CN105446162B - A kind of intelligent home furnishing control method of smart home system and robot - Google Patents

A kind of intelligent home furnishing control method of smart home system and robot Download PDF

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Publication number
CN105446162B
CN105446162B CN201610053417.3A CN201610053417A CN105446162B CN 105446162 B CN105446162 B CN 105446162B CN 201610053417 A CN201610053417 A CN 201610053417A CN 105446162 B CN105446162 B CN 105446162B
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CN
China
Prior art keywords
robot
infrared
household electrical
electrical appliances
template
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CN201610053417.3A
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Chinese (zh)
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CN105446162A (en
Inventor
曹健
辛凤坤
邢亚凡
武亚敏
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北京进化者机器人科技有限公司
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Priority to CN201610053417.3A priority Critical patent/CN105446162B/en
Publication of CN105446162A publication Critical patent/CN105446162A/en
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Publication of CN105446162B publication Critical patent/CN105446162B/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00Systems controlled by a computer
    • G05B15/02Systems controlled by a computer electric
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/418Total 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], computer integrated manufacturing [CIM]
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/26Pc applications
    • G05B2219/2642Domotique, domestic, home control, automation, smart house

Abstract

The present invention relates to a kind of smart home system and the intelligent home furnishing control method of robot, the system comprises:Robot and home appliance system, home appliance system include:Intelligent environment control system, at least one of intelligent safety and defence system and intelligent video control system;Robot includes:Central processing unit carries out whole control to the robot;Intelligent housing module determines the infrared manipulation template that household electrical appliances to be controlled are applicable in and stores it in memory, and generates navigation instruction and the user command coding for household electrical appliances based on user instruction;Position Navigation Unit receives navigation instruction, based on the cartographic information stored in robot by manipulation position corresponding to robot navigation to household electrical appliances to be controlled;And infrared command output device, user command coding is received, corresponding infrared pulse is encoded based on the infrared manipulation template generation user command that household electrical appliances are applicable in, and emit infrared pulse to household electrical appliances to be controlled.

Description

A kind of intelligent home furnishing control method of smart home system and robot

Technical field

The present invention relates to the smart home controls of smart home field more particularly to a kind of smart home system and robot Method processed.

Background technique

With the rapid development of science and technology, the type by the housed device of remote control control is more and more, such as TV Machine, set-top box, air-conditioning, lamps and lanterns etc., consequent are that remote controler excessively causes inconvenient such as distant with can not find Control device be just difficult on household electrical appliances carry out the various occupied space of control operation, remote controler influence it is clean and tidy and the problems such as be easy to obscure etc..

Home appliance system has become the project of industry focus.Smart home is to utilize net using house as platform The equipment related with home life such as the network communication technology, security precautions technology, automatic control technology is integrated, and building is efficient The management system of schedule affairs in housing facilities and family, promotes house security, convenience, comfort.Smart home clothes are provided Thus the intelligent robot of business also generates, however, existing home-services robot does not have centralized control family Zhong Jia mostly With the function of household electrical appliances, even if having, control process also very complicated complexity, and independence and intelligence are poor.

How simply and easily to have the equipment of infrared receiver function multiple to avoid manipulating with robot centralized control The many and diverse of remote controler becomes problem to be solved.

Summary of the invention

In consideration of it, it is an object of the present invention to provide a kind of smart home system and the Intelligent housings of robot Method, to overcome because of at least one defect in the prior art.

In order to achieve the object of the present invention, according to an aspect of the present invention, the present invention provides a kind of home appliance system, It includes:

Robot and home appliance system, robot are communicated with home appliance system using over the horizon communication system;

The home appliance system includes intelligent environment control system, intelligent safety and defence system and/or intelligent video control system System;

The robot includes:

Robot body;

Infrared communication module, for carrying out data communication with home appliance system;

Sensor module, for carrying out external information acquisition;

Memory;

Intelligent housing module is used to determine the infrared manipulation that household electrical appliances to be controlled are applicable in home appliance system Template simultaneously stores it in the memory, and based on the user instruction for manipulating the household electrical appliances, generates and be directed to the family Navigation instruction and the user command coding of electricity;

Position Navigation Unit receives the navigation instruction from the Intelligent housing module, is based on the robot The cartographic information of middle storage is by manipulation position corresponding to the robot navigation to household electrical appliances to be controlled;And

Infrared command output device receives the user command coding from the Intelligent housing module, base The user command described in the infrared manipulation template generation that the household electrical appliances are applicable in encodes corresponding infrared pulse, and to be controlled Household electrical appliances emit the infrared pulse.

Further, the smart home system may also include:Controlling terminal, the controlling terminal and the robot into Row short range or telecommunication;The robot may also include:Warning device is used to issue alarm sound;Wireless communication unit, For being carried out wireless communication with external device (ED);Wherein, the Intelligent housing module is received to be operated based on user instruction The brand and model of household electrical appliances connect template server by the wireless communication unit, and download institute from the template server Brand and the corresponding infrared manipulation template of model are stated, the infrared manipulation template storage being applicable in as household electrical appliances to be operated is deposited to described In reservoir.

Further, if receiving instruction from the template server, there is no the brand and model are corresponding infrared The response of template is manipulated, the Intelligent housing module can be downloaded by the wireless communication unit from the template server Multiple general manipulation templates;Also, the robot may also include:Template matching unit, be used in a predetermined sequence by One determines whether the general manipulation template downloaded matches with household electrical appliances to be operated, until finding matched general manipulation template Until, the Intelligent housing module infrared manipulation that the matched general manipulation template is applicable as household electrical appliances to be operated Template stores in the memory.

Further, the Intelligent housing module can brand based on household electrical appliances to be controlled and/or manipulation template Connected ratio and/or frequency download multiple general manipulation templates from the template server;The template matching unit can be according to base It is matched in the sequence that the brand of household electrical appliances to be controlled and/or the connected ratio and/or frequency of manipulation template determine.

Further, the robot may also include:Infrared receiving device is used to receive distant with this from remote controler Control the corresponding encoded IR commands of control command on device;And infrared command unit, in the memory of the robot The upper storage encoded IR commands, and it is associated with the control command.

Further, the robot further includes:Infrared thermal imaging sensor, for being based on heat radiation image checking human body Profile;And/or camera, it is used to that target to be imaged.

Further, the sensor module may also include speech recognition module;The camera of the mobile robot The LED status or the speech recognition module that obtain the household electrical appliances being steered monitor the voice signal for the household electrical appliances being steered, institute It states Intelligent housing module and is based on the LED status or voice signal, determine the change of the household electrical appliances operating status being steered Change.

Further, for intelligent safety and defence system, the Intelligent housing module in response to door and window safety device and/or The state change of video doorbell access control system obtains the data information of live pick up head and/or the data letter of robot camera Breath, and face recognition is carried out to messenger based on the data information of acquisition, when recognition result mismatches, control warning device is issued Alarm sound sends alarm signal to the controlling terminal;And/or it is directed to intelligent safety and defence system, the Intelligent housing module It is configured as generating the heat radiation of robot surrounding objects using infrared thermal imaging sensor the temperature profile of body surface When (profile diagram), automatically with preset human body contour outline image comparison, if successful match will call camera carry out face Identification controls warning device if matching unsuccessful or face recognition result and mismatching and issues alarm sound or whole to the control End sends alarm signal.

Further, the infrared thermal imaging sensor generates the temperature of body surface to the heat radiation of robot surrounding objects Spend distribution map, the Intelligent housing module be based on the temperature profile determine nearby whether someone, and based on determining knot Fruit controls the operation of household electrical appliances in intelligent video system;And/or the Intelligent housing module is based on preset situation mould Formula timing information to enter scheduled contextual model in the specific household electrical appliances that special time period controls in intelligent video system.

Further, the method may also include:The robot further includes:

Environmental monitoring sensor is used for for environmental monitoring system sensing chamber inner-environment index, and will test result biography The Intelligent housing module is given, in the case where testing result deviates predetermined value or numberical range, controls the ring The operation of the corresponding household electrical appliances of the indoor environment index can be changed in the control system of border or send warning message.

The environmental monitoring sensor may include such as at least one of lower sensor:Temperature sensor, humidity sensor, Dust sensor, smoke sensor device, peculiar smell sensor and carbon monoxide transducer.

Intelligent environment control system may include at least one of following household electrical appliances:It is air purifier, air-conditioning, humidifier, new Wind system.

Intelligent safety and defence system may include at least one of following household electrical appliances:Door and window safety device, doorbell access control system, interior Camera.

Intelligent video control system may include at least one of following household electrical appliances:TV, set-top box, music player, sound It rings, home theater.

According to another aspect of the present invention, a kind of intelligent home furnishing control method of robot, the robot and family are provided House electric system is communicated using over the horizon communication system, and this approach includes the following steps:

It determines the infrared manipulation template that household electrical appliances to be controlled are applicable in home appliance system and stores it in robot Memory in, and based on the user instruction for manipulating the household electrical appliances, generate the navigation instruction for the household electrical appliances and user Command code;

It will be corresponding to the robot navigation to household electrical appliances to be controlled based on the cartographic information stored in the robot Manipulate position;

Receive the user command coding, user command described in the infrared manipulation template generation being applicable in based on the household electrical appliances Corresponding infrared pulse is encoded, and emits the infrared pulse to household electrical appliances to be controlled.

Embodiment according to the present invention, can robot through the invention realize to having the function of that infrared receiver sets Standby centralized management and control.

Attendant advantages, purpose and feature of the invention will will be partly illustrated in the following description, and will be right Partly become obvious after research hereafter in those of ordinary skill in the art, or can practice according to the present invention and obtain Know.Objectives and other advantages of the present invention can be by specifically noting in written explanation and its claims and attached drawing Structure is realized and is obtained.

It will be appreciated by those skilled in the art that can be not limited to the objects and advantages that the present invention realizes above specific It is described, and the above and other purpose that the present invention can be realized will be more clearly understood according to following detailed description.

Detailed description of the invention

Referring to the following drawings, it is better understood with many aspects of the invention.Component part in attached drawing not necessarily at than Example, it is preferred that emphasis is clearly exemplify the principle of the present invention.In attached drawing:

Fig. 1 shows the schematic diagram of the smart home system of embodiment of the present invention;

Fig. 2 is the substantially block diagram according to the mobile robot of 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 operating process schematic diagram in embodiment of the present invention to intelligent safety and defence system;

Fig. 6 is the control operational flowchart in embodiment of the present invention to environmental control system;And

Fig. 7 is the control operational flowchart in embodiment of the present invention to intelligent video system.

Specific embodiment

In the following, the preferred embodiment of the present invention is described in detail.The example of these preferred embodiments is in attached drawing In illustrated.The embodiments of the present invention described shown in attached drawing and with reference to the accompanying drawings are only exemplary, and this The technical spirit and its primary operational of invention are not limited to these embodiments.

Here, it should also be noted that, in order to avoid having obscured the present invention because of unnecessary details, in the accompanying drawings only Show with closely related structure and/or processing step according to the solution of the present invention, and be omitted little with relationship of the present invention Other details.

The purpose of the present invention is directed to the household electrical appliances concentration with infrared receiver function by novel robot and is managed and controls System.

Smart home system of the invention can be realized intelligent environment control system (also referred to as intelligent fresh air environmental system) Monitoring, intelligent safety and defence system automatic early-warning and the control of intelligent video system.As an example, intelligent environment control system can wrap It includes:Fresh air system and sensor, the sensor include air quality sensor, temperature sensor and/or humidity sensor, institute Stating fresh air system includes infrared receiving module, the infrared signal sent for receiving machine human hair;Intelligent safety and defence system may include:Door Window safety device, doorbell access control system and camera, the door and window safety device includes infrared induction device;Intelligent video control System processed may include:Display device (such as TV), music player and/or sound equipment, the display device, music player and/ Or sound equipment has infrared receiving module, the infrared signal sent for receiving machine human hair.

The home appliance system in the present invention is described first.As shown in Figure 1, the smart home system in the present invention It may include mobile robot 10 and home appliance system, robot receives instruction from controlling terminal, passes through robot The instruction of input unit input or phonetic order, and carried out using the household household electrical appliances in over the horizon communication system and home appliance system Communication.Wherein, home appliance system may include intelligent environment control system (alternatively referred to as intelligent fresh air environmental system), intelligent shadow System for electrical teaching and/or intelligent safety and defence system.Mobile robot 10 can be interacted with intelligent terminal 20, be realized to intelligent environment The monitoring of control system (alternatively referred to as intelligent fresh air environmental system), intelligent video system and intelligent safety and defence system.The machine The voice input that the controller 100 of people receives control instruction, reception user from intelligent terminal (or controlling terminal) 20 refers to It enables, receive instruction that user inputs from the touch screen of robot 10 or user by the instruction of the key-press input of robot 10, Corresponding system is controlled according to three kinds of control models above.Controller 100 may include:Central processing unit is used for machine Device people carries out whole control;And Intelligent housing module, it is used to determine household electrical appliances institute to be controlled in home appliance system Applicable infrared manipulation template simultaneously stores it in memory, and based on the user instruction for manipulating household electrical appliances, generation is directed to The navigation instruction and user command of household electrical appliances encode, targetedly to be regulated and controled to the different household electrical appliances in home appliance system.

As shown in Fig. 2, the mobile robot 10 may include:Controller 100, wireless communication unit 110, touch screen 120, Template matching unit 130, memory 140, self-navigation unit 150, infrared communication unit 170, infrared command unit 180, automatic alarm device 190, face recognition unit 210, sensor (for carrying out external information acquisition) etc..Sensor module It such as may include environmental monitoring sensor 160, infrared thermal imaging sensor 200, camera 220, speech recognition module (such as wheat Gram wind) etc., wherein environmental monitoring sensor 160 for example may include at least one of lower sensor:It is temperature sensor, wet Spend sensor, dust sensor, smoke sensor device, peculiar smell sensor and carbon monoxide transducer.Composition member as illustrated in Figure 1 What part was not necessarily required to, it can use than showing that those elements are more or less element realizes removable movement machine People.Also, some units may be integrally incorporated in controller, or can be subdivided into more subelements.

In the robot, mobile comm unit with controlling terminal for being communicated.

Wireless communication unit 110 is used for through the remote radio communications technologies such as 3G, 4G and the external device (ED) (control of such as user Terminal processed) it is communicated.Wireless communication unit may also include Wi-Fi, bluetooth, ZigBee etc. other than infrared other are short Journey wireless communication unit.

Touch screen 120 is used to receive the touch input of user.

Controller 100 is used to carry out overall control to each component of robot.For example, can be based on the touch input from user Or voice input it is received instruction or from controlling terminal it is received instruction come control environmental control system, intelligent safety and defence system and Intelligent video control system.In addition, in the present invention, controller 100 can be used for determining to be controlled have the function of infrared receiver The infrared manipulation template that is applicable in of household electrical appliances (such as air-conditioning) and store it in memory 170, and based on for manipulating house The user instruction of electricity generates navigation instruction and the user command coding for household electrical appliances.

Memory 140 is stored with indoor map information and facial image information.

Self-navigation unit 150 is for receiving the navigation instruction from controller, based on the household electrical appliances stored in robot Figure information is by manipulation position corresponding to robot navigation to household electrical appliances to be controlled.

Infrared communications set 170 may include infrared command output device (or infrared launcher) and infrared receiver dress It sets, for transmitting and receiving infrared ray, to be communicated with the household electrical appliances in the home appliance system for supporting over the horizon communication system.It is red Infrared command output device in outer communication device 170 can receive the user command coding from controller 100, be based on household electrical appliances institute Applicable infrared manipulation template generation user command encodes corresponding infrared pulse, and emits the red of generation to household electrical appliances to be controlled Outer pulse.

Robot can be managed concentratedly and be controlled for the equipment in existing household with infrared receiving device as a result, (such as unlatching air-conditioning closes air-conditioning).

In addition, environmental monitoring sensor 160 is used under environmental monitoring mode in smart home system shown in Fig. 1 Indoor environment information is monitored, and will test result and send controller to.

Face recognition unit 210 can be used for obtaining image information, and the image information based on acquisition and pre-stored ginseng It examines image information and carries out face recognition.

In the present invention, infrared thermal imaging sensor 200 is used to be based on heat radiation image checking human body contour outline.Camera 220 For target to be imaged.

In addition, in embodiments of the present invention, template matching unit 130 is used to determine the applicable infrared manipulation mould of household electrical appliances When plate, multiple candidate manipulation templates are matched with household electrical appliances to be controlled, until finding matched general manipulation template.This Sample, the infrared manipulation template which can be applicable in by the controller as household electrical appliances to be operated are stored in In memory.

Infrared command unit 180 is used to learn infrared manipulation template from remote controler.At this point, infrared communication unit 170 Infrared receiving device receive the encoded IR commands corresponding with the control command on the remote controler from remote controler, infrared life Unit 180 is enabled to store encoded IR commands on the memory of robot, and associated with control command, to generate red Outer manipulation template.

Automatic alarm device 190 is used to alarm corresponding to the control of controller to controlling terminal alert or sending Sound.

It can not include the infrared manipulation template of various household electrical appliances in robot factory, but by robot initial Change and imports the applicable infrared manipulation template of the household electrical appliances to be controlled to initialize robot to the remote control process of household electrical appliances.In the initialization During the remote control operation of robot, user can move the robot into the place room for needing the air-conditioning controlled, by machine The infrared launcher of device people moves the robot into the infrared launcher with robot towards the infrared receiving device of air-conditioning For in 120 degree of horizontal angles.It can also be right to air-conditioning institute by robot navigation based on the household electrical appliances cartographic information stored in robot The manipulation position answered.Such as user can be answered by being mounted on the robot of intelligent terminal (such as mobile phone, plate, computer) The brand and model of household electrical appliances are selected with software control or by way of robot manipulation's screen or voice command, controller 100 connects The brand and model of household electrical appliances are received, unit 110 connects template server by wireless communication, downloads the brand from template server Infrared manipulation template corresponding with model, the infrared manipulation template being applicable in as household electrical appliances to be operated are stored into memory 170. Certainly, robot can also be previously stored with infrared manipulation template.

If receiving the response that brand and the corresponding infrared manipulation template of model is not present in instruction from template server, Unit 110 from template server downloads multiple general manipulation templates to controller 100 by wireless communication.

Template matching unit 130 can determine one by one in a predetermined sequence the general manipulation template downloaded whether with wait grasp The household electrical appliances of work match, and until finding matched general manipulation template, controller can be by the matched general manipulation template The infrared manipulation template being applicable in as household electrical appliances to be operated is stored in memory 170.

Wherein, when downloading multiple general manipulation templates, controller 100 can brand based on household electrical appliances to be controlled and/or The connected ratio and/or frequency of manipulation template download multiple general manipulation templates from template server.Template matching unit 130 can also It is matched with the sequence that the connected ratio and/or frequency according to brand and/or manipulation template based on household electrical appliances to be controlled determine.

For example, server will return to this product when the selected model of user is when server template can not find The common model of user that all templates of board and server end are counted passes through frequency and the connected ratio etc. for selecting a certain model Comprehensive matching generates the matching order models of all templates under the brand.Robot can be according to this sequence one by one when matching air-conditioning Matching, the matched time is shortened as far as possible.

It can be with matched template, machine if all do not found in all infrared manipulation templates that server sends over Device people will start infrared command unit 180 and learn the order on remote controler into robot storage.

Specifically, it can be used infrared receiving device reception corresponding with the control command on the remote controler from remote controler Encoded IR commands.For example, the infrared receiving device 150 of existing domestic electrical equipment remote controller alignment robot, in the operation of robot The key that screen selection is mutually controlled in requisition for typing, then pins the corresponding control button of remote controler again, until robotic end operates Typing key-press status on screen becomes stopping when available mode.Infrared command unit 160 can store encoded IR commands At local (on the memory of robot), and keep encoded IR commands associated with control command.

Table 1 below illustrates control command tables corresponding with command code (part code table):

That is, according to the present invention, after robot receives the order of user, such as the manipulation of controller can be passed through Command resolution unit is by the command analysis of user, and unit (such as Position Navigation Unit 150, infrared life controlled to controller Enable output device etc.) distribute the order parsed.After intelligent positioning navigation elements 150 receive the order of distribution, robot can be automatic By the position where intelligent positioning navigation elements Automatic-searching to household electrical appliances, and sends control to infrared command output unit simultaneously Coding, corresponding infrared controller template is searched in equipment storage unit, passes through the corresponding user of infrared control stencil matching Order generates infrared pulse, sends the command code that user is assigned to air-conditioning.To realize the control to household electrical appliances.For difference The household electrical appliances of brand and model can be stored corresponding infrared manipulation template to local using robot as described above, And it is manipulated.

Fig. 3 shows the example flow 1 of the infrared control method of embodiment of the present invention.In Fig. 3, manipulated in robot The initialization (determining the manipulation template of household electrical appliances to be controlled) of robot is carried out before household electrical appliances.The flow chart of Fig. 3 includes following step Suddenly:

Step S310, user can select by the client or robot manipulation's screen of intelligent terminal or by voice command Select the brand and model of the air-conditioning to be controlled.Robot will be connected automatically to template server after selection brand and model success The brand and the corresponding template of model ("Yes" in step S320) are downloaded, and is stored in the template of downloading in step S360 In local storage.

If receiving instruction from template server, there is no the response of brand and the corresponding infrared manipulation template of model (steps "No" in rapid S320), controller from template server can download multiple general manipulation templates by unit by wireless communication.

For example, server can be from IR remote controller template data if server can not find the template of this brand or model To send 50 general template data every time in library, back in the template register of robot, robot can be according to predetermined Template collating sequence, the order that stores in the template that server returns is sent to air-conditioning one by one, and determine whether successful match (step S340), robot will store successful template to local (step S360) after user determines successful match.

Above-mentioned template collating sequence for example can be by recommending learning algorithm to calculate.Recommending learning algorithm is used based on a large amount of The data that family uses, such as:Frequency, template connected ratio and/or the utilization rate of template etc. that certain brand or model occur, COMPREHENSIVE CALCULATING Obtain the collating sequence of a recommendation.

It can be with matched template (in step S340 if all do not found in all templates that server recommendation comes "No"), the order on remote controler is learnt into robot storage then robot will start infrared command unit.

Optionally, after select command template, robot can adjust position at regular intervals, to the sky being remotely controlled with needs It readjusts the distribution and infrared pulse is sent to instruct, if the infrared pulse instruction that robot is sent can be received by air-conditioning, robot can be by this The coordinate points of position save, as controllable position.It is repeatedly adjusted, robot can get the Effective Regulation position near air-conditioning Range, robot can navigate to Effective Regulation position range when manipulating air-conditioning by navigation elements every time, thus realization pair Effective manipulation of air-conditioning.

The manipulation template of three kinds of determinations as described above household electrical appliances to be controlled mode (based on appliance brand and model, under Multiple common templates are carried to carry out than being learnt with selection and using infrared learning unit) sequence be not limited to as above retouch The mode stated.For example, can directly select and using a certain mode therein.

Step S370 generates the navigation instruction and user command for being directed to air-conditioning based on the user instruction for manipulating air-conditioning Coding.

The controller of robot can receive the instruction of user, or the touching for passing through robot from intelligent terminal (such as mobile phone) It touches screen to receive the instruction of input or receive voice command, and navigation instruction and user command coding is generated based on the instruction, and will The instruction of generation is issued to Position Navigation Unit and infrared command output device respectively.

Step S390, based on the air-conditioning cartographic information stored in navigation instruction and robot by robot navigation to wait manipulate Air-conditioning corresponding to manipulation position.

Step S400, S410, the infrared manipulation template generation user command being applicable in based on user command coding and air-conditioning Corresponding infrared pulse is encoded, and emits infrared pulse to air-conditioning to be controlled.The controller 100 of robot is defeated to infrared command Device sends control coding out, and corresponding infrared controller template is searched in device memory, passes through infrared control template Infrared pulse is generated with corresponding user command, and sends the command code that user is assigned to air-conditioning.

The step of initialization in Fig. 3, can also carry out after the instruction for receiving user, as shown in Fig. 4.

Based on the present invention, after being initialized to robot, it is not necessarily to manpower intervention, so that it may enable robot Enough household electrical appliances are manipulated automatically based on user instruction, such as opens or closes air-conditioning, adjust temperature.Such as it can also be to household electrical appliances It is timed setting, after the predetermined amount of time of agreement reaches, carries out corresponding operation automatically, e.g., at 6 points in afternoon is by robot Automatically turn on water heater etc..

As shown in fig. 6, robot is based on operation template contral household electrical appliances (step S628).Open household electrical appliances (such as air-conditioning) it Afterwards, step S630, robot 10 can be by from built-in environmental monitoring sensor (such as temperature sensors or humidity sensor Device) 160 or the environmental monitoring sensor being arranged in room or household electrical appliances data come judge environmental parameter (such as temperature or humidity join Number) whether reach predetermined condition (such as predetermined temperature or humidity).When reaching predetermined condition, in step S632, the control of robot Device 100 processed can change the operating status or operation mode (being such as changed to standby mode from operating status) of household electrical appliances.Alternatively, machine Device people can use camera or microphone also to determine the change of household electrical appliances indicator light or buzzer state, to judge that environment is joined Whether number reaches predetermined condition, and when reaching predetermined condition, change household electrical appliances operating status or operation mode (be such as changed to Machine state).

In embodiments of the present invention, however it is not limited to determine household electrical appliances indicator light or buzzing with camera or voice recognition device The change of indicator light or buzzer state can also be sent to robot by household electrical appliances by the change of device state.

In addition, in embodiments of the present invention, the type for the environmental monitoring sensor 160 being arranged in robot or room can Think temperature sensor, humidity sensor, dust sensor, smoke sensor device, peculiar smell sensor, carbon monoxide transducer etc. One of or it is a variety of, but the present invention is not limited to this, is also provided with other kinds of sensor.Utilize these biographies Sensor, robot 10 can detecte temperature, humidity, dust, smog, peculiar smell, carbon monoxide in room etc., and based on detection The operation of the corresponding household electrical appliances of state modulator (such as air-conditioning, humidifier), and/or alarm is issued in time, such as is sent out to intelligent terminal It send message or issues alarm sound.It is possible thereby to provide comfortable, safe environment.

In addition, the sensor in the present invention can also be used independently of the manipulation to household electrical appliances, for example, carbon monoxide senses Concentration of the device for carbon monoxide in monitoring room implies gas leakage, machine when the concentration of carbon monoxide is more than predetermined concentration The controller 100 of device people directly can send warning message to intelligent terminal 20 or issue alarm, to prompt user to make accordingly Processing.

The manipulation to intelligent environment control system not only may be implemented in robot in the embodiment of the present invention, moreover it is possible to realization pair The manipulation of 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 for example may include indoor doors or windows safety device, Video doorbell access control system, live pick up head device etc., the present invention is not limited thereto, and intelligent safety and defence system can divide following several moulds Formula:

1) user's active obtaining mode:

User can be by intelligent terminal 20 (such as:Mobile phone, plate, computer) in application software from robot actively obtain Take the data information of live pick up head or the data information of robot camera and indoor doors or windows safety device and video doorbell The operating status etc. of access control system.

2) intelligent automatic real-time monitoring mode:

This function is in two kinds of situation:

A, in family when nobody home

In manager when nobody home, each hardware device in intelligent robot security system can operate simultaneously.

The controller of robot can receive the voltage data of the infrared induction device in indoor doors or windows safety device, if Detect that the voltage of the infrared induction device in indoor doors or windows safety device gets higher or is lower, then the controller of robot It may determine that door or window have the behavior being opened, can judge go out or window by the position where current infrared induction device There is the position being opened, the nearest cam device of the door or window position for first distance being called to be turned on, robot can be by logical Believe module collection video information, while robot motion finds related object (people) to relevant position, and opens camera progress Facial scan identification, with the facial information of the household of preparatory typing or friend compared with pair, without reporting if successful match It is alert, if match it is unsuccessful if start automatic alarm device and alarm, sent into control of intelligent terminal emergency notice and Indoor situations.The picture of shooting can be sent to public security system or community security system, and alarmed.

If the infrared thermal imaging sensor of robot generates the temperature of body surface to the heat radiation of robot surrounding objects Spend distribution map when, will automatically with preset human body contour outline image comparison, if successful match will call camera carry out face Portion's identification, if the facial match success of the result of identification and the household of preparatory typing or friend, can send out to control of intelligent terminal Notice and indoor situations are sent, without alarm.If matching is unsuccessful, need into control of intelligent terminal send emergency notice and Indoor situations, and start automatic alarm device, video pictures are sent to public security system or community security system, and reported It is alert.

B, when someone is in family

When there is a ring at the door outdoors, the cam device that the controller of robot can call range gate nearest, acquisition is pressed The face-image of the people of doorbell will call facial recognition modules, if the result of identification and the household of preparatory typing or friend Facial match success then automatically turns on gate inhibition's function and opens door.If matching is unsuccessful, notify that user someone is visiting.

Fig. 5 shows the control operating process schematic diagram in the present invention to intelligent safety and defence system.As shown in figure 5, the process Include the following steps:

Step S210, for intelligent safety and defence system, the controller of robot can be from the received of the intelligent terminal of user The phonetic order of instruction, the instruction inputted by the touch screen of robot or user starts the control to intelligent safety and defence system.

Step S212, controller determine that the mode can be by user into unmanned mode in someone's mode in family or family Select and input to the controller of robot.It alternatively, can also be by being in the infrared thermal imaging sensor detecting chamber of robot No someone determines if someone and enters someone's mode in family, if unmanned enter unmanned mode in family.It alternatively, can be with Interior is scanned by the camera of robot, determine it is indoor whether someone, if the profile or face of people is arrived in scanning, really Surely enter someone's mode in family, otherwise enter unmanned mode in family.

Step S214, under someone's home mode, when there is a ring at the door, the sound receiver (such as microphone) of robot The sound of doorbell is received, controller calls the cam device that range gate is nearest in security system, obtains the people's to ring a doorbell Face-image.

Step S216, control surface controller portion identification module carry out at face recognition the face-image of the people to ring a doorbell Reason.

The face-image of household or friend are previously stored in the memory of robot.As shown in step S218, if face Portion's identification module identifies that the face-image of the people to ring a doorbell and the face-image of pre-stored household or friend match, then Controller sends door open command to gate inhibition in step S220, automatically turns on gate inhibition's function and opens door.If matching is unsuccessful, Step S222, controller can notify that user someone is visiting by loudspeaker.The advice method is merely illustrative, the present invention is not limited to This, such as reminder message can also be sent to user terminal by Wi-fi, bluetooth etc..In addition, in the memory of robot 10 also It can store the face-image of other kinds of messenger (messenger " not infered " such as or " courier "), for example, if The face-image of the people to ring a doorbell and the face-image of the pre-stored people not infered of robot match, then robot is not Door is automatically opened, and is notified to owner.The notice language notified to owner can by user for different messengers into Row setting, robot can issue different " notice language " after identifying different messengers, and such as " Xiao Ling comes ", " father returns ".

Step S222, unmanned mode, the controller of robot 10 receive the indoor infrared in door and window safety device at home The voltage data of sensing device.

Step S224, if voltage data obviously gets higher or is lower, controller may determine that door or window have the row being opened For then it is gone out by the position judgement where current infrared induction device or window has the position being opened, and is called apart from quilt The nearest cam device of the door or window position opened obtains image information, and carries out facial knowledge using facial recognition modules Not, compared with the facial information of the household of preparatory typing or friend pair.Alternatively, robot is calling distance to be turned on While door or the nearest cam device of window position are imaged, robot is moveable to relevant position and finds related object (people), and open camera and shot, facial scan identification is carried out with image of the facial recognition modules to shooting, with preparatory record The facial information of the household or friend that enter compared to pair.

If successful match ("Yes" of step S226), robot can only be sent out to control of intelligent terminal without alarm Send notice and indoor situations.The controller of robot starts in step S228 if matching unsuccessful ("No" of step S226) Automatic alarm device is alarmed, 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 is to robot surrounding objects Heat radiation generate body surface temperature profile, by temperature profile automatically with preset human body contour outline image comparison.

Step S232 will call camera and facial recognition modules to carry out face recognition if comparing result matches.

If the facial match success ("Yes" of step S234) of the result of identification and the household of preparatory typing or friend, In step S238, notice and indoor situations only can be sent to control of intelligent terminal, and without alarm.

If identification result and preparatory typing household or friend facial match it is unsuccessful (step S234's "No"), then in step S236, emergency notice and indoor situations are sent into control of intelligent terminal, and start automatic alarm device It alarms.Preferably, video pictures are sent to public security system or community security system, and alarmed.

In the flow diagram of Fig. 4, the execution sequence of some steps is not limited to carry out according to order above, but It can change successive, robot can be reasonably arranged in this according to actual needs.For example, step S230-S236 can be prior to Step S222-S228 is executed.Also, step S230-S236 can be executed independently of step S222-S228.

Intelligent safety and defence system as described above substantially increases the safety of inhabitation.

Control to intelligent video control system is described below.There is the following two kinds in robot to the control of intelligent video system Operation mode:

1) artificial mode:

Artificial mode user can select intelligent shadow in a manner of by voice input or by way of robot manipulation's screen The brand and model of household electrical appliances in system for electrical teaching can input order (such as after chosen successfully by way of language:Zapping) or it is logical The mode for crossing robot manipulation's screen inputs order (such as:Open robot projection instrument).

Robot can be based on cartographic information automatically by self-navigation module certainly after robot receives the order of user The dynamic position searched out where intelligent video system, and corresponding intelligent video operation is found in command output module simultaneously Template sends the finger that user is assigned to audio-video system by the communication mode that known intelligent video operates institute's band in template It enables.

2) automatic control mode:

The automatic control mode divides both of which again:

A, intelligent monitoring

As shown in fig. 7, passing through heat radiation product of the infrared thermal imaging sensor to robot surrounding objects of robot When temperature profile (profile diagram) in body surface face, will automatically with preset human body contour outline image comparison (step S730), such as Fruit successful match then indicates indoor someone ("Yes" in step S732), robot will continue in monitor room whether presence of people, If matched unsuccessful up to pre-determined number ("No" in step S732), then it represents that indoor no one will continue through external environment Whether sound or the display screen of intelligent video system are long bright state to distinguish that audio-video system opens the state still closed, if Audio-visual command module can only be then executed for open state send the order closed into mode to audio-video system.

B, contextual model controls

Executing for the available timing function timing by system hardware clock module of user is default in contextual model, passes through Define different contextual models (such as:Lunch break mode:Noon can close all audio-video systems;Early morning mode:It can play The song releived;Appointment mode:Romantic song isotype can be played, user can also be with customized contextual model).

When the time reaching the set time, robot starts the control to intelligent video control system automatically, passes through Positioning navigation module reaches the position where intelligent video system, is not knowing audio-visual system using the indoor map information of storage When the brand and model of the household electrical appliances of system, the brand and model of the audio-video system household electrical appliances for currently needing to operate are identified using camera, The operation mould that template kind searches this model of this brand is operated by intelligent video in command output module if identifying successfully Plate, if local, there is no robots will connect the audio-visual mould for operating template server and downloading corresponding audio-video system household electrical appliances automatically Version, and corresponding communication mode is selected by communication mode of institute's band in this audio-visual operation template, execute scene it is default in life Enable (such as step S728).If unidentified success, the audio-visual operation template server of artificial connection downloads general operation template, adjusts With communication module and start poll comparison algorithms selection and go out corresponding communication mode, execute scene it is default in order.The present invention In embodiment, the sequence of step S728 and step S730-S734 are not limited to form shown in Fig. 7, but can be flexible Setting.

After opening intelligent video, under the control of the controller, the infrared thermal imaging sensor of robot can be every one Fixed interval (such as 5 minutes, but it is not limited to this) generates the temperature profile of body surface to the heat radiation of robot surrounding objects, By temperature profile automatically with preset human body contour outline image comparison, with determine it is indoor whether someone.If interior does not have People (matches unsuccessful), and the unsuccessful number of continuous coupling is up to 3 times, it is determined that indoor people has been moved off, and then changes The operating status for becoming household electrical appliances in intelligent video system, such as has unlatching to be changed to close sound equipment, to achieve the purpose that power saving.

Based on above embodiment of the invention, household robot can utilize his mobility, interactive voice characteristic, Intelligent decision characteristic, to control the multiple portions of family.Robot is integrated with the multiple functions of smart home field, and simply may be used It realizes.House security, convenience, comfort, artistry are effectively improved, and realizes the living environment of environmental protection and energy saving.

Embodiments of the present invention have further the advantage that:

(1) for relatively previous Intelligent housing, this set Intelligent housing, which is mounted in robot, realizes band There is memory function.Robot only need to be initialized, all operations are not necessarily to manpower intervention later.

(2) can to the household electrical appliances in family concentrate time control, manager in nobody when or the late into the night fall asleep when robot The household electrical appliances that infrared receiving device is had in family can be managed automatically.It can also be controlled by long-range mode and be filled with infrared receiver The household electrical appliances set.

(3) due to the features such as infrared popularity rate is very high, cheap, low power consuming, with infrared distant in existing household The mode of control is leading, so this set smart home selects in infrared communication mode centralized control and management room with infrared The household electrical appliances of reception device.Furthermore this set smart home scheme can be the case where not knowing brand with infrared command unit Lower control household electrical appliances.

(4) Infrared Transmission controls relatively convenient, traditional, the nothing of aspect for Wi-Fi, bluetooth, ZigBee indoors Handshake Protocol is needed, can quickly achieve the purpose that control household electrical appliances etc..

(5) previous smart home control device, no matter position or angle are all fixed to included infrared launcher , control can only be realized within a certain area.Robot be moveable it is all be in control range there is no limit, can be with Adapt to indoor multiple complex environment etc..

Based on above embodiment of the invention, household robot can utilize his mobility, interactive voice characteristic, Intelligent decision characteristic, to control the multiple portions of family.Robot is integrated with the multiple functions of smart home field, and simply may be used It realizes.House security, convenience, comfort, artistry are effectively improved, and realizes the living environment of environmental protection and energy saving.

It should be noted that above-described embodiment is only the scope of the patents illustrated the present invention without limiting the present invention, Ren Heji It, should all be in scope of patent protection of the invention in equivalents technology of the invention.

Claims (9)

1. a kind of smart home system, which is characterized in that the smart home system includes robot and home appliance system, Robot is communicated with home appliance system using over the horizon communication system;
The home appliance system includes intelligent environment control system, intelligent safety and defence system and/or intelligent video control system;
The robot includes:
Robot body;
Infrared communication module, for carrying out data communication with home appliance system;
Sensor module, for carrying out external information acquisition;
Memory;
Central processing unit is used to carry out the robot whole control;
Intelligent housing module is used to determine the infrared manipulation template that household electrical appliances to be controlled are applicable in home appliance system And it stores it in the memory, and based on the user instruction for manipulating the household electrical appliances, generate for the household electrical appliances Navigation instruction and user command coding;
Position Navigation Unit is received navigation instruction, is led the robot based on the cartographic information stored in the robot It navigates to manipulation position corresponding to household electrical appliances to be controlled;And
Infrared command output device receives the user command coding from the Intelligent housing module, is based on institute It states user command described in the infrared manipulation template generation that household electrical appliances are applicable in and encodes corresponding infrared pulse, and to household electrical appliances to be controlled Emit the infrared pulse,
The Intelligent housing module receives the brand and model of household electrical appliances to be operated based on user instruction, by wireless communication Unit connects template server, and downloads the brand and the corresponding infrared manipulation template of model from the template server, makees It stores for the infrared manipulation template that household electrical appliances to be operated are applicable in into the memory,
If receiving the sound that the brand and the corresponding infrared manipulation template of model is not present in instruction from the template server It answers, the Intelligent housing module downloads multiple general manipulation moulds from the template server by the wireless communication unit Plate,
Also, the robot further includes:Template matching unit is used to determine that is downloaded leads to one by one in a predetermined sequence Whether matched with household electrical appliances to be operated with manipulation template, until until finding matched general manipulation template, the intelligent family Occupy control module using this it is matched it is general manipulation template as household electrical appliances to be operated be applicable in infrared manipulation template be stored in described in In memory.
2. smart home system according to claim 1, which is characterized in that the smart home system further includes:Control Terminal, the controlling terminal and the robot carry out short range or telecommunication;
The robot further includes:
Warning device is used to issue alarm sound;
Wireless communication unit is used to carry out wireless communication with external device (ED).
3. smart home system according to claim 2, which is characterized in that
The connected ratio and/or frequency of brand and/or manipulation template of the Intelligent housing module based on household electrical appliances to be controlled Multiple general manipulation templates are downloaded from the template server;
The template matching unit according to based on household electrical appliances to be controlled brand and/or manipulate template connected ratio and/or frequency Determining sequence is matched.
4. smart home system according to claim 1, which is characterized in that
The robot further includes:
Infrared receiving device is used to receive the infrared command corresponding with the control command on the remote controler from remote controler and compiles Code;And
Infrared command unit, stores the encoded IR commands on the memory of the robot, and with the control Order is associated.
5. smart home system according to claim 1, which is characterized in that the sensor module further includes:
Infrared thermal imaging sensor, for being based on heat radiation image checking human body contour outline;And/or
Camera is used to that target to be imaged.
6. smart home system according to claim 1, which is characterized in that the sensor module further includes:
Environmental monitoring sensor is used for for environmental monitoring system sensing chamber inner-environment index, and will test result and send to The Intelligent housing module controls the environment control in the case where testing result deviates predetermined value or numberical range The operation of the corresponding household electrical appliances of the indoor environment index can be changed in system processed or send warning message;The environmental monitoring Sensor includes such as at least one of lower sensor:Temperature sensor, humidity sensor, dust sensor, smoke sensor device, Peculiar smell sensor and carbon monoxide transducer.
7. smart home system according to claim 1, which is characterized in that
The intelligent environment control system includes:Fresh air system and sensor, the sensor include air quality sensor, temperature Spending sensor and/or humidity sensor, the fresh air system includes infrared receiving module, for receive machine human hair send it is infrared Signal;
The intelligent safety and defence system includes:Door and window safety device, doorbell access control system and camera, the door and window safety device packet Include infrared induction device;
The intelligent video control system includes:Display device, music player and/or sound equipment, the display device, music are broadcast Putting device and/or sound equipment has infrared receiving module, the infrared signal sent for receiving machine human hair.
8. a kind of intelligent home furnishing control method of robot, which is characterized in that the robot is with home appliance system using red Outer communication mode is communicated, and this approach includes the following steps:
It determines the infrared manipulation template that household electrical appliances to be controlled are applicable in home appliance system and stores it in depositing for robot In reservoir, and based on the user instruction for manipulating the household electrical appliances, the navigation instruction and user command for being directed to the household electrical appliances are generated Coding, wherein the home appliance system includes intelligent environment control system, intelligent safety and defence system and/or intelligent video control system System;
Intelligent housing module receives the brand and model of household electrical appliances to be operated based on user instruction, by wireless communication unit Connect template server, and download the brand and the corresponding infrared manipulation template of model from the template server, as to The applicable infrared manipulation template of the household electrical appliances of operation is stored into the memory;
If receiving the sound that the brand and the corresponding infrared manipulation template of model is not present in instruction from the template server It answers, Intelligent housing module downloads multiple general manipulation templates from the template server by the wireless communication unit; Template matching unit determine one by one in a predetermined sequence the general manipulation template downloaded whether with household electrical appliances phase to be operated Match, until finding matched general manipulation template, the Intelligent housing module is by the matched general manipulation template The infrared manipulation template being applicable in as household electrical appliances to be operated stores in the memory;
Based on the cartographic information stored in the robot by manipulation corresponding to the robot navigation to household electrical appliances to be controlled Position;
Receive the user command coding, user command coding described in the infrared manipulation template generation being applicable in based on the household electrical appliances Corresponding infrared pulse, and emit the infrared pulse to household electrical appliances to be controlled,
Wherein,
The robot includes:Robot body;Infrared communication module, for carrying out data communication with home appliance system;It passes Sensor module, for carrying out external information acquisition;Memory;Central processing unit is used to carry out the robot whole control System;Intelligent housing module;Template matching unit;Position Navigation Unit receives navigation instruction, based in the robot The cartographic information of storage is by manipulation position corresponding to the robot navigation to household electrical appliances to be controlled;And infrared command output Device is received the user command coding from the Intelligent housing module, is applicable in based on the household electrical appliances red User command described in outer manipulation template generation encodes corresponding infrared pulse, and emits the infrared arteries and veins to household electrical appliances to be controlled Punching.
9. intelligent home furnishing control method according to claim 8, which is characterized in that
For intelligent safety and defence system, the method also includes following steps:
The Intelligent housing module is obtained in response to door and window safety device and/or the state change of video doorbell access control system The data information of live pick up head and/or the data information of robot camera are taken, and based on the data information of acquisition to messenger Face recognition is carried out, control warning device issues alarm sound or sends to the controlling terminal and alarms when recognition result mismatches Signal;And/or
When generating the temperature profile of body surface to the heat radiation of robot surrounding objects using infrared thermal imaging sensor, from Dynamic and preset human body contour outline image comparison, if successful match will call camera to carry out face recognition, if matching Unsuccessful or face recognition result mismatch then controls warning device and issues alarm sound or send alarm signal to the controlling terminal Number;
For intelligent video control system, the described method comprises the following steps:
The infrared thermal imaging sensor generates profiling object surface figure, the intelligence man to the heat radiation of robot surrounding objects Occupy control module based on the profile diagram determine nearby whether someone, and based on definitive result control intelligent video control system in The operation of household electrical appliances;And/or
The Intelligent housing module controls intelligence in special time period based on preset contextual model timing information Specific household electrical appliances in audio-video control system enter scheduled contextual model.
CN201610053417.3A 2016-01-26 2016-01-26 A kind of intelligent home furnishing control method of smart home system and robot CN105446162B (en)

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