CN104589345A - Robot capable of acting freely in public place and system - Google Patents
Robot capable of acting freely in public place and system Download PDFInfo
- Publication number
- CN104589345A CN104589345A CN201410718125.8A CN201410718125A CN104589345A CN 104589345 A CN104589345 A CN 104589345A CN 201410718125 A CN201410718125 A CN 201410718125A CN 104589345 A CN104589345 A CN 104589345A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- information
- external smart
- wireless communication
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
Abstract
The invention discloses a robot capable of acting freely in a public place. The robot comprises a wireless communication module, a positioning module, a navigation module, an advancing module, a gravity center balancing module and an MCU module. The wireless communication module communicates with an external intelligent device to transmit information and commands, and the information includes the position of the external intelligent device. The positioning module determines the position of the robot. The navigation module generates a navigation path according to the position of the robot and the position of the external intelligent device. The advancing device drives the robot to move towards the external intelligent device according to the navigation path. The gravity center balancing module adjusts the center of gravity of the robot in the moving process of the robot. The MCU module coordinates all the modules of the whole robot to work. The invention further discloses a robot system. By means of the technical scheme, the robot can be made to act freely in the public place, and the intelligent level of the robot is increased.
Description
Technical field
The present invention relates to field of intelligent control technology, particularly relating to a kind of public place can loose-jointed robot and system.
Background technology
Robot is a kind of machinery equipment automatically performing task.Along with the development of science and technology, the life of robot and people is closely bound up all the more, and simultaneously robot also can be more and more intelligent, will there will be equally with the mankind to take elevator, takes the application scenarios such as bus, subway.And in traditional technology, one in public places can loose-jointed robot.
Summary of the invention
Based on this, be necessary to provide a kind of public place can loose-jointed robot and system, application technical solution of the present invention, can make robot act on one's own in public places, improves the intelligent level of robot.
A kind of public place can loose-jointed robot, comprising:
Carry out with external smart equipment the wireless communication module that communicates with transmission of information and instruction, described packets of information is containing the position of external smart equipment;
Determine the locating module of robot self-position;
The navigation module of guidance path is generated according to robot self-position and external smart device location;
Driven machine people is according to the moving device of described guidance path to described external smart equipment moving;
The gravity balance module of robot center of gravity is adjusted in robot moving process; And
Coordinate the MCU module that each module of whole robot carries out work.
In one embodiment, described locating module at least comprises satellite positioning device; Described positioner also comprises infrared positioning apparatus, ultrasonic positioner, radio positioner.
In one embodiment, described gravity balance module comprises gyroscope and accelerometer.
In one embodiment, described robot also comprises payment module, for receiving the payment information that external smart equipment sends, pays according to described payment information.
A kind of robot system, comprises robot and smart machine;
Described robot comprises: carry out with external smart equipment the wireless communication module that communicates with transmission of information and instruction, and described packets of information is containing the position of external smart equipment; Determine the locating module of robot self-position; The navigation module of guidance path is generated according to robot self-position and external smart device location; Driven machine people is according to the moving device of described guidance path to described external smart equipment moving; The gravity balance module of robot center of gravity is adjusted in robot moving process; And coordinate the MCU module that each module of whole robot carries out work;
Described smart machine comprises: locating module; The wireless communication module of transmission of information and instruction; And MCU control module.
In one embodiment, described smart machine comprises accounting module, and described robot also comprises payment module.
In one embodiment, described smart machine also comprises the stuck-module of fixing described robot.
Above-mentioned robot and robot system, positioned by locating module, navigated by navigation module, the position of smart machine is moved to by moving device, only smart machine need be pre-set the predetermined area in public places, robot just can be made to act on one's own in public places, improve the intelligent level of robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the robot system in an embodiment.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
See Fig. 1, provide a kind of robot system in one embodiment.This system comprises: robot and smart machine.Smart machine can be arranged in the elevator of public place, taxi, bus.
Described robot comprises: carry out with external smart equipment the wireless communication module that communicates with transmission of information and instruction, and described packets of information is containing the position of external smart equipment; Determine the locating module of robot self-position; The navigation module of guidance path is generated according to robot self-position and external smart device location; Driven machine people is according to the moving device of described guidance path to described external smart equipment moving; The gravity balance module of robot center of gravity is adjusted in robot moving process; And coordinate the MCU module that each module of whole robot carries out work.
Described smart machine comprises: locating module; The wireless communication module of transmission of information and instruction; And MCU control module.
In one embodiment, described smart machine comprises accounting module, and described robot also comprises payment module.
In one embodiment, described smart machine also comprises the stuck-module of fixing described robot.
The robot system of above-described embodiment, can be used for robot to realize:
(1) selecting paths
Robot can realize walking on street, highway, pavement by GPS navigation, wifi airmanship.Detailed process is that database according to the map, calculate and select optimum path, robot moves according to path by GPS, wifi location oneself and the position of objective in map.
(2) elevator is sat
When robot needs to sit elevator, select nearest path navigation to target location by said method, after arriving elevator target location by locating module, send instruction by wireless communication module to press elevator to elevator replacement, specify the operation of the number of plies, arrive and specify after the number of plies, the information feeding back to robot by elevator carries out next step motion.
(3) go across the road
Robot determines the position of oneself by navigation module, when forward march has crossroad, navigates to target location by locating module.Robot obtains traffic signal information by wireless communication module, carries out next step motion according to the signal of feedback.If red light, then stop motion, if green light, then advances.
(4) by bus
When robot needs by bus, according to navigation module, inquire about nearest bus platform, specified path navigates near bus platform, the ad-hoc location " point of waiting " of bus platform is navigated to again, if existing robot or people plant oneself, then near navigating to by locating module.Judge whether that someone will go up public transport by human body infrared induction module, allow people first go up in principle; Obtain bus by wireless communication module and whether also have unnecessary positional information, if not, wait for next.Complete " waiting for bus " process.
When bus arrives at a station, rest in principle " point of waiting ", robot receives bus by wireless communication module and arrives at a station after information, is moved by the locating module position on bus.Complete " getting on the bus " process.
After getting on the bus, robot goes to specific position, loads the stuck-module stationary machines people on car.Complete " by bus " process.
Robot completes " payment " process by modes such as E-Payments.This process can be paid by owner by SMS notification owner, or is directly paid by robot.
After arriving at a station, robot is moved by the locating module position of " point of waiting ".Whether there is people by PIR module, camera module detection mobile route, if having, then sent voice such as " allow, get off " by voice module; By ultrasonic wave module, camera module detects mobile route whether has robot, if having, then sends " allow car " information by wireless communication module.Complete " getting off " process.
(5) take a taxi
When robot needs to take a taxi, according to navigation module, inquire about nearest taxi anchor point, specified path navigates near taxi anchor point, the ad-hoc location " point of waiting " of taxi anchor point is navigated to again, if existing robot or people plant oneself, then near navigating to by locating module.Wireless communication module sends recruits taxi information, position, destination etc.
Then, rest in principle " point of waiting ", robot can accessiblely move in taxi taxi.Robot receives taxi by wireless communication module and arrives at a station after information, is moved by the locating module position on taxi.Complete " getting on the bus " process.
After getting on the bus, robot starts gravity balance module, balances the center of gravity of self, or loads the fixture on taxi, completes " by bus " process.
Robot is by wireless payment, or the mode such as chip payment completes " payment " process.This process can be paid by owner by SMS notification owner, or directly has robot to pay.
After arriving at a station, robot is moved by the locating module position of " point of waiting ".Complete " getting off " process.
(6) by the subway, train
When robot needs by the subway, according to navigation module, inquire about nearest subway, railway station entrance, specified path navigates near subway station or railway station entrance, the ad-hoc location " entrance " of anchor point is navigated to again by locating module, if existing robot or people plant oneself, then near navigating to.Complete " inbound " process.
Robot is by wireless payment, or the mode such as chip payment completes " booking " process.Bill can be the wireless messages etc. of encryption.This process can be paid by owner by SMS notification owner, or directly has robot to pay.
In porch, " inbound ticket checking " process can be completed by showing wireless messages ticket voucher etc.
In subway station or porch, railway station, " safety check " process can be completed by safety check functional modules such as X-ray.
Robot, according to the position of elevator, staircase, stair in subway station or railway station, navigates to corresponding " position of waiting " and completes " inbound " process.Wheeled mobile robot walks elevator, Wheelchair Accessible etc., and stair can be walked by double-legged formula robot.
Then, according to " position of waiting ", robot can accessiblely move in train for subway, train.After robot receives embark point information by wireless communication module, moved by the locating module position that relevant position is mated.Complete " get on the bus and take a seat " process.
After getting on the bus, robot starts gravity balance module, balances the center of gravity of self, or loads the fixture on relevant position, completes " by bus " process.
After arriving at a station, robot is moved by the locating module position of " position of waiting ".Complete " getting off " process.
Process that during departures, robot completes by showing wireless messages ticket voucher etc. " departures ticket checking ".
Providing a kind of public place in one embodiment can loose-jointed robot, comprising:
Carry out with external smart equipment the wireless communication module that communicates with transmission of information and instruction, described packets of information is containing the position of external smart equipment;
Determine the locating module of robot self-position;
The navigation module of guidance path is generated according to robot self-position and external smart device location;
Driven machine people is according to the moving device of described guidance path to described external smart equipment moving;
The gravity balance module of robot center of gravity is adjusted in robot moving process; And
Coordinate the MCU module that each module of whole robot carries out work.
In one embodiment, described locating module at least comprises satellite positioning device; Described positioner also comprises infrared positioning apparatus, ultrasonic positioner, radio positioner.
In one embodiment, described gravity balance module comprises gyroscope and accelerometer.
In one embodiment, described robot also comprises payment module, for receiving the payment information that external smart equipment sends, pays according to described payment information.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (7)
1. public place can a loose-jointed robot, it is characterized in that, comprising:
Carry out with external smart equipment the wireless communication module that communicates with transmission of information and instruction, described packets of information is containing the position of external smart equipment;
Determine the locating module of robot self-position;
The navigation module of guidance path is generated according to robot self-position and external smart device location;
Driven machine people is according to the moving device of described guidance path to described external smart equipment moving;
The gravity balance module of robot center of gravity is adjusted in robot moving process; And
Coordinate the MCU module that each module of whole robot carries out work.
2. robot according to claim 1, is characterized in that, described locating module at least comprises satellite positioning device; Described positioner also comprises infrared positioning apparatus, ultrasonic positioner, radio positioner.
3. robot according to claim 1, is characterized in that, described gravity balance module comprises gyroscope and accelerometer.
4. robot according to claim 1, is characterized in that, described robot also comprises payment module, for receiving the payment information that external smart equipment sends, pays according to described payment information.
5. a robot system, is characterized in that, comprises robot and smart machine;
Described robot comprises: carry out with external smart equipment the wireless communication module that communicates with transmission of information and instruction, and described packets of information is containing the position of external smart equipment; Determine the locating module of robot self-position; The navigation module of guidance path is generated according to robot self-position and external smart device location; Driven machine people is according to the moving device of described guidance path to described external smart equipment moving; The gravity balance module of robot center of gravity is adjusted in robot moving process; And coordinate the MCU module that each module of whole robot carries out work;
Described smart machine comprises: locating module; The wireless communication module of transmission of information and instruction; And MCU control module.
6. system according to claim 5, is characterized in that, described smart machine comprises accounting module, and described robot also comprises payment module.
7. system according to claim 5, is characterized in that, described smart machine also comprises the stuck-module of fixing described robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410718125.8A CN104589345A (en) | 2014-12-01 | 2014-12-01 | Robot capable of acting freely in public place and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410718125.8A CN104589345A (en) | 2014-12-01 | 2014-12-01 | Robot capable of acting freely in public place and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104589345A true CN104589345A (en) | 2015-05-06 |
Family
ID=53115571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410718125.8A Pending CN104589345A (en) | 2014-12-01 | 2014-12-01 | Robot capable of acting freely in public place and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104589345A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759816A (en) * | 2016-03-03 | 2016-07-13 | 陈健强 | Hotel seat occupying implementation method and system based on robot |
| CN107077139A (en) * | 2016-02-25 | 2017-08-18 | 深圳市创客工场科技有限公司 | Intelligent robot |
| CN111263685A (en) * | 2017-10-30 | 2020-06-09 | 瑞典爱立信有限公司 | Robot method and system |
| CN117215305A (en) * | 2023-09-12 | 2023-12-12 | 北京城建智控科技股份有限公司 | Travel auxiliary system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040088081A1 (en) * | 2002-10-31 | 2004-05-06 | Jeong-Gon Song | Robot cleaner system having external charging apparatus and method for docking with the charging apparatus |
| CN2614864Y (en) * | 2002-12-31 | 2004-05-12 | 中国科学院自动化研究所 | Self-moving manipulator platform based on multi-DSP parallel processing |
| CN1768683A (en) * | 2004-10-27 | 2006-05-10 | 三星光州电子株式会社 | Robot cleaner system and a method for returning to external recharging apparatus |
| CN1876336A (en) * | 2005-06-07 | 2006-12-13 | Lg电子株式会社 | System and method for automatically returning self-moving robot to charger |
| CN101954191A (en) * | 2010-08-25 | 2011-01-26 | 颜小洋 | Intelligent entertainment mobile robot |
| CN103862455A (en) * | 2012-12-10 | 2014-06-18 | 哈尔滨网腾科技开发有限公司 | Automatic inspection robot applied to nuclear industry |
-
2014
- 2014-12-01 CN CN201410718125.8A patent/CN104589345A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040088081A1 (en) * | 2002-10-31 | 2004-05-06 | Jeong-Gon Song | Robot cleaner system having external charging apparatus and method for docking with the charging apparatus |
| CN2614864Y (en) * | 2002-12-31 | 2004-05-12 | 中国科学院自动化研究所 | Self-moving manipulator platform based on multi-DSP parallel processing |
| CN1768683A (en) * | 2004-10-27 | 2006-05-10 | 三星光州电子株式会社 | Robot cleaner system and a method for returning to external recharging apparatus |
| CN1876336A (en) * | 2005-06-07 | 2006-12-13 | Lg电子株式会社 | System and method for automatically returning self-moving robot to charger |
| CN101954191A (en) * | 2010-08-25 | 2011-01-26 | 颜小洋 | Intelligent entertainment mobile robot |
| CN103862455A (en) * | 2012-12-10 | 2014-06-18 | 哈尔滨网腾科技开发有限公司 | Automatic inspection robot applied to nuclear industry |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107077139A (en) * | 2016-02-25 | 2017-08-18 | 深圳市创客工场科技有限公司 | Intelligent robot |
| CN105759816A (en) * | 2016-03-03 | 2016-07-13 | 陈健强 | Hotel seat occupying implementation method and system based on robot |
| CN111263685A (en) * | 2017-10-30 | 2020-06-09 | 瑞典爱立信有限公司 | Robot method and system |
| CN111263685B (en) * | 2017-10-30 | 2023-09-15 | 瑞典爱立信有限公司 | Robot method and system |
| CN117215305A (en) * | 2023-09-12 | 2023-12-12 | 北京城建智控科技股份有限公司 | Travel auxiliary system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20240038063A1 (en) | Traffic monitoring and management systems and methods | |
| US11493348B2 (en) | Methods for executing autonomous rideshare requests | |
| CN110549352B (en) | Robot, luggage carrying method and intelligent integrated module | |
| US20190156678A1 (en) | Systems and methods for coordinated passenger offloading of autonomous vehicles at large scale parking destinations | |
| US10441494B2 (en) | Route guidance method and apparatus for visually impaired using visible light communication inside subway station | |
| CN106971579A (en) | The trackside operational support system and method for a kind of intelligent network connection automobile | |
| CA3018209A1 (en) | Unmanned aircraft systems and methods | |
| CN105159236A (en) | Vending robot system and control method thereof | |
| JP2015176468A (en) | Vehicle Management System | |
| US20190228664A1 (en) | Vehicle calling system | |
| CN104589345A (en) | Robot capable of acting freely in public place and system | |
| JP2011089354A (en) | Leaving parking apparatus for vehicle with mobile function | |
| CN110155078B (en) | Mobile store car and mobile store system | |
| KR101952265B1 (en) | System and method for assisting disabled people to use public transportation | |
| CN106646335A (en) | Positioning device based on intelligent street lamp communication network and using method thereof | |
| CN106530802A (en) | Guiding system and method for vehicle parking | |
| KR20200144616A (en) | Parking system and method for autonomous vehicle | |
| US20210095978A1 (en) | Autonomous Navigation for Light Electric Vehicle Repositioning | |
| CN108010314A (en) | Convenient system and method are provided for blind safety trip | |
| JP2022030594A (en) | Management device, management system, management method, and program | |
| KR101521444B1 (en) | Application program for providing return routes and parking location providing system therefor | |
| JP7110935B2 (en) | STOP POSITION CONTROL DEVICE, STOP POSITION CONTROL METHOD, AND COMPUTER PROGRAM FOR STOP POSITION CONTROL | |
| KR20220078531A (en) | Parking site check apparatus | |
| US11487286B2 (en) | Mobile object system that provides a commodity or service | |
| CN210402102U (en) | Robot recharging 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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170509 Address after: 311121 room 101-37, building, No. 1399, Hao Rong Road, Yuhang District, Zhejiang, China Applicant after: Hangzhou Baowei Intelligent Technology Co Ltd Address before: 314006 Zhejiang, South Lake District, Jiaxing No. 599 Middle Road, software park, building No. 2 Applicant before: JIAXING DEBAOWEI MICROELECTRONICS CO., LTD. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150506 |