control module 4 for the user with terminal device 200.
Further, main control module 4, also for after actuating unit 8 execution, sends to terminal device 200 by status information after execution, so that user grasps the working condition of Smart Home service robot system in time.
In addition, the Smart Home service robot system 100 of the embodiment of the present invention adopts Ni-MH battery to drive, and Ni-MH battery is connected with ARM flush bonding module 9 with main control module 4.Rear side lower part robot body 1 is provided with emission type optical-electric module.
Fig. 7 is according to the workflow diagram of the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention.
Step S11, environment information acquisition.
By PC terminal or mobile terminal, by route, to main control module 4, send data acquisition instruction, i.e. the first instruction.WiFi turns serial port module 3 and the first instruction is resolved to serial ports instruction sends main control module 4 to.Main control module 4 turns serial port module 3 by WiFi and sends instruction and start image data to the ZigBee node in ultrasound measurement module 5, infrared distance measurement module 5, nine-degree of freedom motion module 7 and Smart Home.
Step S12, environmental information transmission.
Ultrasound measurement module 5, infrared distance measurement module 6, nine-degree of freedom motion module 7 send data to main control module 4, and WiFi turns serial port module 3 these data are returned to ARM flush bonding module 9 and PC terminal or mobile terminal by route together with the data of ZigBee node collection in Smart Home and the video flowing of IP Camera 2.
Step S13, steering order is processed.
The instruction combining environmental information that 4 pairs of PC terminals of main control module or mobile terminal send is carried out analyzing and processing sending controling instruction to motion, voice module and mechanical arm, thereby makes Smart Home service robot system 100 carry out corresponding action.
Step S14, carries out steering order.
Motion, voice module and mechanical arm receive after the execution instruction of main control module 4, carry out security protection detection, send object, family's electric control and environmental information transmission etc., and the status information after instruction is carried out sends PC terminal or mobile terminal to.
According to the Smart Home service robot system based on Long-distance Control of the embodiment of the present invention, overcome traditional Smart Home based on static treatment family information, the deficiency that lacks real-time, mobility, a kind of high-intelligentization is provided, integrate technology of Internet of things, Video Supervision Technique, Robotics, there is high real-time and movability robot.The present invention is based on video monitoring, wireless senser, ultrasound wave location, Mobile Intelligent Robot distant control function and automatic inspection function, and can carry out regulation and control to indoor home appliance etc., the functions such as family's electric control easily, automatic obstacle-avoiding and safe antitheft are provided for family.In addition, the Smart Home service robot system based on Long-distance Control of the present invention can accessing external network, and communicate with external network, thereby realize the network multinomial function of enriching, such as: on-line search, online amusement etc., existing multi-functional household service.
In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be included at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And the specific features of description, structure, material or feature can be with suitable mode combinations in any one or more embodiment or example.
Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention in the situation that not departing from principle of the present invention and aim, modification, replacement and modification.Scope of the present invention is extremely equal to and limits by claims.
Claims (10)
1. the Smart Home service robot system based on Long-distance Control, it is characterized in that, comprise: robot body, IP Camera, WiFi turn serial port module, main control module, ultrasound measurement module, infrared distance measurement module, nine-degree of freedom motion module and actuating unit, wherein
Described IP Camera is installed on described robot body's top, for the environmental information in described robot body the place ahead is taken, and the video flowing of described environmental information and audio stream are sent to outside terminal device, the first instruction is analyzed and generated to described terminal device to described video flowing and audio stream;
Described WiFi turns serial port module and is connected to described terminal device and described main control module, for being serial ports instruction by described the first instruction transformation, and is sent to described main control module;
Described ultrasound measurement module is installed on described robot body's leading flank top and is connected to described infrared distance measurement module, for detection of the barrier in described robot body's multiple directions and described robot body's distance, generates supersonic sounding information;
Described infrared distance measurement module is installed on described robot body's leading flank bottom and is connected to described nine-degree of freedom motion module, for detection of the barrier in described robot body the place ahead and described robot body's distance, generates infrared distance measurement information;
Described nine-degree of freedom motion module is connected to described main control module, for detection of the residing angle in described robot body dead ahead, generates angle information;
Described main control module, for described the first instruction receiving and described supersonic sounding information, infrared distance measurement information and angle information are carried out to comprehensive analysis processing to generate the second instruction, is sent to described actuating unit by described the second instruction;
Described actuating unit is carried out and is moved to carry out the control of automatic obstacle-avoiding and home appliance accordingly according to described the second instruction.
2. the Smart Home service robot system based on Long-distance Control as claimed in claim 1, it is characterized in that, also comprise: ARM flush bonding module, described ARM flush bonding module is installed on described robot body's surface, and on described ARM flush bonding module, touch-screen is installed, for receiving video flowing and the audio stream from described IP Camera, and provide web search and audio-video playing function by described touch-screen.
3. the Smart Home service robot system based on Long-distance Control as claimed in claim 1, it is characterized in that, also comprise, ZigBee module, described ZigBee module is connected to described main control module and described terminal device, for the instruction sending according to described terminal device, by Zigbee protocol, to the home appliance and the security module that embed ZigBee node, send detection instruction, obtain the status information of described home appliance and security module, and described status information is sent to described main control module
Described main control module is by analyzing described status information and in conjunction with described supersonic sounding information, infrared distance measurement information and angle information, controlling described actuating unit and carry out corresponding control action to control the state of described household electrical appliance and security module.
4. the Smart Home service robot system based on Long-distance Control as claimed in claim 1, is characterized in that, described actuating unit comprises: motion and driver module, wherein,
Described motion comprises: the first DC servo motor, the second DC servo motor and angle sheave, wherein, be provided with scrambler and the first driving wheel, and be installed on the dead slot place in described robot body's left side, chassis in described the first DC servo motor; Scrambler and the second driving wheel are installed in described the second DC servo motor, and are installed on the dead slot place on described robot body's right side, chassis; Described angle sheave is installed on described robot body's chassis front end;
Described driver module is connected with the second DC servo motor with described the first DC servo motor respectively, and is connected with described main control module by card extender.
5. the Smart Home service robot system based on Long-distance Control as claimed in claim 4, it is characterized in that, described actuating unit also comprises: mechanical arm, and described mechanical arm is connected to main control module, comprise: base, arm, paw, the third and fourth DC servo motor
Wherein, described arm is installed on described base, described the 3rd DC servo motor is installed on described arm to drive described arm to move up and down, described the 4th DC servo motor is installed on described paw to drive described paw open and close movement, and described the third and fourth DC servo motor is connected to described main control module by card extender.
6. the Smart Home service robot system based on Long-distance Control as claimed in claim 1, it is characterized in that, described main control module communicates by IC bus IIC agreement and described ultrasound measurement module, described infrared distance measurement module and described nine-degree of freedom motion module.
7. the Smart Home service robot system based on Long-distance Control as claimed in claim 1, is characterized in that, described ultrasound measurement module detects described robot body's the barrier of the place ahead, left front and right front and described robot body's distance.
8. the Smart Home service robot system based on Long-distance Control as claimed in claim 1, it is characterized in that, also comprise: voice module, described voice module is connected with main control module with described terminal device, for carrying out interactive voice with the user of described terminal device, and send warning message according to the instruction of described main control module.
9. the Smart Home service robot system based on Long-distance Control as claimed in claim 1, is characterized in that, described main control module, also for after described actuating unit execution, is sent to described terminal device by status information after execution.
10. the Smart Home service robot system based on Long-distance Control as described in claim 1-9 any one, is characterized in that, described terminal device is mobile phone, panel computer or personal computer PC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410382285.XA CN104111655B (en) | 2014-08-06 | 2014-08-06 | A kind of smart home service robot system based on remote control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410382285.XA CN104111655B (en) | 2014-08-06 | 2014-08-06 | A kind of smart home service robot system based on remote control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104111655A true CN104111655A (en) | 2014-10-22 |
| CN104111655B CN104111655B (en) | 2017-12-05 |
Family
ID=51708483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410382285.XA Active CN104111655B (en) | 2014-08-06 | 2014-08-06 | A kind of smart home service robot system based on remote control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104111655B (en) |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503378A (en) * | 2014-11-05 | 2015-04-08 | 广州艾若博机器人科技有限公司 | Robot and household electrical appliance control method based on robot |
| CN105005305A (en) * | 2015-07-22 | 2015-10-28 | 上海思依暄机器人科技有限公司 | Controlled robot, remote control device, robot system and applicable method |
| CN105291114A (en) * | 2015-12-04 | 2016-02-03 | 北京建筑大学 | Home service type robot system based on mobile internet |
| CN105446162A (en) * | 2016-01-26 | 2016-03-30 | 北京进化者机器人科技有限公司 | Intelligent home system and intelligent home control method of robot |
| CN105522580A (en) * | 2015-09-28 | 2016-04-27 | 古伟东 | Remotely-controllable ground walking robot using wireless network signal with video |
| CN105611053A (en) * | 2015-12-23 | 2016-05-25 | 北京工业大学 | Mobile robot control system based on smart phone |
| CN105931440A (en) * | 2016-04-21 | 2016-09-07 | 奇弩（北京）科技有限公司 | Method for establishing connection between robot and remote controller |
| CN106094811A (en) * | 2015-04-27 | 2016-11-09 | 华中科技大学 | A kind of avoidance obstacle method of assistant robot man-machine interface based on multisensor |
| CN106113053A (en) * | 2016-07-01 | 2016-11-16 | 旗瀚科技有限公司 | A kind of robot of long-range control |
| CN106325282A (en) * | 2016-09-28 | 2017-01-11 | 中国人民解放军国防科学技术大学 | Comprehensive security and service method with intelligent robot |
| CN106354142A (en) * | 2016-10-27 | 2017-01-25 | 金建荣 | Intelligent transportation system based on Internet of Things and application |
| CN106406119A (en) * | 2016-11-15 | 2017-02-15 | 福州大学 | Service robot based on voice interaction, cloud technology and integrated intelligent home monitoring |
| CN106468917A (en) * | 2015-09-14 | 2017-03-01 | 北京理工大学 | A kind of tangible live real-time video image remotely assume exchange method and system |
| CN106647308A (en) * | 2016-12-30 | 2017-05-10 | 马鞍山佳鼎通信科技有限公司 | Smart home mobile phone control system |
| CN106950337A (en) * | 2017-03-31 | 2017-07-14 | 上海思依暄机器人科技股份有限公司 | A kind of robot and family's air detection system based on robot |
| CN106990719A (en) * | 2017-03-31 | 2017-07-28 | 戚峰 | Intelligent domestic system |
| CN106990782A (en) * | 2017-04-13 | 2017-07-28 | 合肥工业大学 | A kind of movable-type intelligent home control center |
| CN107622650A (en) * | 2016-07-15 | 2018-01-23 | 王勇 | Interactive voice wireless routing robot |
| WO2018027571A1 (en) * | 2016-08-09 | 2018-02-15 | 衣佳鑫 | Robot-based intelligent control method and system |
| CN107864078A (en) * | 2017-11-10 | 2018-03-30 | 刘永新 | The removable remote control household fixtures of one kind |
| CN107976999A (en) * | 2017-11-21 | 2018-05-01 | 深圳普思英察科技有限公司 | A kind of mobile robot and its avoidance and paths planning method and system |
| CN108240812A (en) * | 2017-12-31 | 2018-07-03 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of Navigation Sensor System based on Passive Positioning |
| CN108572647A (en) * | 2018-07-24 | 2018-09-25 | 南京阿凡达机器人科技有限公司 | A kind of smart home management method and management platform based on mobile robot |
| CN109031975A (en) * | 2018-09-14 | 2018-12-18 | 合肥梦龙电子科技有限公司 | A kind of smart home guard system |
| CN109421069A (en) * | 2017-08-25 | 2019-03-05 | 王亚明 | Robot system and its control method |
| CN109872723A (en) * | 2019-03-19 | 2019-06-11 | 深圳睿捷科技服务有限公司 | Building information processing method and device based on artificial intelligence |
| CN110134128A (en) * | 2019-05-24 | 2019-08-16 | 安徽扬远信息科技有限公司 | A kind of robot remote control control system |
| CN110151058A (en) * | 2018-02-12 | 2019-08-23 | 小管家智能芯片科技（上海）有限公司 | Smart home sweeping robot |
| CN110455283A (en) * | 2018-05-08 | 2019-11-15 | 信帧科技（北京）有限公司 | A kind of Indoor Robot intelligent guidance system and method |
| CN110620708A (en) * | 2018-06-20 | 2019-12-27 | 佛山市顺德区美的电热电器制造有限公司 | Control method and device of household appliance, household appliance and storage medium |
| CN110893616A (en) * | 2018-09-13 | 2020-03-20 | 上海智臻智能网络科技股份有限公司 | Remote control method and device, computer equipment and storage medium |
| CN112083724A (en) * | 2020-08-31 | 2020-12-15 | 南京凌华微电子科技有限公司 | Remote control system and method for service robot |
| CN112336535A (en) * | 2020-09-25 | 2021-02-09 | 台州学院 | Remote nursing vehicle for long-distance elders and application method thereof |
| CN113359716A (en) * | 2021-05-25 | 2021-09-07 | 深圳优地科技有限公司 | Remote control method and device for Internet of things equipment, robot and storage medium |
| CN113671882A (en) * | 2021-08-25 | 2021-11-19 | 李奎 | Remote robot control system based on Internet and control method thereof |
| CN113727065A (en) * | 2021-07-21 | 2021-11-30 | 上海原圈网络科技有限公司 | Video processing method between robots and robot system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6430471B1 (en) * | 1998-12-17 | 2002-08-06 | Minolta Co., Ltd. | Control system for controlling a mobile robot via communications line |
| KR20090012542A (en) * | 2007-07-30 | 2009-02-04 | 주식회사 마이크로로봇 | System for home monitoring using robot |
| CN101751038A (en) * | 2008-12-05 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Navigation control device of mobile robot |
| CN102819262A (en) * | 2011-06-09 | 2012-12-12 | 张殿礼 | Remote control domestic robot |
| CN202753159U (en) * | 2012-07-03 | 2013-02-27 | 李少逸 | Remote-control visual robot |
| CN103926912A (en) * | 2014-05-07 | 2014-07-16 | 桂林赛普电子科技有限公司 | Smart home monitoring system based on home service robot |
-
2014
- 2014-08-06 CN CN201410382285.XA patent/CN104111655B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6430471B1 (en) * | 1998-12-17 | 2002-08-06 | Minolta Co., Ltd. | Control system for controlling a mobile robot via communications line |
| KR20090012542A (en) * | 2007-07-30 | 2009-02-04 | 주식회사 마이크로로봇 | System for home monitoring using robot |
| CN101751038A (en) * | 2008-12-05 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Navigation control device of mobile robot |
| CN102819262A (en) * | 2011-06-09 | 2012-12-12 | 张殿礼 | Remote control domestic robot |
| CN202753159U (en) * | 2012-07-03 | 2013-02-27 | 李少逸 | Remote-control visual robot |
| CN103926912A (en) * | 2014-05-07 | 2014-07-16 | 桂林赛普电子科技有限公司 | Smart home monitoring system based on home service robot |
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503378B (en) * | 2014-11-05 | 2018-01-30 | 广州艾若博机器人科技有限公司 | A kind of robot and the method for controlling household electrical appliances based on the robot |
| CN104503378A (en) * | 2014-11-05 | 2015-04-08 | 广州艾若博机器人科技有限公司 | Robot and household electrical appliance control method based on robot |
| CN106094811A (en) * | 2015-04-27 | 2016-11-09 | 华中科技大学 | A kind of avoidance obstacle method of assistant robot man-machine interface based on multisensor |
| CN106094811B (en) * | 2015-04-27 | 2019-03-05 | 华中科技大学 | A kind of avoidance obstacle method of the assistant robot man-machine interface based on multisensor |
| CN105005305A (en) * | 2015-07-22 | 2015-10-28 | 上海思依暄机器人科技有限公司 | Controlled robot, remote control device, robot system and applicable method |
| CN106468917A (en) * | 2015-09-14 | 2017-03-01 | 北京理工大学 | A kind of tangible live real-time video image remotely assume exchange method and system |
| CN106468917B (en) * | 2015-09-14 | 2019-06-14 | 北京理工大学 | A kind of long-range presentation exchange method and system of tangible live real-time video image |
| CN105522580A (en) * | 2015-09-28 | 2016-04-27 | 古伟东 | Remotely-controllable ground walking robot using wireless network signal with video |
| CN105291114A (en) * | 2015-12-04 | 2016-02-03 | 北京建筑大学 | Home service type robot system based on mobile internet |
| CN105611053A (en) * | 2015-12-23 | 2016-05-25 | 北京工业大学 | Mobile robot control system based on smart phone |
| CN105446162A (en) * | 2016-01-26 | 2016-03-30 | 北京进化者机器人科技有限公司 | Intelligent home system and intelligent home control method of robot |
| CN105446162B (en) * | 2016-01-26 | 2018-11-20 | 北京进化者机器人科技有限公司 | A kind of intelligent home furnishing control method of smart home system and robot |
| CN105931440A (en) * | 2016-04-21 | 2016-09-07 | 奇弩（北京）科技有限公司 | Method for establishing connection between robot and remote controller |
| CN106113053A (en) * | 2016-07-01 | 2016-11-16 | 旗瀚科技有限公司 | A kind of robot of long-range control |
| CN107622650A (en) * | 2016-07-15 | 2018-01-23 | 王勇 | Interactive voice wireless routing robot |
| WO2018027571A1 (en) * | 2016-08-09 | 2018-02-15 | 衣佳鑫 | Robot-based intelligent control method and system |
| CN106325282A (en) * | 2016-09-28 | 2017-01-11 | 中国人民解放军国防科学技术大学 | Comprehensive security and service method with intelligent robot |
| CN106354142A (en) * | 2016-10-27 | 2017-01-25 | 金建荣 | Intelligent transportation system based on Internet of Things and application |
| CN106406119A (en) * | 2016-11-15 | 2017-02-15 | 福州大学 | Service robot based on voice interaction, cloud technology and integrated intelligent home monitoring |
| CN106406119B (en) * | 2016-11-15 | 2019-05-10 | 福州大学 | Service robot based on interactive voice, cloud and integrated intelligent Household monitor |
| CN106647308A (en) * | 2016-12-30 | 2017-05-10 | 马鞍山佳鼎通信科技有限公司 | Smart home mobile phone control system |
| CN106950337A (en) * | 2017-03-31 | 2017-07-14 | 上海思依暄机器人科技股份有限公司 | A kind of robot and family's air detection system based on robot |
| CN106990719A (en) * | 2017-03-31 | 2017-07-28 | 戚峰 | Intelligent domestic system |
| CN106990782A (en) * | 2017-04-13 | 2017-07-28 | 合肥工业大学 | A kind of movable-type intelligent home control center |
| CN109421069A (en) * | 2017-08-25 | 2019-03-05 | 王亚明 | Robot system and its control method |
| CN107864078A (en) * | 2017-11-10 | 2018-03-30 | 刘永新 | The removable remote control household fixtures of one kind |
| CN107976999B (en) * | 2017-11-21 | 2020-11-06 | 深圳市远弗科技有限公司 | Mobile robot and obstacle avoidance and path planning method and system thereof |
| CN107976999A (en) * | 2017-11-21 | 2018-05-01 | 深圳普思英察科技有限公司 | A kind of mobile robot and its avoidance and paths planning method and system |
| CN108240812A (en) * | 2017-12-31 | 2018-07-03 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of Navigation Sensor System based on Passive Positioning |
| CN110151058A (en) * | 2018-02-12 | 2019-08-23 | 小管家智能芯片科技（上海）有限公司 | Smart home sweeping robot |
| CN110455283A (en) * | 2018-05-08 | 2019-11-15 | 信帧科技（北京）有限公司 | A kind of Indoor Robot intelligent guidance system and method |
| CN110620708A (en) * | 2018-06-20 | 2019-12-27 | 佛山市顺德区美的电热电器制造有限公司 | Control method and device of household appliance, household appliance and storage medium |
| CN108572647A (en) * | 2018-07-24 | 2018-09-25 | 南京阿凡达机器人科技有限公司 | A kind of smart home management method and management platform based on mobile robot |
| CN110893616A (en) * | 2018-09-13 | 2020-03-20 | 上海智臻智能网络科技股份有限公司 | Remote control method and device, computer equipment and storage medium |
| CN109031975A (en) * | 2018-09-14 | 2018-12-18 | 合肥梦龙电子科技有限公司 | A kind of smart home guard system |
| CN109872723A (en) * | 2019-03-19 | 2019-06-11 | 深圳睿捷科技服务有限公司 | Building information processing method and device based on artificial intelligence |
| CN110134128A (en) * | 2019-05-24 | 2019-08-16 | 安徽扬远信息科技有限公司 | A kind of robot remote control control system |
| CN112083724A (en) * | 2020-08-31 | 2020-12-15 | 南京凌华微电子科技有限公司 | Remote control system and method for service robot |
| CN112336535A (en) * | 2020-09-25 | 2021-02-09 | 台州学院 | Remote nursing vehicle for long-distance elders and application method thereof |
| CN113359716A (en) * | 2021-05-25 | 2021-09-07 | 深圳优地科技有限公司 | Remote control method and device for Internet of things equipment, robot and storage medium |
| CN113727065A (en) * | 2021-07-21 | 2021-11-30 | 上海原圈网络科技有限公司 | Video processing method between robots and robot system |
| CN113727065B (en) * | 2021-07-21 | 2024-01-26 | 上海原圈网络科技有限公司 | Video processing method between robots and robot system |
| CN113671882A (en) * | 2021-08-25 | 2021-11-19 | 李奎 | Remote robot control system based on Internet and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104111655B (en) | 2017-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104111655A (en) | Remote control based smart home service robot system | |
| CN1331641C (en) | Security ensuring and patrolling robot | |
| CN106406119B (en) | Service robot based on interactive voice, cloud and integrated intelligent Household monitor | |
| CN103679203B (en) | Robot system and method for detecting human face and recognizing emotion | |
| CN106346487A (en) | Interactive VR sand table show robot | |
| JP2020502654A (en) | Human-machine hybrid decision-making method and apparatus | |
| CN108319204A (en) | Intelligent control method and system | |
| KR20190106891A (en) | Artificial intelligence monitoring device and operating method thereof | |
| CN108121333A (en) | Shopping guide robot | |
| CN104772748A (en) | Social robot | |
| JP6150429B2 (en) | Robot control system, robot, output control program, and output control method | |
| CN208629445U (en) | Autonomous introduction system platform robot | |
| CN109093633A (en) | A kind of detachable robot and its control method | |
| JP2010231359A (en) | Remote control device | |
| KR20160120841A (en) | Smart cleaning system and method using a cleaning robot | |
| KR20150097049A (en) | self-serving robot system using of natural UI | |
| US11443517B1 (en) | Video-based parking garage monitoring | |
| CN208228910U (en) | A kind of Household alarm sweeping robot being integrated with IPCamera | |
| US11074471B2 (en) | Assisted creation of video rules via scene analysis | |
| CN205942440U (en) | Intelligence business office robot | |
| CN205722545U (en) | A kind of teaching aid demonstrating Internet of Things composition and control principle | |
| KR20200030452A (en) | Artificial intelligence device and artificial intelligence system for caring air state of indoor | |
| US11295141B1 (en) | Security camera drone station detection | |
| US20230401854A1 (en) | Monitoring system rule generation | |
| Chen et al. | Design of elderly care system integrated with SLAM algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190828 Address after: 236600 High-end Medical Device Industrial Park A2 Building One Floor at the Intersection of Juyang Road and Pioneer Road, Taihe County Economic Development Zone, Fuyang City, Anhui Province (Declaration Commitment) Patentee after: Anhui Lezhi Robot Technology Co., Ltd. Address before: 518101 Incubation Building 611, Peach Blossom Source Science and Technology Innovation Park B, Xixiang Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN LEZHI ROBOT CO., LTD. |