CN104111655B - A kind of smart home service robot system based on remote control - Google Patents
A kind of smart home service robot system based on remote control Download PDFInfo
- Publication number
- CN104111655B CN104111655B CN201410382285.XA CN201410382285A CN104111655B CN 104111655 B CN104111655 B CN 104111655B CN 201410382285 A CN201410382285 A CN 201410382285A CN 104111655 B CN104111655 B CN 104111655B
- Authority
- CN
- China
- Prior art keywords
- module
- main control
- instruction
- robot body
- control module
- 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.)
- Active
Links
Abstract
The present invention proposes a kind of smart home service robot system based on remote control, including：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 performs device, and IP Camera is used to shoot the environmental information in front of robot body；WiFi turns serial port module and is used to the first instruction being converted to serial ports to instruct and send to main control module；Ultrasound measurement module is used to detect the barrier in the multiple directions of robot body and the distance of robot body；Nine-degree of freedom motion module is used to detect the angle residing for immediately ahead of robot body；Main control module is used to send the second instruction to performs device；Performs device performs corresponding action to carry out the control of automatic obstacle-avoiding and home appliance according to the second instruction.The present invention can be adjusted and control to indoor home appliance etc., and the easily function such as home wiring control, automatic obstacle-avoiding and safe antitheft is provided for family.
Description
Technical field
The present invention relates to field of intelligent control technology, more particularly to a kind of smart home server machine based on remote control
Device people's system.
Background technology
The fast development of internet has driven social progress and the improvement of people's living standards, as people are to itself household
The requirement more and more higher of environment, people are increasingly deep to smart home research, and the species of smart home Related product is also increasingly numerous
It is more, allow people gradually to experience the superior of smart home.Especially turn into the situation of research boom in global range at " Internet of Things "
Under, smart home will bring new opportunities and challenge as " Internet of Things " important application direction to the living environment of people.
But traditional smart home is mainly based upon static treatment family information, this mode lacks real-time and standard
True property, if want to nurse old man and child in the family, it is necessary in real time obtain family in personnel and equipment information, this
It is that traditional home equipment can not be realized.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
Therefore, it is an object of the invention to propose a kind of smart home service robot system based on remote control.
To achieve these goals, embodiments of the invention provide one kind and are based on remote control intelligent household service robot
System, including：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 performs device, wherein,
The IP Camera is installed on the top of the robot body, for the ring in front of the robot body
Environment information is shot, and the terminal device by the video flowing of the environmental information and audio streams to outside, the terminal
Equipment is analyzed the video flowing and audio stream and generates the first instruction；
The WiFi turns serial port module and is connected to the terminal device and the main control module, for described first to be instructed
Serial ports instruction is converted to, and is sent to the main control module；
The ultrasound measurement module is installed on the leading flank top of the robot body and is connected to the infrared distance measurement
Module, the distance of barrier in multiple directions and the robot body for detecting the robot body, generation are super
Sound ranging information；
The infrared distance measurement module is installed on the leading flank bottom of the robot body and is connected to the nine-degree of freedom
Motion module, for detecting the barrier in front of the robot body and the distance of the robot body, generate infrared survey
Away from information；
The nine-degree of freedom motion module is connected to the main control module, for detecting institute immediately ahead of the robot body
The angle at place, angle information is generated, wherein, the nine-degree of freedom motion module includes power end, microprocessor, nine-degree of freedom and passed
Sensor, charactron, ADC A/D conversion systems, for detecting the angle residing for robot body front；
The main control module is used to believe first instruction received and the supersonic sounding information, infrared distance measurement
Breath and angle information carry out comprehensive analysis processing to generate the second instruction, and the described second instruction is sent to the performs device,
Wherein, the main control module includes：Microprocessor, EEPROM, timer, interrupt system, serial ports, AD/DA systems, I/O ports,
Power end, filter circuit, driving chip, the instruction received and ultrasound measurement module, infrared distance measurement module, nine-degree of freedom are transported
The data message that dynamic model block detects carries out comprehensive analysis processing, sends second and instructs to performs device, dress is performed so as to control
Put and complete one or more work；
In addition, also include：ARM flush bonding modules, the ARM flush bonding modules are installed on the surface of the robot body
On, and touch-screen is installed on the ARM flush bonding modules, for receiving video flowing and sound from the IP Camera
Frequency flows, and provides web search and audio-video playing function by the touch-screen；
ZigBee module, the ZigBee module are connected to the main control module and the terminal device, for according to institute
The instruction of terminal device transmission is stated, inspection is sent to the home appliance and security module of embedded ZigBee node by Zigbee protocol
Instruction is surveyed, obtains the status information of the home appliance and security module, and the status information is sent to the master control mould
Block, the main control module is by being analyzed the status information and with reference to the supersonic sounding information, infrared distance measurement information
And angle information, control control action corresponding to the performs device execution to control the shape of the home appliance and security module
State；
The performs device according to the described second instruction performs corresponding action to carry out automatic obstacle-avoiding and home appliance
Control, the performs device include：Motion and drive module, wherein,
The motion includes：First DC servo motor, the second DC servo motor and directive wheel, wherein, it is described
Encoder and the first driving wheel are installed on the first DC servo motor, and are installed on the left of the chassis of the robot body
Dead slot at；Encoder and the second driving wheel are installed on second DC servo motor, and are installed on the robot
At dead slot on the right side of the chassis of main body；The directive wheel is installed on the chassis front end of the robot body；
The drive module is connected with first DC servo motor and the second DC servo motor respectively, and by turning
Fishplate bar is connected with the main control module, wherein, the drive module includes：Microprocessor, EEPROM, timer, interrupt system,
Serial ports, AD systems, I/O ports, power end, filter circuit, driving chip；
Wherein, the terminal device is PC terminals or mobile terminal,
The workflow of smart home service robot system based on remote control is as follows：
Step S11, environment information acquisition；
Data acquisition instructions are sent to main control module by route from PC terminals or mobile terminal, i.e., first instructs,
WiFi turn serial port module by first instruction be parsed into serial ports instruction send main control module to, main control module turns serial ports mould by WiFi
Block issues instructions to the ZigBee sections in ultrasound measurement module, infrared distance measurement module, nine-degree of freedom motion module and smart home
Point starts gathered data；
Step S12, environmental information transmission；
Ultrasound measurement module, infrared distance measurement module, nine-degree of freedom motion module transfer data to main control module, and WiFi turns
The data and the video flowing one of IP Camera that serial port module gathers the ZigBee node in these data and smart home
Rise by being routed back to ARM flush bonding modules and PC terminals or mobile terminal；
Step S13, control instruction processing；
The instruction combining environmental information that main control module is sent to PC terminals or mobile terminal is analyzed and processed and sent
Control instruction is to motion, voice module and manipulator, so that smart home service robot system performs accordingly
Action；
Step S14, perform control instruction；
After motion, voice module and manipulator receive the execute instruction of main control module, security protection detection, delivering are carried out
Object, home wiring control and environmental information transmission, will instruct the status information after performing to send PC terminals or mobile terminal to.
In yet another embodiment of the present invention, the performs device also includes：Manipulator, the manipulator are connected to master
Module is controlled, including：Base, arm, paw, the third and fourth DC servo motor, wherein, the arm is installed on the base
On, the 3rd DC servo motor is installed on the arm to drive the arm to move up and down, the 4th DC servo
Motor is installed on the paw to drive the paw open and close movement, and third and fourth DC servo motor passes through switching
Plate is connected to the main control module.
In one embodiment of the invention, the main control module passes through IC bus IIC agreements and the ultrasound
Range finder module, the infrared distance measurement module and the nine-degree of freedom motion module are communicated.
In another embodiment of the present invention, the ultrasound measurement module detects front, the left side of the robot body
The distance of the barrier and the robot body of front and right front.
In yet another embodiment of the present invention, in addition to：Voice module, the voice module and the terminal device and
Main control module is connected, for carrying out interactive voice with the user of the terminal device, and according to the instruction of the main control module
Alert.
In another embodiment of the present invention, the terminal device is mobile phone, tablet personal computer or personal computer PC.
Smart home service robot system based on remote control according to embodiments of the present invention, overcomes traditional intelligence
Household is based on static treatment family information, lacks real-time, the deficiency of mobility, there is provided a kind of high-intelligentization, collects Internet of Things
Network technology, Video Supervision Technique, robot technology have high real-time and mobility robot in one.The present invention is based on regarding
Frequency monitoring, wireless senser, ultrasonic wave positioning, Mobile Intelligent Robot distant control function and automatic inspection function, and can be to interior
Home appliance etc. is adjusted and controlled, and the easily function such as home wiring control, automatic obstacle-avoiding and safe antitheft is provided for family.This
Outside, the smart home service robot system of the invention based on remote control can be led to accessing external network with external network
Letter, so as to realize network multinomial abundant function, such as：On-line search, online amusement etc., existing multi-functional household service.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the operation principle of the smart home service robot system according to embodiments of the present invention based on remote control
Schematic diagram；
Fig. 2 is the structure of the smart home service robot system according to an embodiment of the invention based on remote control
Figure；
Fig. 3 is the PC terminal controls of the smart home service robot system according to embodiments of the present invention based on remote control
Interface schematic diagram processed；
Fig. 4 is the mobile terminal of the smart home service robot system according to embodiments of the present invention based on remote control
Control interface schematic diagram；
Fig. 5 is the work of the smart home service robot system in accordance with another embodiment of the present invention based on remote control
Make principle schematic；
Fig. 6 is the hardware connection of the smart home service robot system according to embodiments of the present invention based on remote control
Schematic diagram；
Fig. 7 is the workflow of the smart home service robot system according to embodiments of the present invention based on remote control
Figure.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Fig. 1 is the operation principle of the smart home service robot system according to embodiments of the present invention based on remote control
Schematic diagram.From figure 1 it appears that the smart home service robot system 100 based on remote control of the present invention can be with
Terminal device 200, cloud server 300 and home gateway 400 are communicated.
Specifically, the smart home service robot system 100 of the invention based on remote control will can collect
Environmental information be sent to terminal device 200 and cloud server 300.Terminal device 200 can be by above-mentioned environmental information
Corresponding control instruction is generated after being analyzed, control instruction is then sent to smart home service robot system 100.Cloud
Hold server 300 can be to the environmental information from smart home service robot system 100 and the finger from terminal device 200
Order is stored.Smart home service robot system 100 is believed according to the control instruction of terminal device 200 with the environment collected
Breath completes corresponding control action.In addition, smart home service robot system 100 can be by home gateway 400 to access
The home appliance 500 of network and the state of security module 600 are detected, so as to grasp the state of equipment in family in real time.Wherein,
Home appliance 500 is, for example, lighting apparatus, air-conditioning equipment etc..
As shown in Fig. 2 the smart home service robot system 100 based on remote control of the embodiment of the present invention, including：
Robot body 1, IP Camera 2, WiFi turn serial port module 3, main control module 4, ultrasound measurement module 5, infrared distance measurement module
6th, nine-degree of freedom motion module 7 and performs device 8.
Specifically, IP Camera 2 is installed on the top of robot body 1, for the environment to the front of robot body 1
Information is shot, and the terminal device 200 by the video flowing of the environmental information and audio streams to outside.Terminal device
200 pairs of video flowings and audio stream are analyzed and generate the first instruction, such as data acquisition instructions, for gathering robot body
Range information and angle information of the barrier in 1 front etc..The present invention an example in, terminal device 200 be mobile phone,
Tablet personal computer or personal computer PC.
First, IP Camera 2 and main control module 4 be built-in with application program for mobile terminal, PC final drives program and
Application program, driver and application program support WinXP, Win7 and Win8.PC end application design tools are
VS2010.Also, main control module 4 supports Android 2.3, Android 4.0, Android 4.1 and peace including application program for mobile terminal simultaneously
Zhuo 4.2.Wherein, application program for mobile terminal design tool can use eclipse.
Because IP Camera 2 includes application program for mobile terminal and PC end applications, so as to pass through
WiFi is connected to route, sends the video flowing of the environmental information collected and audio stream information to mobile terminal or PC is whole
End, so as to mobile terminal or PC terminals can obtain in front of robot ranging information, avoidance information and angle information etc. so as to
Control the motion of intellect service robot system 100.By the application program on mobile terminal or PC terminals to main control module 4
The first instruction is sent, to realize the control to performs device 8 by main control module 4, adjusts service robot motion state.
Fig. 3 is the PC terminal controls of the smart home service robot system according to embodiments of the present invention based on remote control
Interface schematic diagram processed.
As shown in figure 3, user can set intellect service robot system 100 by operating the PC terminal controls interface
Pace, astern speed, left-hand rotation speed and right-hand rotation speed etc., above-mentioned setting result is sent in the form of first instructs
Intellect service robot system 100 performs.In addition, user can also be by operating the PC terminal controls interface real-time monitoring intelligent
The relevant information for the sensor that service robot system 100 monitors, such as left, middle, right ultrasonic wave number, the infrared value in front etc.,
And send and instruct to intellect service robot system 100, control its execution to get it filled.
Fig. 4 is the mobile terminal of the smart home service robot system according to embodiments of the present invention based on remote control
Control interface schematic diagram.
As shown in figure 4, user can set smart home service robot system by operating the mobile terminal control interface
System 100 advances, to the left, to the right or retreat, perform and carry out the function such as get it filled to different types of medicine, above-mentioned setting result with
The form of first instruction is sent to intellect service robot system 100 and performed.
WiFi turns serial port module 3 and is connected to terminal device 200 and main control module 4, and for self terminal equipment in future 200
One instruction is converted to serial ports instruction, and sends to main control module 4.That is, WiFi turns serial port module 3 and parses PC computers or mobile whole
Application program is sent in end first, which instructs and be converted to serial ports instruction, sends main control module 4 to.
Data acquisition instructions, the first instruction are sent to main control module 4 by route from PC terminals or mobile terminal.WiFi
Turn serial port module 3 by first instruction be parsed into serial ports instruction send main control module 4 to.Main control module 4 turns serial ports mould by WiFi
Block 3 sends instruction, is sent to ultrasound measurement module 5, infrared distance measurement module 6, nine-degree of freedom motion module 7 and starts gathered data.
Ultrasound measurement module 5 is installed on the leading flank top of robot body 1 and is connected to infrared distance measurement module 6, is used for
The distance between barrier and robot body 1 in the multiple directions of robot body 1 is detected, generates supersonic sounding information.
For example, ultrasound measurement module can detect the front of robot body 1, the barrier of left front and right front and robot body
1 distance.Wherein, ultrasound measurement module 5 includes power end, microprocessor, ultrasonic range finder sensor, charactron, ADC moduluses turn
Change system etc..With reference to figure 6, ultrasound measurement module 5 passes through IIC (Inter-Integrated Circuit, collection with main control module 4
Into circuit bus) agreement communicated.
Infrared distance measurement module 6 is installed on the leading flank bottom of robot body 1, and is connected to nine-degree of freedom motion module
7, for detecting the barrier and the distance of robot body 1 in the front of robot body 1, generate infrared distance measurement information.Reference chart
6, infrared distance measurement module 6 is communicated with main control module 4 by IIC agreements.Infrared distance measurement module 6 is connected to biography by interface board
Sensor control panel, sensor control panel further access to master control borad, i.e. main control module 4 by interface board.
Nine-degree of freedom motion module 7 is connected to main control module 4, for detecting the angle residing for the front of robot body 1
Degree, generate angle information.With reference to figure 6, nine-degree of freedom motion module 7 is communicated with main control module 4 by IIC agreements.Need
Illustrate, 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 includes electricity
Source, microprocessor, nine-degree of freedom sensor, charactron, ADC A/D conversion systems etc., before detecting robot body 1 just
Angle residing for side.
In the example of the present invention, the microprocessor of ultrasound measurement module 5 and nine-degree of freedom motion module 7 is
AtmelMega8 microprocessors.
Main control module 4 is used to believe the first instruction received and supersonic sounding information, infrared distance measurement information and angle
Breath carries out comprehensive analysis processing to generate the second instruction, and the second instruction is sent to performs device 8.Performs device 8 is according to second
Instruction performs corresponding action to carry out the control of automatic obstacle-avoiding and home appliance.Wherein, main control module 4 includes：Microprocessor,
EEPROM, timer, interrupt system, serial ports, AD/DA systems, I/O ports, power end, filter circuit, driving chip, 10P mouths
Deng form, to the instruction received and ultrasound measurement module 5, state infrared distance measurement module 6, nine-degree of freedom motion module 7 detects
Data message carry out comprehensive analysis processing, send and second instruct to performs device 8, so as to control performs device 8 to complete one
Or multinomial work：Such as：Security protection detection, transport article, home entertaining, home wiring 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 the example of the present invention, the microprocessor of main control module 4 is micro- for AtmelMega128
Processor.
Performs device 8 includes motion and drive module.Wherein, motion includes：First DC servo motor,
Two DC servo motors and directive wheel.Encoder and the first driving wheel are installed on the first DC servo motor, and are installed on
At dead slot on the left of the chassis of robot body 1.Encoder and the second driving wheel are installed on the second DC servo motor, and
It is installed at the dead slot on the right side of the chassis of robot body 1.Directive wheel is installed on the chassis front end of robot body 1.Drive mould
Block is connected with the first DC servo motor and the second DC servo motor respectively, and is connected by pinboard with main control module 4, uses
In the action of powered motion mechanism.Wherein, drive module includes：Microprocessor, EEPROM, timer, interrupt system, serial ports,
AD systems, I/O ports, power end, filter circuit, driving chip, 5P mouths etc. are formed.For example, motion and drive module can
Under the control of main control module 4, to realize autokinetic movement and line walking motion etc..
In one embodiment of the invention, performs device 8 further comprises：Manipulator, wherein manipulator are connected to master
Control module 4.
Manipulator includes base, arm, paw, the third and fourth DC servo motor.Wherein, arm is installed on base
On, the 3rd DC servo motor is installed on arm to drive the arm to move up and down, and the 4th DC servo motor is installed on hand
To drive the paw open and close movement on pawl, the third and fourth DC servo motor is connected to main control module 4 by pinboard.Example
Such as, manipulator can realize conveyance article in the control line of main control module 4, article is removed to B at A etc..
Exemplified by thinking the instruction that old man measures body temperature below, to the smart home server based on remote control of the present invention
The work of device people's system illustrates.
First, the first instruction that user is sent by PC terminals or mobile terminal is can be seen that from Fig. 3 and Fig. 4, generally
For extra instruction, i.e. command content is usually the target that user wishes to finally achieve, and for example, old man starts to measure body temperature.Complete
This instruction is, it is necessary to which thermometer is shipped for old man by robot.
User sends above-mentioned first instruction by PC terminals or mobile terminal first, and the content of the first instruction is surveyed for old man
Take temperature.WiFi turns serial port module 3 and first instruction is converted into serial ports instruction, and is sent to main control module 4.Main control module 4
After receiving serial ports instruction, the requirement for knowing user is to measure body temperature for old man, understands to need control to perform dress by analysis
Put 8 to move at old man, and pass thermometer to old man.Based on this, main control module 4 instructs according to above-mentioned serial ports, and combines super
Sound ranging information, infrared distance measurement information and angle information, judge that the position of old man and the position of front obstacle, control are held
The motion that luggage is put is moved to the deposit position of thermometer first, and thermometer is taken out by manipulator.Then it is moved to again old
The position of people, pass thermometer to old man.Wherein, thermometer to be conventional due to carrying article, so the deposit position of thermometer
Can be beforehand through program storage in main control module 4, main control module 4 can directly be moved to the storage of thermometer according to record
Position, take out thermometer.
As shown in figure 5, in one embodiment of the invention, the smart home server of the invention based on remote control
Device people's system also includes：ARM flush bonding modules 9, wherein ARM flush bonding modules 9 are installed on the surface of robot body 1, and
And touch-screen is installed on ARM flush bonding modules 9.Wherein, the size of touch-screen can be 7 cun.
IP Camera 2 can further send the video flowing of environmental information and audio stream to ARM flush bonding modules 9.
ARM flush bonding modules 9 receive video flowing and audio stream from IP Camera 2, and by touch-screen provide web search and
Audio-video playing function.
In one embodiment of the invention, ARM flush bonding modules 9 include microprocessor, memory, USB wireless network cards
It is connected and is arranged on service robot top, receives IP Camera 2 by routeing the video flowing sent and audio stream information, together
When can also carry out internet searching, Entertainment, play film, play the function such as music.Wherein, ARM flush bonding modules 9 is micro-
Processor can use model Cotex-A8 processor.
In yet another embodiment of the present invention, the smart home service robot system of the invention based on remote control
Also include：ZigBee module 10 is connected to main control module 4 by serial ports, for the instruction sent according to terminal device 200, passes through
Zigbee protocol sends home appliance from detection instruction to embedded ZigBee node and security module, obtains home appliance and security protection
The status information of module, and above-mentioned status information is sent to main control module 4.
Specifically, data acquisition instructions are sent to main control module 4 by route from PC terminals or mobile terminal, WiFi turns
Instruction is parsed into serial ports instruction and sends main control module 4 to by serial port module 3.Main control module 4 turns serial port module 3 by WiFi and sent
Instruction, the ZigBee node being sent in smart home start gathered data.The finger that application program is sent i.e. in terminal device 200
Order can make the household electrical appliance of the embedded ZigBee node of the control of ZigBee module 10, detect the state of household electrical appliance and security module
Information.For example, security module can include flame detection sensor, fuel gas detection sensor and ADC A/D conversion systems
Deng.
Main control module 4 is believed by being analyzed the status information of household electrical appliance and security module and being combined supersonic sounding
Breath, infrared distance measurement information and angle information, control performs device 8 perform corresponding control action, so as to control household electrical appliance and
The state of security module.Home wiring control, security protection detection function carry out ZigBee networkings by ZigBee module 10 and formed, wherein transporting
Article, patient's condition monitoring, children education, security check function respectively by the PC end applications developed with C# or by
The application program for mobile terminal of eclipse exploitations is completed.
Further, the smart home service robot system of the invention based on remote control also includes：Voice module 11,
Wherein voice module 11 is connected with terminal device 200 and main control module 4.Wherein, voice module 11 can include power end, loudspeaker
, microprocessor and amplifying circuit etc., for carrying out exchange of speech with the user of terminal device 200, and according to master control mould
The instruction alert of block 4.
Further, main control module 4 is additionally operable to after the execution of performs device 8, and status information after execution is sent into end
End equipment 200, in order to which 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 is driven using Ni-MH battery, Ni-MH battery
It is connected with main control module 4 and ARM flush bonding modules 9.The back lower of robot body 1 is provided with emission type optical-electric module.
Fig. 7 is the workflow of the smart home service robot system according to embodiments of the present invention based on remote control
Figure.
Step S11, environment information acquisition.
Data acquisition instructions, i.e., the first instruction are sent to main control module 4 by route from PC terminals or mobile terminal.
WiFi turn serial port module 3 by first instruction be parsed into serial ports instruction send main control module 4 to.Main control module 4 turns string by WiFi
Mouth mold block 3 is issued instructions in ultrasound measurement module 5, infrared distance measurement module 5, nine-degree of freedom motion module 7 and smart home
ZigBee node starts gathered data.
Step S12, environmental information transmission.
Ultrasound measurement module 5, infrared distance measurement module 6, nine-degree of freedom motion module 7 transfer data to main control module 4,
WiFi turns data and the IP Camera 2 that serial port module 3 gathers the ZigBee node in these data and smart home
Video flowing is together by being routed back to ARM flush bonding modules 9 and PC terminals or mobile terminal.
Step S13, control instruction processing.
The instruction combining environmental information that main control module 4 is sent to PC terminals or mobile terminal is analyzed and processed and sent
Control instruction is to motion, voice module and manipulator, so that smart home service robot system 100 performs accordingly
Action.
Step S14, perform control instruction.
After motion, voice module and manipulator receive the execute instruction of main control module 4, carry out security protection detection, pass
Object, home wiring control and environmental information transmission etc. are sent, the status information after performing will be instructed to send PC terminals or mobile whole to
End.
Smart home service robot system based on remote control according to embodiments of the present invention, overcomes traditional intelligence
Household is based on static treatment family information, lacks real-time, the deficiency of mobility, there is provided a kind of high-intelligentization, collects Internet of Things
Network technology, Video Supervision Technique, robot technology have high real-time and mobility robot in one.The present invention is based on regarding
Frequency monitoring, wireless senser, ultrasonic wave positioning, Mobile Intelligent Robot distant control function and automatic inspection function, and can be to interior
Home appliance etc. is adjusted and controlled, and the easily function such as home wiring control, automatic obstacle-avoiding and safe antitheft is provided for family.This
Outside, the smart home service robot system of the invention based on remote control can be led to accessing external network with external network
Letter, so as to realize network multinomial abundant function, such as：On-line search, online amusement etc., existing multi-functional household service.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is included at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
Extremely equally limited by appended claims.
Claims (6)
- A kind of 1. smart home service robot system based on remote control, it is characterised in that including：Robot body, net Network camera, WiFi turn serial port module, main control module, ultrasound measurement module, infrared distance measurement module, nine-degree of freedom motion module and Performs device, wherein,The IP Camera is installed on the top of the robot body, for believing the environment in front of the robot body Breath is shot, and the terminal device by the video flowing of the environmental information and audio streams to outside, the terminal device The video flowing and audio stream are analyzed and generate the first instruction；The WiFi turns serial port module and is connected to the terminal device and the main control module, for the described first instruction to be changed Instruct, and sent to the main control module for serial ports；The ultrasound measurement module is installed on the leading flank top of the robot body and is connected to the infrared distance measurement module, The distance of barrier in multiple directions and the robot body for detecting the robot body, generates supersonic sounding Information；The infrared distance measurement module is installed on the leading flank bottom of the robot body and is connected to the nine-degree of freedom motion Module, for detecting the barrier in front of the robot body and the distance of the robot body, generation infrared distance measurement letter Breath；The nine-degree of freedom motion module is connected to the main control module, residing for detecting immediately ahead of the robot body Angle, angle information is generated, wherein, the nine-degree of freedom motion module includes power end, microprocessor, nine-degree of freedom sensing Device, charactron, ADC A/D conversion systems, for detecting the angle residing for robot body front；The main control module be used for receive it is described first instruction and the supersonic sounding information, infrared distance measurement information and Angle information carries out comprehensive analysis processing to generate the second instruction, and the described second instruction is sent to the performs device, wherein, The main control module includes：Microprocessor, EEPROM, timer, interruption system, serial ports, AD/DA systems, I/O ports, power supply End, filter circuit, driving chip, mould is moved to the instruction received and ultrasound measurement module, infrared distance measurement module, nine-degree of freedom The data message that block detects carries out comprehensive analysis processing, sends second and instructs to performs device, so as to control performs device complete Worked into one or more；In addition, also include：ARM flush bonding modules, the ARM flush bonding modules are installed on the surface of the robot body, And touch-screen is installed on the ARM flush bonding modules, for receiving video flowing and audio from the IP Camera Stream, and provide web search and audio-video playing function by the touch-screen；ZigBee module, the ZigBee module are connected to the main control module and the terminal device, for according to the end The instruction that end equipment is sent, detection is sent to the home appliance and security module of embedded ZigBee node by Zigbee protocol and referred to Order, obtains the status information of the home appliance and security module, and the status information is sent to the main control module, institute Main control module is stated by being analyzed the status information and with reference to the supersonic sounding information, infrared distance measurement information and angle Information, control action corresponding to the performs device execution is controlled to control the state of the home appliance and security module；The performs device is performed according to the described second instruction and acted accordingly to carry out the control of automatic obstacle-avoiding and home appliance, The performs device includes：Motion and drive module, wherein,The motion includes：First DC servo motor, the second DC servo motor and directive wheel, wherein, described first Encoder and the first driving wheel are installed on DC servo motor, and are installed on the sky on the left of the chassis of the robot body At groove；Encoder and the second driving wheel are installed on second DC servo motor, and are installed on the robot body Chassis on the right side of dead slot at；The directive wheel is installed on the chassis front end of the robot body；The drive module is connected with first DC servo motor and the second DC servo motor respectively, and passes through pinboard It is connected with the main control module, wherein, the drive module includes：Microprocessor, EEPROM, timer, interruption system, string Mouth, AD systems, I/O ports, power end, filter circuit, driving chip；Wherein, the terminal device is PC terminals or mobile terminal,The workflow of smart home service robot system based on remote control is as follows：Step S11, environment information acquisition；Data acquisition instructions, i.e., the first instruction are sent to main control module by route from PC terminals or mobile terminal, WiFi turns First instruction is parsed into serial ports instruction and sends main control module to by serial port module, and main control module turns serial port module by WiFi and sent Instruct and start to the ZigBee node in ultrasound measurement module, infrared distance measurement module, nine-degree of freedom motion module and smart home Gathered data；Step S12, environmental information transmission；Ultrasound measurement module, infrared distance measurement module, nine-degree of freedom motion module transfer data to main control module, and WiFi turns serial ports The data and the video flowing of IP Camera that module gathers the ZigBee node in these data and smart home are led to together Cross route and return to ARM flush bonding modules and PC terminals or mobile terminal；Step S13, control instruction processing；The instruction combining environmental information that main control module is sent to PC terminals or mobile terminal is analyzed and processed and sends control Instruct to motion, voice module and manipulator, so that smart home service robot system performs corresponding action；Step S14, perform control instruction；After motion, voice module and manipulator receive the execute instruction of main control module, security protection detection, delivering thing are carried out Body, home wiring control and environmental information transmission, will instruct the status information after performing to send PC terminals or mobile terminal to.
- 2. the smart home service robot system based on remote control as claimed in claim 1, it is characterised in that described to hold Luggage, which is put, also to be included：Manipulator, the manipulator are connected to main control module, including：It is base, arm, paw, third and fourth straight Flow servo motor,Wherein, the arm is installed on the base, and the 3rd DC servo motor is installed on the arm to drive Arm up and down motion is stated, the 4th DC servo motor is installed on the paw to drive the paw open and close movement, institute State the third and fourth DC servo motor and the main control module is connected to by pinboard.
- 3. the smart home service robot system based on remote control as claimed in claim 1, it is characterised in that the master control Module passes through IC bus IIC agreements and the ultrasound measurement module, the infrared distance measurement module and the nine-degree of freedom Motion module is communicated.
- 4. the smart home service robot system based on remote control as claimed in claim 1, it is characterised in that described super Sound ranging module detect the front of the robot body, the barrier of left front and right front and the robot body away from From.
- 5. the smart home service robot system based on remote control as claimed in claim 1, it is characterised in that also wrap Include：Voice module, the voice module are connected with the terminal device and main control module, for the use with the terminal device Person carries out interactive voice, and according to the instruction alert of the main control module.
- 6. the smart home service robot system based on remote control as described in claim any one of 1-5, its feature exist In the terminal device is mobile phone, tablet personal 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 CN104111655A (en) | 2014-10-22 |
| CN104111655B true 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) |
Families Citing this family (36)
| 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 |
| CN105045259B (en) * | 2015-04-27 | 2016-04-13 | 华中科技大学 | A kind of assistant robot man-machine interface based on multisensor and avoidance obstacle method thereof |
| CN105005305B (en) * | 2015-07-22 | 2018-07-31 | 上海思依暄机器人科技股份有限公司 | Controlled machine people, remote control equipment, robot system and the method being applicable in |
| 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 |
| 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 |
| 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 |
| 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 |
| CN110893616B (en) * | 2018-09-13 | 2021-01-15 | 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 |
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3980205B2 (en) * | 1998-12-17 | 2007-09-26 | コニカミノルタホールディングス株式会社 | Work robot |
| KR20090012542A (en) * | 2007-07-30 | 2009-02-04 | 주식회사 마이크로로봇 | System for home monitoring using robot |
| CN101751038B (en) * | 2008-12-05 | 2011-10-26 | 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 |
| CN103926912B (en) * | 2014-05-07 | 2016-07-06 | 桂林赛普电子科技有限公司 | A kind of intelligent family monitoring system based on home-services robot |
-
2014
- 2014-08-06 CN CN201410382285.XA patent/CN104111655B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104111655A (en) | 2014-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104111655B (en) | A kind of smart home service robot system based on remote control | |
| CN1331641C (en) | Security ensuring and patrolling robot | |
| Abdalla et al. | Implementation of spy robot for a surveillance system using Internet protocol of Raspberry Pi | |
| CN104772748B (en) | A kind of social robot | |
| CN106896767A (en) | One kind can Xie Dai formulas robot | |
| CN113116224B (en) | Robot and control method thereof | |
| CN105807776A (en) | Machine room unmanned inspection robot | |
| CN107962573A (en) | Accompany humanoid robot and robot control method | |
| CN106647745A (en) | Hospital guide robot autonomous navigation system and method based on Bluetooth positioning | |
| CN109901539A (en) | A kind of man-machine interactive system and its control method applied to smart home | |
| CN107038844A (en) | One kind nurse robot | |
| JP6150429B2 (en) | Robot control system, robot, output control program, and output control method | |
| JP6950192B2 (en) | Information processing equipment, information processing systems and programs | |
| CN107818705A (en) | The early education robot system and operation method of Multi-sensor Fusion | |
| CN107065673A (en) | A kind of warmhouse booth ambient intelligence monitoring system based on robot | |
| CN202825840U (en) | Visual robot under the condition of wireless network | |
| CN205817879U (en) | A kind of Smart Home moves robot | |
| CN204183559U (en) | A kind of welcome's supervisory-controlled robot | |
| CN205722545U (en) | A kind of teaching aid demonstrating Internet of Things composition and control principle | |
| CN102880180A (en) | LabVIEW Robotics-based visual remote robot | |
| CN110989382A (en) | Multifunctional cloud service home robot | |
| CN205721358U (en) | Robot and control system thereof | |
| CN109088802A (en) | A kind of speech recognition household robot based on Android control platform | |
| US11550276B1 (en) | Activity classification based on multi-sensor input | |
| Bedi et al. | Home security surveillance system using multi–robot system |
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 |
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. |
|
| TR01 | Transfer of patent right |