CN105364933B - Intelligent robot - Google Patents
Intelligent robot Download PDFInfo
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- CN105364933B CN105364933B CN201510955745.8A CN201510955745A CN105364933B CN 105364933 B CN105364933 B CN 105364933B CN 201510955745 A CN201510955745 A CN 201510955745A CN 105364933 B CN105364933 B CN 105364933B
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- Prior art keywords
- rotating disk
- motor
- intelligent robot
- trunk
- head
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
Abstract
The embodiments of the invention provide a kind of intelligent robot, the problem of intelligent robot intelligence degree has much room for improvement in the prior art is improved.The intelligent robot, including：Head and the trunk being connected with head, and the base being connected with trunk；Image acquiring device, for obtaining view data；Controller, for being analyzed and processed to the view data that image acquiring device is obtained, analyze data is obtained, analyze data is matched with least one preset data, when analyze data and at least one preset data one of matches, a corresponding action command is sent to drive device；Drive device, for the action command sent according to controller, at least one in control head and trunk is lifted or rotated.Using the intelligent robot, the intelligence degree of intelligent robot can be improved, it is easy to implement, it is easy to popularization and application.
Description
Technical field
The present invention relates to field of intelligent control technology, in particular to a kind of intelligent robot.
Background technology
With the development of science and technology, increasing people begin to focus on intelligent robot and intelligent robot are ground
Hair, the application of intelligent robot is also increasingly universal, and as intelligent robot rapidly enters work, the life of people, people are to intelligence
Energy robot proposes higher requirement.One kind therein is required, it is desirable to which intelligent robot can carry out " interaction " with people, existing
Modern intelligent robot is mainly carried out interactive by voice and people, and this interaction mode is mainly spoken content by extracting user
In keyword, find out the conversation content of matching to respond user, such a mode is active interlocution or operation based on user
It can give and respond, intelligence degree has much room for improvement.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of intelligent robot, to improve intelligence in the prior art
The problem of energy robot automtion degree has much room for improvement.
To achieve these goals, the technical scheme that the embodiment of the present invention is used is as follows：
In a first aspect, the embodiments of the invention provide a kind of intelligent robot, including：
Head and the trunk being connected with the head, and the base being connected with the trunk, the head can phase
The trunk is rotated and lifted, the trunk can rotate and lift relative to the base；
Image acquiring device, for obtaining view data；
Controller, for being analyzed and processed to the view data that described image acquisition device is obtained, obtains analyze data,
Analyze data is matched with least one preset data, when analyze data and wherein the one of at least one preset data
During individual matching, send and prestored in a corresponding action command, the controller and each preset data point to the drive device
Not corresponding action command；
Drive device, for the action command sent according to the controller, is controlled in the head and trunk
At least one is lifted or rotated.Pass through control machine head part, the lifting of trunk, rotation so that the head of robot
Left-leaning angle, Right deviation angle, forward leaning angle and hypsokinesis angle can be produced with trunk.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Head is stated including the first rotating disk, the trunk includes the second rotating disk and the 3rd rotating disk, first rotating disk, the second rotating disk and the
Three rotating disks include outer shroud and by rolling element and the inner ring that is connected of outer shroud rotation, first rotating disk, the second rotating disk and
The inner ring of 3rd rotating disk is connected with the drive device；
First support group is connected between first rotating disk and the second rotating disk, between second rotating disk and the 3rd rotating disk
It is connected with second support group；Each pedestal upper end in the first support group is connected with the outer shroud of first rotating disk, lower end with
The inner ring of second rotating disk is connected；Each pedestal upper end in the second support group is connected with the outer shroud of second rotating disk,
Lower end is connected with the inner ring of the 3rd rotating disk, and the outer shroud of the 3rd rotating disk is fixedly connected with the base.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, wherein, gear, the drive are provided with the inside of the inner ring of first rotating disk, the second rotating disk and the 3rd rotating disk
Dynamic device includes the first motor, the second electricity for driving the inner ring of first rotating disk, the second rotating disk and the 3rd rotating disk to rotate respectively
Machine and the 3rd motor, first motor, the second motor and the 3rd motor are connected to and first rotating disk, the second rotating disk
The gear being mutually engaged respectively with the gear on the inside of the 3rd rotating disk inner ring, first motor, the second motor and the 3rd motor difference
It is connected with the controller.
With reference to first aspect second in possible embodiment, the embodiments of the invention provide the third of first aspect
Possible embodiment, wherein, in addition to battery, described image acquisition device, controller, the first motor, the second motor and
Three motors are connected by electric slip ring group with the battery, and the electric slip ring group is arranged at first rotating disk, the second rotating disk and
The predetermined position of three rotating disks.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, diametrically it is separately installed with support on first rotating disk, the second rotating disk and the 3rd rotating disk
Plate, the supporting plate is fixed on the outer shroud of rotating disk, and first rotating disk, the second rotating disk and the 3rd rotating disk are centrally located at one article
Being provided with straight line, on the supporting plate positioned at the rotating disk predetermined position is available for each electric slip ring of crossing in the electric slip ring group to connect
The through hole connect.
With reference to the 4th kind of possible embodiment of first aspect, the embodiments of the invention provide the 5th of first aspect kind
Possible embodiment, wherein, the head also includes head shell, and the head shell is connected to the interior of first rotating disk
Ring, the battery, controller, image acquiring device, the first rotating disk are located in the head shell；The trunk also includes body
Cadre's shell, the trunk cage connection is described between the outer shroud of second rotating disk and the inner ring of the 3rd rotating disk
Second rotating disk and the 3rd rotating disk are located in the trunk shell.
With reference to the 5th kind of possible embodiment of first aspect, the embodiments of the invention provide the 6th of first aspect kind
Possible embodiment, wherein, the electric slip ring group includes the first electric slip ring, second excessively and crosses electric slip ring and the 3rd excessively electric cunning
Ring, described first mistake electric slip ring one end is connected to the battery and controller, the other end are connected to first rotating disk and preset position
Put the through hole at place, described second, which crosses electric slip ring one end, is connected to the through hole of the first rotating disk predetermined position and described the
One crosses the through hole that electric slip ring electrical connection, the other end are connected to the second rotating disk predetermined position, and the described 3rd crosses electric slip ring
The through hole and described second for being connected to the second rotating disk predetermined position are crossed electric slip ring and electrically connected.
With reference to second~the 6th kind of first aspect any one possible embodiment, the embodiments of the invention provide
7th kind of possible embodiment of first aspect, wherein, each support in the first support group and second support group is can
Stretching structure.
With reference to the 7th kind of possible embodiment of first aspect, the embodiments of the invention provide the 8th of first aspect kind
Possible embodiment, wherein, the head is also equipped with touch display screen, the touch display screen and the controller phase
Even, the controller is also associated with sensor.
With reference to the 8th kind of possible embodiment of first aspect, the embodiments of the invention provide the 9th of first aspect kind
Possible embodiment, wherein, first motor is installed in the inner ring of first rotating disk, and second motor is installed on
In the inner ring of second rotating disk, the 3rd motor is installed in the inner ring of the 3rd rotating disk.
Intelligent robot provided in the embodiment of the present invention, breach intelligent robot of the prior art need with
Family Initiative service interaction, the thinking limitation that can be responded in the case of such as speaking, by obtaining view data automatically, draws and schemed
As Data Matching preset data and action command corresponding with preset data, and according to action command complete corresponding actions from
And the interaction with user is realized, it is so designed that, significantly improves the intellectuality of robot, and need not be such as prior art in intelligence
The voice device of integrated complex in robot, more conducively improves the flexibility and miniaturization of design of intelligent robot.
Further, the intelligent robot provided in the embodiment of the present invention, is carried out to robot head and trunk
Ingehious design, head and trunk include rotating disk, support group etc., and the annexation to turntable structure, support group and rotating disk etc.
Ingehious design is carried out so that head and trunk neatly can be lifted and rotated, so that controller being capable of root
According to analysis processing result, robot head and trunk is driven to enter by action command corresponding with preset data by drive device
Row lifting rotates, simple in construction, ingenious in design, significantly improves the flexibility of intelligent robot, improves intelligent robot
With the sense of reality of user interaction.
Further, the intelligent robot provided in the embodiment of the present invention, is integrated with touch display screen, can according to
The action command that family is sent by touch display screen, performs corresponding action, expands the scope of application of intelligent robot.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of overall structure diagram for intelligent robot that the embodiment of the present invention is provided；
Fig. 2 shows a kind of system block diagram for intelligent robot that the embodiment of the present invention is provided；
Fig. 3 shows a kind of internal structure schematic diagram for intelligent robot that the embodiment of the present invention is provided；
Fig. 4 shows a kind of structural representation of rotating disk shown in Fig. 3 of the embodiment of the present invention；
Fig. 5 shows the structural representation for another intelligent robot that the embodiment of the present invention is provided；
Fig. 6 shows the system block diagram for another intelligent robot that the embodiment of the present invention is provided；
Fig. 7 shows a kind of structural representation for controller that the embodiment of the present invention is provided.
Each reference is entitled in accompanying drawing：
Head 100, trunk 101, base 102, image acquiring device 103, touch display screen 104, controller 105 drives
Dynamic device 106；
First rotating disk 200, support 201, the second rotating disk 202, the 3rd rotating disk 203；
Outer shroud 300, inner ring 301, inner ring gear 302, motor gear 303, motor 304, supporting plate 305；
Battery 400, head shell 401, trunk shell 402 crosses electric slip ring 403；
First motor 501, the second motor 502, the 3rd motor 503, first crosses electric slip ring 504, and second crosses electric slip ring 505,
3rd crosses electric slip ring 506；
Processor 601, memory 602, bus 603, communication interface 604.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Orientation or position relationship that invention product is usually put when using, are for only for ease of the description present invention and simplify description, without
It is that instruction or the signified device of hint or element must have specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it can not manage
Solve to indicate or imply relative importance.
In addition, the term such as term " level ", " vertical ", " pendency " is not offered as requiring part abswolute level or pendency, and
It is to be slightly tilted.As " level " only refers to that its direction, with respect to more level for " vertical ", is not the expression structure
Must be fully horizontal, but can be slightly tilted.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
The embodiments of the invention provide one kind by obtaining view data automatically, the intelligent robot of respective action is performed,
The intelligent robot includes：Head and the trunk being connected with the head, and the base being connected with the trunk, it is described
Head can rotate and lift relative to the trunk, and the trunk can rotate and lift relative to the base；Image obtains dress
Put, for obtaining view data；Controller, for being analyzed and processed to the view data that described image acquisition device is obtained,
Obtain analyze data, analyze data matched with least one preset data, when analyze data with described at least one is pre-
If during one of matching of data, sending in a corresponding action command, the controller and prestoring to the drive device
With the corresponding action command of each preset data difference；Drive device, for the action command sent according to the controller, control
At least one in the head and trunk is lifted or rotated.
The intelligent robot provided in the present embodiment, breach in the prior art intelligent robot mainly by being said to user
The extraction realization and the interaction of user of keyword in content, and the mainly interactive thinking limitation of language are talked about, can be by obtaining
The view data of user, draws the mood states of user, completes action corresponding with user mood state to realize and user
Interaction, and innovatively control intelligent robot by the different moods of the lifting of head or/and trunk, rotation expression with reality
Now with the interaction of user, the intelligence degree of intelligent robot and the sense of reality with user interaction are improved.
Embodiment
As shown in figure 1, a kind of intelligent robot that the present embodiment is provided includes head 100, trunk 101 and base
102.According to the difference of intelligent robot structure, action command is different, in the present embodiment, is head by design of intelligent robot
100 can rotate and lift relative to trunk 101, trunk 101 can respect thereto 102 rotate and lift, the action command bag
Include the control instruction for controlling the adjustable height of intelligence machine head part 100 and the anglec of rotation or/and control the intelligence machine
The control instruction of the adjustable height of people's trunk 101 and the anglec of rotation.
With further reference to Fig. 1, intelligent robot of the invention also includes image acquiring device 103, image acquiring device 103
It can be video camera, preferably minisize pick-up head and be installed on the head 100 of intelligent robot.In the present embodiment, the image is obtained
Device 103 is mainly used in obtaining the view data of user for analyzing the mood states of user, so that according to the mood of user
State control intelligent robot performs corresponding operation, with realization and the interaction of user.
Reference picture 2, the intelligent Control based on intelligent robot, correspondingly, the intelligent robot also include control
Device 105 and drive device 106, controller 105 control the drive device 106 to drive the head 100 of the intelligent robot
Corresponding action command is performed with trunk 101.For example, the drive device 106 can send the control intelligent robot
The first control instruction that head 100 is lifted and rotated by certain adjustable height and the anglec of rotation.Or, send control described
The second control instruction that the trunk 101 of intelligent robot is lifted and rotated by certain adjustable height and the anglec of rotation.Or
Person, sends while controlling the trunk 101 of head 100 of the intelligent robot to be risen by certain adjustable height and the anglec of rotation
Drop and the 3rd control instruction of rotation, so that the head 100 of the intelligent robot and trunk 101 are respectively according to corresponding
Control instruction synchronously completes lifting and rotated.
The drive device 106 can be all kinds of power set, preferably motor, such as servomotor or stepper motor.It is described
Controller 105 is the control device of executable data processing and control, such as single-chip microcomputer, processor, microprocessor, at data signal
Manage (DSP) chip, integrated circuit (IC) chip, full will A83,8 cores, 2.0G predominant chips etc..
Controller 105 is used to analyze the view data that image acquiring device 103 is obtained, and obtains analyze data, so
The analyze data is matched with least one preset data afterwards, when analyze data and at least one preset data wherein
One of matching when, send a corresponding action command to the drive device.Preferably, in the present embodiment, in the controller 105
An image sample data storehouse can be pre-established, wherein storing at least one image pattern, the image pattern can be from user
Under different mood states advance shooting obtain to substantial amounts of view data in screened and obtained.In this way, the controller
105 view data that can obtain image acquiring device 103 are compared with the image pattern in the image sample data storehouse, so
The analyze data is generated according to comparison result afterwards.For example, when the first image in the view data and image sample data storehouse
During sample matches, obtained analyze data is 0001, when being matched with the second image pattern, and obtained analyze data is 0010, with
When 3rd image pattern is matched, obtained analyze data is 0011, and when being matched with the 4th image pattern, obtained analyze data is
0100.The analyze data is used to characterize the different mood states of user, and such as analyze data is 0001,0010,0011,0100 point
The different mood states of user's pleasure, anger, sorrow, happiness are not represented.
In another example：Settable " general " image sample data storehouse, in the server storage has the image of higher universality
Data, image sample data storehouse includes corresponding to the image pattern of the different mood states of user respectively, regard image pattern as institute
State at least one preset data.
Setting based on above-mentioned image sample data storehouse, image pattern, the present embodiment illustrates a kind of judgement user's heart
The implementation method of situation state, it is specific as follows.
The view data that described image acquisition device 103 is obtained is matched with the image pattern prestored, is obtained and institute
State the immediate image pattern of view data of the acquisition of image acquiring device 103；Then divide according to being drawn the image pattern
Data are analysed to characterize the mood states that user is current.
Wherein, described image sample is preferably the face image data under the different mood states of user, and it can be whole for user
The integrated data of individual face's all sites, or the single position of user face data, can also be the multiple positions of user face
Data splitting, for example：Face data can for the position such as user's eyebrow, eye, mouth, nose integrated data, or user's eye or mouth
Independent data, can also be user's eye, eyebrow, the data splitting of mouth.
The matching way of view data and face image data value has a variety of, and images match is preferred to use in the present embodiment,
Feature, structure, texture such as in image, the corresponding relation of gray scale, the analysis of similitude and uniformity are searched out and schemed
The immediate image pattern of view data obtained as acquisition device 103.
In a kind of preferred embodiment so that intelligent robot passes through the lifting of head 100 and trunk 101, rotation table
Up to different moods to realize that the interactive design structure with user has a variety of, the embodiment of the present invention will be entered further combined with accompanying drawing
Row is described in further detail.
As shown in figure 3, head 100 includes the first rotating disk 200, trunk 101 includes the second rotating disk 202 and the 3rd rotating disk
203.As shown in figure 4, the first rotating disk 200, the second rotating disk 202 and the 3rd rotating disk 203 include outer shroud 300 and by rolling element with
Outer shroud 300 rotates the inner ring 301 of connection, inner ring 301 and the driving of the first rotating disk 200, the second rotating disk 202 and the 3rd rotating disk 203
Device 106 (motor 304 as shown in Figure 4) is connected.First support group is connected between first rotating disk 200 and the second rotating disk 202,
Second support group is connected between second rotating disk 202 and the 3rd rotating disk 203.First support group includes multiple supports 201, each
The upper end of frame 201 is connected with the outer shroud 300 of the first rotating disk 200, lower end is connected with the inner ring 301 of the second rotating disk 202.Second support
Also the upper end of each support 201 and the phase of outer shroud 300 of the second rotating disk 202 in multiple supports 201, the second support group are included in group
Even, lower end is connected with the inner ring 301 of the 3rd rotating disk 203.The outer shroud 300 of 3rd rotating disk 203 is fixedly connected with base 102.
It is so designed that, by the rotation of the inner ring 301 of the first rotating disk 200 intelligence machine head part 100 can be driven to rotate.
By the rotation of the inner ring 301 of the second rotating disk 202 the first rotating disk 200 can be driven to rotate.Pass through the inner ring 301 of the 3rd rotating disk 203
Rotation the second rotating disk 202 can be driven to rotate, so as to drive intelligent robot trunk 101 to rotate.
Wherein, the rolling element can be steel ball, the rotating disk that the outer shroud 300 and inner ring 301 connected by rolling element is constituted,
The similar bearing of its overall structure, inner ring 301 and outer shroud 300 can be relatively rotated.
For the sensitivity for further improving intelligence machine head part 100, trunk 101 is acted, first support group and the
Each support 201 in two support groups is preferably Collapsible structure.
During implementation, the implementation of each Collapsible structure of support 201 has a variety of, for example, can be to be connected with drive device 106
Electric expansion bar, it is elongated or shortened under the control of drive device 106, in another example：Can be to pass through bearing pin by least two
The link of connection constitutes bracing wire bending frame, and bracing wire is connected between two links and drive device 106, in drive device
Under 106 control, bracing wire pulls link to change the distance between two links.It is so designed that, by changing each support 201
Highly i.e. controllable intelligent robot head 100 and the lifting of trunk 101.
As shown in figure 4, in the present embodiment, it is preferable that the first rotating disk 200, the second rotating disk 202 and the 3rd rotating disk 203 it is interior
The inner side of ring 301 is provided with inner ring gear 302.Drive device 106 includes driving the first rotating disk 200, the second rotating disk 202 and the 3rd respectively
The first motor 501, the second motor 502 and the 3rd motor 503 that the inner ring 301 of rotating disk 203 is rotated.First the 501, second electricity of motor
The motor 503 of machine 502 and the 3rd is connected to and the first rotating disk 200, the second rotating disk 202 and the inner side of 203 inner ring of the 3rd rotating disk 301
The motor gear 303 that is mutually engaged respectively of inner ring gear 302.First motor 501, the second motor 502 and the 3rd motor 503 are distinguished
It is connected with controller 105.First motor 501 is installed in the inner ring 301 of the first rotating disk 200, and the second motor 502 is installed on second
In the inner ring 301 of rotating disk 202, the 3rd motor 503 is installed in the inner ring 301 of the 3rd rotating disk 203.
In order to improve on the stability of structure, preferably the first rotating disk 200, the second rotating disk 202 and the 3rd rotating disk 203 diametrically
Direction is separately installed with supporting plate 305, and supporting plate 305 is fixed on the outer shroud 300 of rotating disk, the first rotating disk 200, the second rotating disk
202 and the 3rd rotating disk 203 be centrally located on straight line.
As shown in figure 5, in order to ensure the stability of power supply, intelligent robot may also include battery 400.Image acquiring device
103rd, controller 105, the first motor 501, the second motor 502 and the 3rd motor 503 are connected by electric slip ring group with battery 400.
Electric slip ring group is arranged at the predetermined position of the first rotating disk 200, the second rotating disk 202 and the 3rd rotating disk 203, preferably the first rotating disk
200th, the section of the second rotating disk 202 and the 3rd rotating disk 203 is circle, and predeterminated position is the center of rotating disk.
According to the actual requirements, the battery 400 in intelligent robot can set multiple, for example：On 102 points of head 100 and base
One is not set, to improve the convenience connected up when each device is connected with battery 400.
Wherein, electric slip ring is responsible for connecting, conveying for rotary body the electric component of the energy and signal.The setting of electric slip ring,
Battery 400 is enabled to provide stable electric energy for each motor 304, and controller 105 can reliably transmit signal.
The electric slip ring group includes multiple default positions crossed electric slip ring 403, rotating disk is located on the supporting plate 305 shown in Fig. 4
The place of putting be provided be available in electric slip ring group each cross electric slip ring 403 connection through hole.
In view of actual demand, as shown in figure 5, it is preferred that head 100 also includes head shell 401, head shell 401 is connected
In the inner ring 301 of the first rotating disk 200.Battery 400, controller 105, image acquiring device 103, the first rotating disk 200 are located at head
In shell 401.Trunk 101 also includes trunk shell 402, and trunk shell 402 is connected to the outer shroud of the second rotating disk 202
300 and the 3rd rotating disk 203 inner ring 301 between.Second rotating disk 202 and the 3rd rotating disk 203 are located in trunk shell 402.Its
In, preferably the section of head shell 401 is circular or ellipse, and the preferably section of trunk shell 402 is trapezoidal or ellipse.
As shown in fig. 6, in order to ensure the flexibility of intelligent robot activity, preferably electric slip ring group includes the first excessively electric cunning
Ring 504, second crosses electric slip ring 505 and the 3rd and crosses electric slip ring 506.First, which crosses the one end of electric slip ring 504, is connected to battery 400 and control
Device 105, the other end are connected to the through hole of the predetermined position of the first rotating disk 200.Second, which crosses the one end of electric slip ring 505, is connected to first turn
Electric slip ring 504 is electrically connected, the other end is connected to the second rotating disk 202 and presets position excessively with first for the through hole of the predetermined position of disk 200
Put the through hole at place.3rd mistake electric slip ring 506 is connected to the through hole of the predetermined position of the second rotating disk 202 and second and crosses electric slip ring
505 electrical connections.
View data is being obtained by intelligence by intelligent robot, so as to perform the preset data institute matched with view data
While corresponding action, it is contemplated that during implementation, user may be actively interactive with robot, robot is performed what user wanted
Action, as illustrated in fig. 1, it is preferred that intelligence machine head part 100 is also equipped with touch display screen 104, touch display screen 104
It is connected with controller 105.So that user can be instructed by input action in touch display screen 104, intelligent robot is set to perform use
The action command of family input, is interacted with the active realized between user and intelligent robot.
It is preferred that controller 105 is also associated with sensor, according to the actual requirements, can connect vision sensor, body-sensing sensor,
Air mass sensor, Temperature Humidity Sensor, MIC arrays etc..
Intelligent robot provided in the embodiment of the present invention, breaching intelligent robot in the prior art needs in user
The thinking limitation that Initiative service interaction can be responded in the case of such as speaking, by obtaining view data automatically, with pre-set image
Image pattern in sample database is matched, so as to obtain analyze data, is further sent out corresponding action command, is made intelligence
Energy robot completes corresponding actions to realize the interaction with user according to action command.It is so designed that, significantly improves machine
The intellectuality of people.Meanwhile, the embodiment of the present invention has carried out ingehious design to robot head 100 and trunk 101, is more conducive to carry
The flexibility of high intelligent robot, improves the sense of reality of intelligent robot and user interaction.
What the embodiment of the present invention additionally provided the controller 105 in a kind of above-described embodiment realizes structure chart, such as Fig. 7 institutes
Show, controller 105 may include：It is processor 601 described in processor 601, memory 602, bus 603 and communication interface 604., logical
Letter interface 604 and memory 602 are connected by bus 603.It is executable that processor 601 is stored for performing in memory 602
Module, such as computer program.
Wherein, memory 602 may include random access memory (RAM：Random Access Memory), it is also possible to
Also include nonvolatile memory (non-volatile memory), for example, at least one magnetic disk storage.By at least one
Communication interface 604 (can be wired or wireless) realizes the communication link between the system network element and at least one other network element
Connect, internet, wide area network, LAN, Metropolitan Area Network (MAN) etc. can be used.
Bus 603 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, number
According to bus, controlling bus etc..For ease of representing, only represented in figure with a four-headed arrow, it is not intended that only one bus
Or a type of bus.
Wherein, memory 602 is used for storage program and data, and the processor 601 is performed after execute instruction is received
Described program.The method that the stream process that the foregoing embodiment of the present invention is disclosed is defined can apply in processor 601, or by
Reason device 601 is realized.
Processor 601 is probably a kind of IC chip, the disposal ability with signal.It is above-mentioned in implementation process
Each step of method can be completed by the integrated logic circuit of the hardware in processor 601 or the instruction of software form.On
The processor 601 stated can be general processor, including central processing unit (Central Processing Unit, referred to as
CPU), network processing unit (Network Processor, abbreviation NP), digital signal processor (DSP), application specific integrated circuit
(ASIC), field programmable gate array (FPGA) or other PLDs, discrete gate or transistor logic,
Discrete hardware components.It can realize or perform each method, step and the logic diagram disclosed in the embodiment of the present invention.With reference to this
The step of method disclosed in inventive embodiments, can be embodied directly in hardware decoding processor and perform completion, or with decoding
Hardware and software module combination in reason device perform completion.Software module can write random access memory, flash memory, read-only storage
In the ripe storage medium in this area such as device, programmable read only memory or electrically erasable programmable memory, register.Should
Storage medium is located at memory 602, and processor 601 reads the information in memory 602, and the above method is completed with reference to its hardware
Step.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the service of foregoing description
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
, can be by it in several embodiments provided herein, it should be understood that disclosed apparatus and method
Its mode is realized.Device embodiment described above is only schematical, for example, the flow chart and block diagram in accompanying drawing are aobvious
Device, architectural framework in the cards, the work(of method and computer program product of multiple embodiments according to the present invention are shown
Can and it operate.At this point, each square frame in flow chart or block diagram can represent one of a module, program segment or code
Point, a part for the module, program segment or code is used to realize the executable of defined logic function comprising one or more
Instruction.It should also be noted that in some realizations as replacement, the function of being marked in square frame can also be with different from accompanying drawing
The order marked occurs.For example, two continuous square frames can essentially be performed substantially in parallel, they sometimes can also be by
Opposite order is performed, and this is depending on involved function.It is also noted that each square frame in block diagram and/or flow chart,
And the combination of the square frame in block diagram and/or flow chart, can be with function or action as defined in performing it is special based on hardware
System realize, or can be realized with the combination of specialized hardware and computer instruction.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each of the invention embodiment methods described.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply between these entities or operation there is any this reality
The relation or order on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of key elements are not only including those key elements, but also including
Other key elements being not expressly set out, or also include for this process, method, article or the intrinsic key element of equipment.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, article or equipment in also there is other identical element.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (9)
1. a kind of intelligent robot, it is characterised in that including：
Head and the trunk being connected with the head, and the base being connected with the trunk, the head can be with respect to institutes
State trunk rotation and lift, the trunk can rotate and lift relative to the base；
Image acquiring device, for obtaining view data；
Controller, for being analyzed and processed to the view data that described image acquisition device is obtained, obtains analyze data, will divide
Analysis data are matched with least one preset data, when one of them of analyze data and at least one preset data
Timing, sent to drive device prestored in a corresponding action command, the controller it is corresponding with each preset data difference
Action command；
Drive device, for the action command sent according to the controller, is controlled in the head and trunk at least
One is lifted or is rotated；The head includes the first rotating disk, and the trunk includes the second rotating disk and the 3rd rotating disk, described
First rotating disk, the second rotating disk and the 3rd rotating disk include outer shroud and the inner ring being connected by rolling element with outer shroud rotation, institute
The inner ring for stating the first rotating disk, the second rotating disk and the 3rd rotating disk is connected with the drive device；
First support group is connected between first rotating disk and the second rotating disk, is connected between second rotating disk and the 3rd rotating disk
There is second support group；Each pedestal upper end in the first support group is connected with the outer shroud of first rotating disk, lower end with it is described
The inner ring of second rotating disk is connected；Each pedestal upper end in the second support group is connected with the outer shroud of second rotating disk, lower end
It is connected with the inner ring of the 3rd rotating disk, the outer shroud of the 3rd rotating disk is fixedly connected with the base.
2. intelligent robot according to claim 1, it is characterised in that first rotating disk, the second rotating disk and the 3rd turn
Gear is provided with the inside of the inner ring of disk, the drive device includes driving first rotating disk, the second rotating disk and the 3rd rotating disk respectively
Inner ring rotate the first motor, the second motor and the 3rd motor, first motor, the second motor and the 3rd motor connect respectively
It is connected to the gear being mutually engaged respectively with the gear on the inside of first rotating disk, the second rotating disk and the 3rd rotating disk inner ring, described first
Motor, the second motor and the 3rd motor are connected with the controller respectively.
3. intelligent robot according to claim 2, it is characterised in that also including battery, described image acquisition device, control
Device processed, the first motor, the second motor and the 3rd motor are connected by electric slip ring group with the battery, and the electric slip ring group is arranged at
The predetermined position of first rotating disk, the second rotating disk and the 3rd rotating disk.
4. intelligent robot according to claim 3, it is characterised in that first rotating disk, the second rotating disk and the 3rd turn
Supporting plate is diametrically separately installed with disk, the supporting plate is fixed on the outer shroud of rotating disk, first rotating disk, second
Rotating disk and the 3rd rotating disk are centrally located on straight line, are provided with and are available for positioned at the rotating disk predetermined position on the supporting plate
Each through hole for crossing electric slip ring connection in the electric slip ring group.
5. intelligent robot according to claim 4, it is characterised in that the head also includes head shell, the head
Portion's cage connection is located at described in the inner ring of first rotating disk, the battery, controller, image acquiring device, the first rotating disk
In head shell；The trunk also includes trunk shell, and the trunk cage connection is in the outer shroud of second rotating disk
Between the inner ring of the 3rd rotating disk, second rotating disk and the 3rd rotating disk are located in the trunk shell.
6. intelligent robot according to claim 5, it is characterised in that it is sliding that the electric slip ring group includes the first electricity excessively
Ring, second cross electric slip ring and the 3rd and cross electric slip ring, described first cross electric slip ring one end be connected to the battery and controller, it is another
End is connected to the through hole of the first rotating disk predetermined position, and described second, which crosses electric slip ring one end, is connected to first rotating disk
Electric slip ring is electrically connected, the other end is connected to the second rotating disk predetermined position excessively with described first for the through hole of predetermined position
Through hole, the described 3rd crosses that electric slip ring is connected to the through hole of the second rotating disk predetermined position and the described second electricity excessively is sliding
Ring is electrically connected.
7. the intelligent robot according to claim 2~6 any one, it is characterised in that the first support group and
Each support in two support groups is Collapsible structure.
8. intelligent robot according to claim 7, it is characterised in that the head is also equipped with touch display screen, institute
State touch display screen with the controller to be connected, the controller is also associated with sensor.
9. intelligent robot according to claim 8, it is characterised in that first motor is installed on first rotating disk
Inner ring on, second motor is installed in the inner ring of second rotating disk, and the 3rd motor is installed on described 3rd turn
In the inner ring of disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955745.8A CN105364933B (en) | 2015-12-17 | 2015-12-17 | Intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955745.8A CN105364933B (en) | 2015-12-17 | 2015-12-17 | Intelligent robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105364933A CN105364933A (en) | 2016-03-02 |
| CN105364933B true CN105364933B (en) | 2017-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510955745.8A Expired - Fee Related CN105364933B (en) | 2015-12-17 | 2015-12-17 | Intelligent robot |
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| Country | Link |
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| CN (1) | CN105364933B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3587052A1 (en) * | 2018-06-25 | 2020-01-01 | LG Electronics Inc. | Robot |
| EP3587051A1 (en) * | 2018-06-25 | 2020-01-01 | LG Electronics Inc. | Robot |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904463B (en) * | 2016-04-21 | 2017-09-19 | 谢奇峰 | A kind of robot |
| US10377042B2 (en) * | 2016-06-17 | 2019-08-13 | Intel Corporation | Vision-based robot control system |
| CN106313015B (en) * | 2016-11-04 | 2019-01-01 | 成都英博格科技有限公司 | A kind of transmission device and robot |
| CN107322609B (en) * | 2017-08-01 | 2019-07-16 | 中航航空电子系统股份有限公司北京技术研发中心 | A kind of intelligent robot |
| KR102148032B1 (en) | 2018-06-25 | 2020-08-26 | 엘지전자 주식회사 | Robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4305323B2 (en) * | 2004-08-11 | 2009-07-29 | ソニー株式会社 | Robot apparatus motion control device and motion control method |
| CN101786272A (en) * | 2010-01-05 | 2010-07-28 | 深圳先进技术研究院 | Multisensory robot used for family intelligent monitoring service |
| CN203210377U (en) * | 2013-04-02 | 2013-09-25 | 深圳市万机创意电子科技有限公司 | Mobile robot |
| CN105082150B (en) * | 2015-08-25 | 2017-04-05 | 国家康复辅具研究中心 | A kind of robot man-machine interaction method based on user emotion and intention assessment |
| CN205255014U (en) * | 2015-12-17 | 2016-05-25 | 成都英博格科技有限公司 | Intelligent robot |
-
2015
- 2015-12-17 CN CN201510955745.8A patent/CN105364933B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3587052A1 (en) * | 2018-06-25 | 2020-01-01 | LG Electronics Inc. | Robot |
| EP3587051A1 (en) * | 2018-06-25 | 2020-01-01 | LG Electronics Inc. | Robot |
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| Publication number | Publication date |
|---|---|
| CN105364933A (en) | 2016-03-02 |
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