CN105446162A - Intelligent home system and intelligent home control method of robot - Google Patents
Intelligent home system and intelligent home control method of robot Download PDFInfo
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- CN105446162A CN105446162A CN201610053417.3A CN201610053417A CN105446162A CN 105446162 A CN105446162 A CN 105446162A CN 201610053417 A CN201610053417 A CN 201610053417A CN 105446162 A CN105446162 A CN 105446162A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 38
- 230000007613 environmental effect Effects 0.000 claims description 23
- 238000012544 monitoring process Methods 0.000 claims description 17
- 238000001931 thermography Methods 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000005855 radiation Effects 0.000 claims description 11
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- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 8
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 8
- 230000006698 induction Effects 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 5
- 238000009423 ventilation Methods 0.000 claims description 5
- 230000004044 response Effects 0.000 claims description 4
- 239000000779 smoke Substances 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000004378 air conditioning Methods 0.000 description 27
- 230000001815 facial effect Effects 0.000 description 15
- 230000006870 function Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
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- 230000013011 mating Effects 0.000 description 2
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- 239000004615 ingredient Substances 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2642—Domotique, domestic, home control, automation, smart house
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Abstract
The invention relates to an intelligent home system and an intelligent home control method of a robot. The system comprises a robot and a home appliance system, the home appliance system comprises at least one of an intelligent environment control system, an intelligent safety and protection system and an intelligent audio and video control system, and the robot comprises a central processing unit, an intelligent home control module, a location navigation unit and an infrared command output device; the central processing unit conducts overall control over the robot; the intelligent home control module determines an infrared manipulation template suitable for an appliance to be manipulated, stores the infrared manipulation template in a storage and generates a navigation command and a user command code according to an appliance on the basis of the user command; the location navigation unit receives a navigation command and navigates the robot to the manipulation locations corresponding to the appliance to be manipulated on the basis of map information stored in the robot, and the infrared command output device receives the user command code, generates an infrared pulse corresponding to the user command code on the basis of the infrared manipulation template suitable for the appliance and emits the infrared pulse to the appliance to be manipulated.
Description
Technical field
The present invention relates to Smart Home field, particularly relate to the intelligent home furnishing control method of a kind of intelligent domestic system and robot.
Background technology
Along with the develop rapidly of science and technology, the kind of the housed device controlled by telepilot is got more and more, as televisor, Set Top Box, air-conditioning, light fixture etc., the thing followed is that telepilot too much causes operation inconvenience, such as, have to can not find telepilot and be just difficult to carry out household electrical appliances that control operation, telepilot are various takes up room impact neatly and easily to obscure etc. problem.
Home appliance system has become the project of industry focus.Smart Home take house as platform, the equipment relevant with life staying idle at home such as the network communications technology, security precautions technology, automatic control technology are utilized to carry out integrated, build the management system of schedule affairs in efficient housing facilities and family, promote house security, convenience, comfortableness.There is provided the intelligent robot of Smart Home service also to produce thus, but existing home-services robot scarcely possess the function of family expenses household electrical appliances in centralized control family, even if possess, control procedure also very very complicated, and independence and intelligent difference.
How by robot centralized control, there is the equipment of infrared receiver function simply and easily thus to avoid numerous and diverse the becoming manipulating multiple telepilot to have problem to be solved.
Summary of the invention
Given this, an object of the present invention is to provide the intelligent home furnishing control method of a kind of intelligent domestic system and robot, to overcome because of at least one defect of the prior art.
In order to realize object of the present invention, according to an aspect of the present invention, the invention provides a kind of home appliance system, it comprises:
Robot and home appliance system, robot and home appliance system adopt over the horizon communication system to communicate;
Described home appliance system comprises intelligent environment control system, intelligent safety and defence system and/or Intelligent video control system;
Described robot comprises:
Robot body;
Infrared communication module, for carrying out data communication with furniture appliance system;
Sensor assembly, for carrying out external information collection;
Storer;
Intelligent housing module, its for determine household electrical appliances to be manipulated in home appliance system the infrared manipulation template that is suitable for stored in which memory, and based on the user instruction for manipulating described household electrical appliances, generate the navigation instruction for described household electrical appliances and user command coding;
Position Navigation Unit, it receives the navigation instruction from described Intelligent housing module, based on the cartographic information stored in described robot by the manipulation position corresponding to described robot navigation to household electrical appliances to be manipulated; And
Infrared command output unit, it receives the described user command coding from described Intelligent housing module, based on described household electrical appliances infrared pulse corresponding to user command coding described in the infrared manipulation template generation that is suitable for, and launch described infrared pulse to household electrical appliances to be manipulated.
Further, described intelligent domestic system also can comprise: control terminal, and described control terminal and described robot carry out short range or telecommunication; Described robot also can comprise: warning device, and it is for sending alarm sound; Wireless communication unit, it is for carrying out radio communication with external device (ED); Wherein, described Intelligent housing module receives brand and the model of household electrical appliances to be operated based on user instruction, by described wireless communication unit connection mode plate server, and download described brand and infrared manipulation template corresponding to model from described template server, the infrared manipulation template be suitable for as household electrical appliances to be operated is stored in described storer.
Further, if receive from described template server the response that instruction does not exist described brand and infrared manipulation template corresponding to model, described Intelligent housing module downloads multiple general manipulation template by described wireless communication unit from described template server; And, described robot also can comprise: template matches unit, it is for determining according to predetermined order whether downloaded general manipulation template matches with household electrical appliances to be operated one by one, till the general manipulation template finding coupling, the infrared manipulation template that the general manipulation mould of this coupling is suitable for as the household electrical appliances that plate is to be operated stores in which memory by described Intelligent housing module.
Further, described Intelligent housing module can download multiple general manipulation template based on the brand of household electrical appliances to be manipulated and/or the manipulation connected ratio of template and/or frequency from described template server; Described template matches unit can mate according to the order determined based on the brand of household electrical appliances to be manipulated and/or the manipulation connected ratio of template and/or frequency.
Further, described robot also can comprise: infrared receiving device, and it is for receiving the encoded IR commands corresponding with the control command on this telepilot from telepilot; And infrared command unit, the storer of described robot stores described encoded IR commands, and is associated with described control command.
Further, described robot also comprises: infrared thermal imaging sensor, for based on heat radiation image checking human body contour outline; And/or camera, it is for carrying out imaging to target.
Further, described sensor assembly also can comprise sound identification module; The camera of described mobile robot obtains to be monitored by the voice signal of the household electrical appliances manipulated by the LED status of household electrical appliances that manipulates or described sound identification module, described Intelligent housing module, based on described LED status or voice signal, determines that this is by the change of household electrical appliances running status manipulated.
Further, for intelligent safety and defence system, described Intelligent housing module responds changes in the state of door and window safety device and/or video doorbell gate control system, obtain the data message of live pick up head and/or the data message of robot camera, and based on the data message obtained, face recognition is carried out to messenger, control warning device when recognition result does not mate and send alarm sound or send alerting signal to described control terminal; And/or for intelligent safety and defence system, when described Intelligent housing module is configured to temperature profile (profile diagram) of the heat radiation product surface utilizing infrared thermal imaging sensor to robot surrounding objects, automatically with the human body contour outline image comparison preset, camera will be called carry out face recognition if the match is successful, and not mate if mate unsuccessful or face recognition result, control warning device and send alarm sound or send alerting signal to described control terminal.
Further, described infrared thermal imaging sensor is to the temperature profile of the heat radiation product surface of robot surrounding objects, whether described Intelligent housing module has people near determining based on described temperature profile, and controls the operation of household electrical appliances in Intelligent video system based on determination result; And/or the specific household electrical appliances that described Intelligent housing module controls in Intelligent video system at special time period based on the contextual model timing information preset enter predetermined contextual model.
Further, described method also can comprise: described robot also comprises:
Environmental monitoring sensor, it is for for environmental monitoring system sensing chamber inner-environment index, and testing result is sent to described Intelligent housing module, when testing result departs from predetermined value or numerical range, control the operation of the household electrical appliances of the correspondence that can change described indoor environment index in described environmental control system or send warning message.
Described environmental monitoring sensor can comprise as at least one in lower sensor: temperature sensor, humidity sensor, dust sensor, smoke transducer, peculiar smell sensor and carbon monoxide transducer.
Intelligent environment control system can comprise at least one in following household electrical appliances: air purifier, air-conditioning, humidifier, VMC (Ventilation Mechanical Control System).
Intelligent safety and defence system can comprise at least one in following household electrical appliances: door and window safety device, doorbell gate control system, live pick up head.
Intelligent video control system can comprise at least one in following household electrical appliances: TV, Set Top Box, music player, sound equipment, home theater.
According to a further aspect in the invention, provide a kind of intelligent home furnishing control method of robot, described robot and home appliance system adopt over the horizon communication system to communicate, and the method comprises the following steps:
Determine household electrical appliances to be manipulated in home appliance system the infrared manipulation template that is suitable for being stored in the storer of robot, and based on the user instruction for manipulating described household electrical appliances, generate the navigation instruction for described household electrical appliances and user command coding;
Based on the cartographic information stored in described robot by the manipulation position corresponding to described robot navigation to household electrical appliances to be manipulated;
Receive described user command coding, based on described household electrical appliances the infrared pulse of user command coding correspondence described in the infrared manipulation template generation that is suitable for, and launch described infrared pulse to household electrical appliances to be manipulated.
According to the embodiment of the present invention, centralized management to the equipment with infrared receiver function and control can be realized by robot of the present invention.
Attendant advantages of the present invention, object, and feature will will partly be set forth in the following description, and hereafter will become obvious to rear section for those of ordinary skill in the art studying, or can know according to practice of the present invention.Object of the present invention and other advantage can be implemented to by the structure specifically noted in written explanation and claims and accompanying drawing thereof and be obtained.
It will be appreciated by those skilled in the art that the object that can realize with the present invention and advantage be not limited to above concrete described in, and according to the above and other object that following detailed description will more clearly be understood the present invention and can realize.
Accompanying drawing explanation
With reference to the following drawings, many aspects of the present invention will be understood better.Ingredient in accompanying drawing is not necessarily proportional, focuses on clearly exemplifying principle of the present invention.In accompanying drawing:
Fig. 1 shows the schematic diagram of the intelligent domestic system of embodiment of the present invention;
Fig. 2 is the roughly block diagram of the mobile robot according to embodiment of the present invention;
Fig. 3 is the example flow 1 of the infrared control method of embodiment of the present invention;
Fig. 4 is the example flow 2 of the infrared control method of embodiment of the present invention;
Fig. 5 is the control operation schematic flow sheet to intelligent safety and defence system in embodiment of the present invention;
Fig. 6 is the control operation process flow diagram to environmental control system in embodiment of the present invention; And
Fig. 7 is the control operation process flow diagram to Intelligent video system in embodiment of the present invention.
Embodiment
Below, the preferred embodiment of the present invention is described in detail.The example of these preferred implementations illustrates in the accompanying drawings.Shown in accompanying drawing and the embodiments of the present invention described with reference to the accompanying drawings be only exemplary, and technical spirit of the present invention and main operation thereof are not limited to these embodiments.
At this, also it should be noted that, in order to avoid the present invention fuzzy because of unnecessary details, illustrate only in the accompanying drawings with according to the closely-related structure of the solution of the present invention and/or treatment step, and eliminate other details little with relation of the present invention.
Object of the present invention carries out managing and controlling for the household electrical appliances with infrared receiver function are concentrated by novel robot.
Intelligent domestic system of the present invention can realize the monitoring of intelligent environment control system (also claim intelligent fresh air environmental system), intelligent safety and defence system automatic early-warning and Intelligent video Systematical control.Exemplarily, intelligent environment control system can comprise: VMC (Ventilation Mechanical Control System) and sensor, described sensor comprises air mass sensor, temperature sensor and/or humidity sensor, and described VMC (Ventilation Mechanical Control System) comprises infrared receiving module, for receiving the infrared signal that machine human hair is sent; Intelligent safety and defence system can comprise: door and window safety device, doorbell gate control system and camera, and described door and window safety device comprises infrared induction device; Intelligent video control system can comprise: display device (as TV), music player and/or sound equipment, and described display device, music player and/or sound equipment have infrared receiving module, for receiving the infrared signal that machine human hair is sent.
First the home appliance system in the present invention is described.As shown in Figure 1, intelligent domestic system in the present invention can comprise mobile robot 10 and home appliance system, the instruction that robot receives the instruction from control terminal, the input media by robot inputs or phonetic order, and utilize over the horizon communication system to communicate with the family expenses household electrical appliances in home appliance system.Wherein, home appliance system can comprise intelligent environment control system (also can be described as intelligent fresh air environmental system), Intelligent video system and/or intelligent safety and defence system.Mobile robot 10 can carry out alternately, realizing the monitoring to intelligent environment control system (also can be described as intelligent fresh air environmental system), Intelligent video system and intelligent safety and defence system with intelligent terminal 20.The controller 100 of this robot receive from intelligent terminal (or claiming control terminal) 20 steering order, receive user speech-input instructions, receive the instruction that instruction that user input from the touch-screen of robot 10 or user pass through the key-press input of robot 10, control corresponding system according to kind of the control model of three above.Controller 100 can comprise: central processing unit, and it controls for carrying out entirety to robot; And Intelligent housing module, its for determine household electrical appliances to be manipulated in home appliance system the infrared manipulation template that is suitable for stored in memory, and based on the user instruction for manipulating household electrical appliances, generate the navigation instruction for household electrical appliances and user command coding, to regulate and control targetedly the different household electrical appliances in home appliance system.
As shown in Figure 2, this mobile robot 10 can comprise: controller 100, wireless communication unit 110, touch-screen 120, template matches unit 130, storer 140, self-navigation unit 150, infrared communication unit 170, infrared command unit 180, autoalarm 190, face recognition unit 210, sensor (for carrying out external information collection) etc.Sensor assembly such as can comprise environmental monitoring sensor 160, infrared thermal imaging sensor 200, camera 220, sound identification module (as microphone) etc., and wherein environmental monitoring sensor 160 such as can comprise with at least one in lower sensor: temperature sensor, humidity sensor, dust sensor, smoke transducer, peculiar smell sensor and carbon monoxide transducer.Element as illustrated in Figure 1 is not necessary to ask, and can utilize than illustrating that the more or less element of those elements is to realize mobile robot.Further, some unit can be integrated in the controller, or can be subdivided into more subelement.
In this robot, mobile comm unit is used for communicating with control terminal.
Wireless communication unit 110 is for communicating with external device (ED) (control terminal as user) by remote radio communication technology such as 3G, 4G.Wireless communication unit also can comprise other short-range communication unit except infrared such as Wi-Fi, bluetooth, ZigBee.
Touch-screen 120 is for receiving the touch input of user.
Controller 100 is for carrying out overall control to each parts of robot.Such as, can to control environment control system, intelligent safety and defence system and Intelligent video control system based on the instruction received from the touch input of user or phonetic entry or from the instruction that control terminal receives.In addition, in the present invention, controller 100 can be used for determining the household electrical appliances (such as air-conditioning) with infrared receiver function to be manipulated the infrared manipulation template that is suitable for be stored in storer 170, and based on the user instruction for manipulating household electrical appliances, generate the navigation instruction for household electrical appliances and user command coding.
Storer 140 stores indoor map information and facial image information.
Self-navigation unit 150 for receiving the navigation instruction of self-controller, based on the household electrical appliances cartographic information stored in robot by the manipulation position corresponding to robot navigation to household electrical appliances to be manipulated.
Infrared communications set 170 can comprise infrared command output unit (or claiming infrared launcher) and infrared receiving device, for transmitting and receiving infrared ray, comes to communicate with the household electrical appliances supported in the home appliance system of over the horizon communication system.Infrared command output unit in infrared communications set 170 can receive the user command coding of self-controller 100, based on household electrical appliances infrared pulse corresponding to the infrared manipulation template generation user command coding that is suitable for, and launch the infrared pulse generated to household electrical appliances to be manipulated.
Thus, robot can carry out managing concentratedly and controlling (as opened air-conditioning, cutting out air-conditioning etc.) with the equipment of infrared receiving device in existing household.
In addition, in the intelligent domestic system shown in Fig. 1, environmental monitoring sensor 160 for Control Room environment information under environmental monitoring pattern, and sends testing result to controller.
Face recognition unit 210 can be used for obtaining image information, and carries out face recognition based on the reference image information of the image information obtained and pre-stored.
In the present invention, infrared thermal imaging sensor 200 is for based on heat radiation image checking human body contour outline.Camera 220 is for carrying out imaging to target.
In addition, in embodiments of the present invention, multiple candidate, for when determining the infrared manipulation template that household electrical appliances are suitable for, being manipulated template and matching with household electrical appliances to be manipulated, till the general manipulation template finding coupling by template matches unit 130.Like this, the infrared manipulation template that the general manipulation mould of this coupling is suitable for as the household electrical appliances that plate is to be operated can store in memory by described controller.
Infrared command unit 180 is for learning infrared manipulation template from telepilot.Now, the infrared receiving device of infrared communication unit 170 receives the encoded IR commands corresponding with the control command on this telepilot from telepilot, infrared command unit 180 stores encoded IR commands on the storer of robot, and be associated with control command, thus generate infrared manipulation template.
Autoalarm 190 sends warning message for the control corresponding to controller to control terminal or sends alarm sound.
When robot dispatches from the factory, the infrared manipulation template of various household electrical appliances can not be comprised, but the infrared manipulation template be suitable for by importing the household electrical appliances that will control to robot initialization carrys out the remote control process of initialization robot to household electrical appliances.In the process of the straighforward operation of this initialization robot, robot can be moved to the room, place needing the air-conditioning controlled by user, by the infrared receiving device of the infrared launcher of robot towards air-conditioning, robot is moved to in the infrared launcher of the robot 120 degree of angles that are level.Also can based on the household electrical appliances cartographic information stored in robot by the manipulation position corresponding to robot navigation to air-conditioning.Such as user can by being arranged on the robot application software control of intelligent terminal (as mobile phone, flat board, computer) or being shielded by robot manipulation or the brand of way selection household electrical appliances of voice command and model, controller 100 receives brand and the model of household electrical appliances, by wireless communication unit 110 connection mode plate server, download this brand and infrared manipulation template corresponding to model from template server, the infrared manipulation template be suitable for as household electrical appliances to be operated is stored in storer 170.Certainly, robot also can be previously stored with infrared manipulation template.
If receive from template server the response that instruction does not exist brand and infrared manipulation template corresponding to model, then controller 100 downloads multiple general manipulation template by wireless communication unit 110 from template server.
According to predetermined order, template matches unit 130 can determine whether downloaded general manipulation template matches with household electrical appliances to be operated one by one, till the general manipulation template finding coupling, the infrared manipulation template that the general manipulation mould of this coupling is suitable for as the household electrical appliances that plate is to be operated can be stored in storer 170 by controller.
Wherein, when downloading multiple general manipulation template, controller 100 can download multiple general manipulation template based on the brand of household electrical appliances to be manipulated and/or the manipulation connected ratio of template and/or frequency from template server.Template matches unit 130 also can mate according to the order determined based on the brand of household electrical appliances to be manipulated and/or the manipulation connected ratio of template and/or frequency.
Such as, when user-selected model is when server masterplate can not find, server will return the model that user that all masterplates of this brand and server end add up commonly uses, the coupling order models of all masterplates under generating this brand by selecting the comprehensive matching such as the frequency of a certain model and connected ratio.Robot can mate according to this order one by one when mating air-conditioning, is shortened as much as possible the time of coupling.
If all do not find the masterplate that can mate in all infrared manipulation masterplate that server sends over, so robot will start infrared command unit 180 by the order study on telepilot in robot storage.
Particularly, infrared receiving device reception can be used from the encoded IR commands corresponding with the control command on this telepilot of telepilot.Such as, existing domestic electrical equipment remote controller aims at the infrared receiving device 150 of robot, select the button in requisition for typing control in the operation screen of robot, and then pin telepilot and control button accordingly, until stop when the typing key-press status in robotic end operation screen becomes upstate.Encoded IR commands can be stored in this locality (on the storer of robot) by infrared command unit 160, and encoded IR commands is associated with control command.
Table 1 below illustrates that control command is corresponding with command code to be shown (part code table):
That is, according to the present invention, after robot receives the order of user, such as by the manipulation command resolution unit of controller by the command analysis of user, and to the order that unit (as Position Navigation Unit 150, the infrared command output unit etc.) distribution that controller controls is resolved.After intelligent positioning navigation elements 150 receives the order of distribution, robot can automatically by the position of intelligent positioning navigation elements Automatic-searching to household electrical appliances place, and send control coding to infrared command output unit simultaneously, corresponding infrared controller masterplate is searched in device storage unit, infrared pulse is generated, to the command code that air-conditioning transmission user assigns by the corresponding user command of infrared control stencil matching.Thus the control realized household electrical appliances.For the household electrical appliances of different brands and model, can adopt robot as described above that the infrared manipulation template of correspondence is stored into this locality, and manipulate.
Fig. 3 shows the example flow 1 of the infrared control method of embodiment of the present invention.In figure 3, before robot manipulation household electrical appliances, carry out the initialization (determining the manipulation template of household electrical appliances to be manipulated) of robot.The process flow diagram of Fig. 3 comprises the following steps:
Step S310, user can be shielded by the client of intelligent terminal or robot manipulation or be selected brand and the model of the air-conditioning that will control by voice command.After selecting brand and model success, robot downloads this brand and masterplate ("Yes" in step S320) corresponding to model by being automatically connected to masterplate server, and the template of download is stored in local storage in step S360.
If receive from template server the response ("No" step S320) that instruction does not exist brand and infrared manipulation template corresponding to model, controller downloads multiple general manipulation template by wireless communication unit from template server.
Such as, if server can not find the masterplate of this brand or model, server can to send 50 general masterplate data at every turn from Infrared remote controller template database, turn back in the masterplate register of robot, robot can according to predetermined masterplate clooating sequence, one by one air-conditioning is sent to the order stored in the masterplate that returns of server, and determining whether that the match is successful (step S340), user determines that robot will be stored into this locality (step S360) successful masterplate after the match is successful.
Above-mentioned template clooating sequence is such as by recommending learning algorithm to calculate.Learning algorithm is recommended to be the data used based on a large number of users, as: the utilization rate etc. of frequency, masterplate connected ratio and/or masterplate that certain brand or model occur, COMPREHENSIVE CALCULATING draws a clooating sequence recommended.
If recommend at server all not find the masterplate ("No" in step S340) that can mate in all masterplates of coming, so robot will start infrared command unit by the order study on telepilot in robot storage.
Alternatively, after select command masterplate, robot can adjust position at set intervals, the air-conditioning of remote control is needed to send infrared pulse instruction to band, if robot send infrared pulse instruction can receive by air-conditioning, the coordinate points of this position can be preserved by robot, as manipulating position.Through repeatedly adjusting, robot can obtain the Effective Regulation position range near air-conditioning, and robot can navigate to Effective Regulation position range by navigation elements when manipulating air-conditioning at every turn, thus realizes the effective manipulation to air-conditioning.
Determine that the order of the mode (carry out matching well based on appliance brand and model, the multiple common template of download and select and utilize infrared learning unit to learn) of the manipulation template of household electrical appliances to be manipulated is not limited to mode as described above for three kinds as above.Such as, directly can select and use a certain mode wherein.
Step S370, based on the user instruction for manipulating air-conditioning, generates the navigation instruction for air-conditioning and user command coding.
The controller of robot can receive the instruction of user from intelligent terminal (as mobile phone), or receive the instruction of input by the touch-screen of robot or receive voice command, and generate navigation instruction and user command coding based on this instruction, and the instruction of generation is issued to Position Navigation Unit and infrared command output unit respectively.
Step S390, based on the air-conditioning cartographic information stored in navigation instruction and robot by the manipulation position corresponding to robot navigation to air-conditioning to be manipulated.
Step S400, S410, based on user command coding and air-conditioning the infrared pulse of infrared manipulation template generation user command coding correspondence that is suitable for, and to air-conditioning to be manipulated transmitting infrared pulse.The controller 100 of robot sends control coding to infrared command output unit, corresponding infrared controller masterplate is searched in device memory, infrared pulse is generated by the corresponding user command of infrared control stencil matching, and to the command code that air-conditioning transmission user assigns.
Initialized step in Fig. 3 also can be carried out after the instruction receiving user, as shown in Figure 4.
Based on the present invention, after having carried out initialization to robot, without the need to manpower intervention, robot just can be made automatically can to manipulate household electrical appliances based on user instruction, as opened or closed air-conditioning, regulating temperature etc.Such as can also carry out timing setting to household electrical appliances, after the predetermined amount of time of agreement arrives, automatically operate accordingly, e.g., at 6 in afternoon opens water heater etc. automatically by robot.
As shown in Figure 6, robot is based on operation template contral household electrical appliances (step S628).After unlatching household electrical appliances (as air-conditioning), step S630, from built-in environmental monitoring sensor (as temperature sensor or humidity sensor) 160 or the data of environmental monitoring sensor that are arranged in room or household electrical appliances, robot 10 can by judging whether environmental parameter (as temperature or humidity parameter) reaches predetermined condition (as predetermined temperature or humidity).When reaching predetermined condition, in step S632, the controller 100 of robot can change the running status of household electrical appliances or claim operator scheme (as changed holding state into from running status).Alternatively, robot also can utilize camera or microphone to determine the change of household electrical appliances pilot lamp or hummer state, thus judge whether environmental parameter reaches predetermined condition, and when reaching predetermined condition, changing the running status of household electrical appliances or claiming operator scheme (as changing holding state into).
In embodiments of the present invention, be not limited to the change with camera or voice recognition device determination household electrical appliances pilot lamp or hummer state, also by household electrical appliances, the change of pilot lamp or hummer state can be sent to robot.
In addition, in embodiments of the present invention, the kind of the environmental monitoring sensor 160 arranged in robot or room can be one or more in temperature sensor, humidity sensor, dust sensor, smoke transducer, peculiar smell sensor, carbon monoxide transducer etc., but the present invention is not limited thereto, the sensor of other types can also be provided with.Utilize these sensors, robot 10 can detect temperature, humidity, dust, smog, peculiar smell, carbon monoxide etc. in room, and based on the operation of the corresponding household electrical appliances of state modulator (as air-conditioning, humidifier etc.) detected, and/or send warning in time, such as send message to intelligent terminal or send alarm sound.Comfortable, safe environment can be provided thus.
In addition, sensor in the present invention also can use independent of the manipulation to household electrical appliances, such as, carbon monoxide transducer is used for the concentration of carbon monoxide in Control Room, when the concentration of carbon monoxide exceedes predetermined concentration, imply that gas leakage, the controller 100 of robot can send warning message directly to intelligent terminal 20 or send chimes of doom, makes corresponding process to point out user.
Robot in the embodiment of the present invention not only can realize the manipulation to intelligent environment control system, can also realize the manipulation to intelligent safety and defence system and Intelligent video system.
Fig. 5 shows the control to intelligent safety and defence system.Intelligent safety and defence system such as can comprise indoor door and window safety device, video doorbell gate control system, live pick up head unit etc., and the present invention is not limited to this, and intelligent safety and defence system can divide following several modes:
1) user's active obtaining pattern:
User is by intelligent terminal 20 (as: mobile phone, dull and stereotyped, computer) in the data message of application software from robot active obtaining live pick up head or the data message of robot camera, and the running status etc. of indoor door and window safety device and video doorbell gate control system.
2) intelligent automatic real-time monitoring pattern:
This function is in two kinds of situation:
In A, family during nobody home
In manager during nobody home, each hardware device in intelligent robot safety-protection system can operate simultaneously.
The voltage data of the infrared induction device in the controller meeting receiving chamber of robot in door and window safety device, if detect that the voltage of the infrared induction device in indoor door and window safety device uprises or step-down, so the controller of robot can judge that door or window have the behavior be opened, can to be gone out by the position judgment at current infrared induction device place or window has the position be opened, first call door that distance has been unlocked or the nearest cam device of window position, video information can be collected by communication module by robot, robot motion finds related object (people) to relevant position simultaneously, and open camera and carry out facial scan identification, compare with the household of typing in advance or the facial information of friend, if the match is successful, do not report to the police, if mate unsuccessful, start autoalarm and report to the police, then in control of intelligent terminal, send emergency notice and indoor situations.The picture of shooting can be sent to public security system or community security system, and report to the police.
If during the temperature profile of the infrared thermal imaging sensor of robot to the heat radiation product surface of robot surrounding objects, by the automatic human body contour outline image comparison with presetting, camera will be called carry out face recognition if the match is successful, if the household of the result identified with typing in advance or the facial match success of friend, notice and indoor situations can be sent to control of intelligent terminal, not report to the police.If mate unsuccessful, need in control of intelligent terminal, send emergency notice and indoor situations, and start autoalarm, video pictures is sent to public security system or community security system, and reports to the police.
When having people to be in B, family
When there is a ring at the door outdoors, the controller of robot can call the nearest cam device of range gate, obtain the face-image of the people rung a doorbell, facial recognition modules will be called, if the household of the result identified with typing in advance or the facial match success of friend, then automatic opening door taboo function opens door.If mate unsuccessful, then notify that user has people to come to visit.
Fig. 5 shows the control operation schematic flow sheet to intelligent safety and defence system in the present invention.As shown in Figure 5, this flow process comprises the steps:
Step S210, for intelligent safety and defence system, the controller of robot can start control to intelligent safety and defence system from the phonetic order of the instruction of the reception of the intelligent terminal of user, the instruction inputted by the touch-screen of robot or user.
Step S212, controller is determined to enter in family unmanned pattern in people's pattern or family, and this pattern can be selected by user and input to the controller of robot.Alternatively, whether can also have people by the infrared thermal imaging sensor detecting chamber of robot, if there is people, determining to enter in family has people's pattern, if nobody enters unmanned pattern in family.Alternatively, can also be scanned by the camera of robot to indoor, determine whether indoor have people, if scan profile or the face of people, then determining to enter in family has people's pattern, otherwise enters unmanned pattern in family.
Step S214, having under people's home mode, when there is a ring at the door, the sound receiver (as microphone) of robot receives the sound of doorbell, controller calls the nearest cam device of safety-protection system middle distance door, obtains the face-image of the people rung a doorbell.
Step S216, control surface controller portion identification module carries out face recognition processing to the face-image of the people rung a doorbell.
The face-image of household or friend is previously stored with in the storer of robot.As shown in step S218, if the face-image of the facial recognition modules face-image identifying the people rung a doorbell and the household prestored or friend matches, then controller sends door open command in step S220 to gate inhibition, and automatic opening door is prohibited function and opened door.If mate unsuccessful, then in step S222, by loudspeaker, controller notifies that user has people to come to visit.This advice method is only example, and the present invention is not limited to this, such as, can also send reminder message by Wi-fi, bluetooth etc. to user terminal.In addition, the face-image of the messenger (messenger or " courier " etc. as " not infering ") of other types can also be stored in the storer of robot 10, such as, if the face-image of the people do not infered that the face-image of the people rung a doorbell and robot prestore matches, then robot does not open door automatically, and notifies to owner.The notice language carrying out notifying to owner can be arranged for different messengers by user, can send different " notice language ", as " Xiao Ling has come ", " father has returned " after robot identifies different messengers.
Step S222, at home unmanned pattern, the controller of robot 10 receives the voltage data of the indoor infrared sensing device in door and window safety device.
Step S224, if voltage data obviously uprises or step-down, controller can judge that door or window have the behavior be opened, then it is gone out by the position judgment at current infrared induction device place or window has the position be opened, call door that distance has been unlocked or the nearest cam device of window position, obtain image information, and utilize facial recognition modules to carry out face recognition, compare with the household of typing in advance or the facial information of friend.Alternatively, robot is calling while door that distance has been unlocked or the nearest cam device of window position carry out making a video recording, robot is moveable to relevant position and finds related object (people), and open camera and take, carry out facial scan identification with the image of facial recognition modules to shooting, compare with the household of typing in advance or the facial information of friend.
If the match is successful ("Yes" of step S226), then robot does not report to the police, and only can send notice and indoor situations to control of intelligent terminal.If mated unsuccessful ("No" of step S226), the controller of robot starts autoalarm in step S228 and reports to the police, and sends emergency notice and indoor situations to control of intelligent terminal.
Step S230, under the control of the controller, the infrared thermal imaging sensor of robot to the temperature profile of the heat radiation product surface of robot surrounding objects, by temperature profile automatically with the human body contour outline image comparison preset.
Step S232, if comparing result matches, will call camera and facial recognition modules carries out face recognition.
If the household of the result identified with typing in advance or facial match success ("Yes" of step S234) of friend, in step S238, only can send notice and indoor situations to control of intelligent terminal, and not report to the police.
If the result identified and the household of typing in advance or the facial match unsuccessful ("No" of step S234) of friend, then in step S236, in control of intelligent terminal, send emergency notice and indoor situations, and start autoalarm and report to the police.Preferably, video pictures is sent to public security system or community security system, and reports to the police.
In the schematic flow sheet of Fig. 4, the execution sequence of some steps is not limited to carry out according to order above, but can change successively, and this reasonably can arrange robot according to actual needs.Such as, step S230-S236 can perform prior to step S222-S228.Further, step S230-S236 can perform independent of step S222-S228.
Intelligent safety and defence system as above substantially increases the security of inhabitation.
Control to Intelligent video control system is described below.The control of robot to Intelligent video system has the following two kinds operator scheme:
1) artificial mode:
Artificial mode user can by the brand of household electrical appliances in the mode of phonetic entry or the way selection Intelligent video system of being shielded by robot manipulation and model, can by the mode input command (as: zapping) of language or the mode input command shielded by robot manipulation (as: opening robot projector) after chosen successfully.
After robot receives the order of user robot can automatically by self-navigation module based on the position of cartographic information Automatic-searching to Intelligent video system place, and in order output module, find corresponding Intelligent video operation template simultaneously, by known Intelligent video operation template with communication mode send to audio-video system the instruction that user assigns.
2) automatic control mode:
This automatic control mode divides again two kinds of patterns:
A, intelligent monitoring
As shown in Figure 7, during by temperature profile (profile diagram) to the heat radiation product surface of robot surrounding objects of the infrared thermal imaging sensor of robot, by the automatic human body contour outline image comparison (step S730) with presetting, if the match is successful, represent that there is people's ("Yes" in step S732) indoor, robot can continue in monitor room whether someone exists, unsuccessfully pre-determined number ("No" in step S732) is reached if mated, then represent whether the display screen of the sound or Intelligent video system that continue through external environment is that long bright state is to distinguish the state that audio-video system is opened or closed by indoor no one, if can only audio-visually be opening, fill order module sends the order of closedown in pattern to audio-video system.
B, contextual model control
User can with presetting in the execution contextual model by the timing of the timing function of system hardware clock module, by defining different contextual model (as: lunch break pattern: noon can closeall audio-video system; Early morning pattern: the song that some are releived can be play; Appointment pattern: romantic song isotype can be play, user also can self-defined contextual model).
When the time arrive set by time time, robot starts the control to Intelligent video control system automatically, the indoor map information stored is utilized by positioning navigation module, arrive the position at Intelligent video system place, when not knowing the brand of household electrical appliances and the model of audio-video system, use current brand and the model needing the audio-video system household electrical appliances of operation of camera identification, if identify successfully, searched the operation template of this this model of brand by the Intelligent video operation template kind in order output module, if there is not the masterplate that the audio-visual operation template server that is certainly dynamically connected is downloaded corresponding audio-video system household electrical appliances by robot in this locality, and by this audio-visual operation template with communication mode select corresponding communication mode, perform sight preset in order (as step S728).If unidentified success, artificial connect audio-visual operation template server, download general operation template, calling communication module also starts poll contrast algorithms selection and goes out corresponding communication mode, perform sight preset in order.In embodiment of the present invention, the order of step S728 and step S730-S734 is not limited to the form shown in Fig. 7, but can arrange flexibly.
After unlatching Intelligent video, under the control of the controller, the infrared thermal imaging sensor of robot can at regular intervals (as 5 minutes, but be not limited to this) temperature profile to the heat radiation product surface of robot surrounding objects, the automatic human body contour outline image comparison with presetting by temperature profile, to determine whether indoor have people.If indoor nobody (namely mating unsuccessful), and the unsuccessful number of times of coupling reaches 3 times continuously, then determine that indoor people leaves, so change the running status of household electrical appliances in Intelligent video system, as having unlatching to change closedown into sound equipment, to reach the object of power saving.
Based on above-mentioned embodiment of the present invention, household robot can utilize his mobility, and interactive voice characteristic, intelligent decision characteristic, controls multiple parts of family.Robot is integrated with the several functions in Smart Home field, and simply can realize.Effectively improve house security, convenience, comfortableness, artistry, and realize the living environment of environmental protection and energy saving.
Embodiments of the present invention also have the following advantages:
(1) Intelligent housing relatively in the past, this cover Intelligent housing is mounted in and robot realizes with memory function.Zhi Xu initialization robot, all operations is without the need to manpower intervention afterwards.
(2) time control can be concentrated to the household electrical appliances in family, in manager nobody time or when falling asleep the late into the night robot automatically can manage household electrical appliances with infrared receiving device in family.Also the household electrical appliances with infrared receiving device can be controlled by long-range mode.
(3) due to features such as infrared popularity rate is very high, cheap, low power consumings, mode with infrared remote control in existing household is taken as the leading factor, so this cover Smart Home selects the household electrical appliances with infrared receiving device in infrared communication mode centralized control and management room.In addition this cover Smart Home scheme can control household electrical appliances when not knowing brand with infrared command unit.
(4) Infrared Transmission is relative to Wi-Fi, bluetooth, ZigBee, more convenient in the control of indoor, traditional, without the need to Handshake Protocol, can reach the object etc. controlling household electrical appliances fast.
(5) smart home control device in the past, the infrared launcher carried no matter position, or angle is all fixing, can only realize controlling in certain area.Robot is movably all is hard-core in range of control, can adapt to indoor multiple complex environment etc.
Based on above-mentioned embodiment of the present invention, household robot can utilize his mobility, and interactive voice characteristic, intelligent decision characteristic, controls multiple parts of family.Robot is integrated with the several functions in Smart Home field, and simply can realize.Effectively improve house security, convenience, comfortableness, artistry, and realize the living environment of environmental protection and energy saving.
It should be noted that, above-described embodiment is only and the present invention and unrestricted the scope of the claims of the present invention is described, any based on equivalents technology of the present invention, all should in scope of patent protection of the present invention.
Claims (10)
1. an intelligent domestic system, is characterized in that, described intelligent domestic system comprises robot and home appliance system, and robot and home appliance system adopt over the horizon communication system to communicate;
Described home appliance system comprises intelligent environment control system, intelligent safety and defence system and/or Intelligent video control system;
Described robot comprises:
Robot body;
Infrared communication module, for carrying out data communication with furniture appliance system;
Sensor assembly, for carrying out external information collection;
Storer;
Central processing unit, it controls for carrying out entirety to described robot;
Intelligent housing module, its for determine household electrical appliances to be manipulated in home appliance system the infrared manipulation template that is suitable for stored in which memory, and based on the user instruction for manipulating described household electrical appliances, generate the navigation instruction for described household electrical appliances and user command coding;
Position Navigation Unit, it receives navigation instruction, based on the cartographic information stored in described robot by the manipulation position corresponding to described robot navigation to household electrical appliances to be manipulated; And
Infrared command output unit, it receives the described user command coding from described Intelligent housing module, based on described household electrical appliances infrared pulse corresponding to user command coding described in the infrared manipulation template generation that is suitable for, and launch described infrared pulse to household electrical appliances to be manipulated.
2. intelligent domestic system according to claim 1, is characterized in that, described intelligent domestic system also comprises: control terminal, and described control terminal and described robot carry out short range or telecommunication;
Described robot also comprises:
Warning device, it is for sending alarm sound;
Wireless communication unit, it is for carrying out radio communication with external device (ED);
Wherein, described Intelligent housing module receives brand and the model of household electrical appliances to be operated based on user instruction, by described wireless communication unit connection mode plate server, and download described brand and infrared manipulation template corresponding to model from described template server, the infrared manipulation template be suitable for as household electrical appliances to be operated is stored in described storer.
3. intelligent domestic system according to claim 2, is characterized in that,
If receive from described template server the response that instruction does not exist described brand and infrared manipulation template corresponding to model, described Intelligent housing module downloads multiple general manipulation template by described wireless communication unit from described template server;
Further, described robot also comprises:
Template matches unit, it is for determining according to predetermined order whether downloaded general manipulation template matches with household electrical appliances to be operated one by one, till the general manipulation template finding coupling, the infrared manipulation template that the general manipulation mould of this coupling is suitable for as the household electrical appliances that plate is to be operated stores in which memory by described Intelligent housing module.
4. intelligent domestic system according to claim 3, is characterized in that,
Described Intelligent housing module downloads multiple general manipulation template based on the brand of household electrical appliances to be manipulated and/or the manipulation connected ratio of template and/or frequency from described template server;
Described template matches unit mates according to the order determined based on the brand of household electrical appliances to be manipulated and/or the manipulation connected ratio of template and/or frequency.
5. intelligent domestic system according to claim 1, is characterized in that,
Described robot also comprises:
Infrared receiving device, it is for receiving the encoded IR commands corresponding with the control command on this telepilot from telepilot; And
Infrared command unit, the storer of described robot stores described encoded IR commands, and is associated with described control command.
6. intelligent domestic system according to claim 1, is characterized in that, described sensor assembly also comprises:
Infrared thermal imaging sensor, for based on heat radiation image checking human body contour outline; And/or
Camera, it is for carrying out imaging to target.
7. intelligent domestic system according to claim 1, is characterized in that, described sensor assembly also comprises:
Environmental monitoring sensor, it is for for environmental monitoring system sensing chamber inner-environment index, and testing result is sent to described Intelligent housing module, when testing result departs from predetermined value or numerical range, control the operation of the household electrical appliances of the correspondence that can change described indoor environment index in described environmental control system or send warning message; Described environmental monitoring sensor comprises as at least one in lower sensor: temperature sensor, humidity sensor, dust sensor, smoke transducer, peculiar smell sensor and carbon monoxide transducer.
8. intelligent domestic system according to claim 1, is characterized in that,
Described intelligent environment control system comprises: VMC (Ventilation Mechanical Control System) and sensor, and described sensor comprises air mass sensor, temperature sensor and/or humidity sensor, and described VMC (Ventilation Mechanical Control System) comprises infrared receiving module, for receiving the infrared signal that machine human hair is sent;
Described intelligent safety and defence system comprises: door and window safety device, doorbell gate control system and camera, and described door and window safety device comprises infrared induction device;
Described Intelligent video control system comprises: display device, music player and/or sound equipment, and described display device, music player and/or sound equipment have infrared receiving module, for receiving the infrared signal that machine human hair is sent.
9. an intelligent home furnishing control method for robot, is characterized in that, described robot and home appliance system adopt over the horizon communication system to communicate, and the method comprises the following steps:
Determine household electrical appliances to be manipulated in home appliance system the infrared manipulation template that is suitable for be stored in the storer of robot, and based on the user instruction for manipulating described household electrical appliances, generate the navigation instruction for described household electrical appliances and user command coding, wherein said home appliance system comprises intelligent environment control system, intelligent safety and defence system and/or Intelligent video control system;
Based on the cartographic information stored in described robot by the manipulation position corresponding to described robot navigation to household electrical appliances to be manipulated;
Receive described user command coding, based on described household electrical appliances the infrared pulse of user command coding correspondence described in the infrared manipulation template generation that is suitable for, and launch described infrared pulse to household electrical appliances to be manipulated.
10. intelligent home furnishing control method according to claim 9, is characterized in that,
For intelligent safety and defence system, described method is further comprising the steps of:
Described Intelligent housing module responds changes in the state of door and window safety device and/or video doorbell gate control system, obtain the data message of live pick up head and/or the data message of robot camera, and based on the data message obtained, face recognition is carried out to messenger, control warning device when recognition result does not mate and send alarm sound or send alerting signal to described control terminal; And/or
When utilizing the temperature profile of infrared thermal imaging sensor to the heat radiation product surface of robot surrounding objects, automatically with the human body contour outline image comparison preset, camera will be called carry out face recognition if the match is successful, and not mate if mate unsuccessful or face recognition result, control warning device and send alarm sound or send alerting signal to described control terminal;
For Intelligent video system, said method comprising the steps of:
Described infrared thermal imaging sensor is to the heat radiation product surface profile diagram of robot surrounding objects, and whether described Intelligent housing module has people near determining based on described profile diagram, and controls the operation of household electrical appliances in Intelligent video system based on determination result; And/or
The specific household electrical appliances that described Intelligent housing module controls in Intelligent video system at special time period based on the contextual model timing information preset enter predetermined contextual model.
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