CN105527869B - Smart machine and its intelligent control method - Google Patents
Smart machine and its intelligent control method Download PDFInfo
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- CN105527869B CN105527869B CN201510864522.0A CN201510864522A CN105527869B CN 105527869 B CN105527869 B CN 105527869B CN 201510864522 A CN201510864522 A CN 201510864522A CN 105527869 B CN105527869 B CN 105527869B
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of smart machine, comprising: receiving unit is configured to receive the first signal sent by least one first electronic equipment, wherein first signal indicates the device identification of first electronic equipment；Computing unit is configured to after the receiving unit receives first signal, and the first position of first electronic equipment is calculated by first signal；First driving unit is configured to drive the smart machine；And control unit, it is configured to control first driving unit according to the first position, the smart machine is navigated into first area, wherein the first area is corresponding with the first position.The present invention also provides a kind of for controlling the intelligent control method of smart machine.
Description
Invention field
The present invention relates to a kind of smart machine and intelligent control methods.
Background technique
Popularizing for network brings great convenience to people's lives, also promotes mentioning for production efficiency in industrial production
It is high.But various electronic equipments used in existing life and industrial production are often in isolated state, between electronic equipment
And lacks interaction between electronic equipment and environment and cooperate.Appoint when needing multiple electronic equipments to participate in the certain complexity of execution jointly
When business, the intervention for generally requiring people carries out decision or realizes the linking and interaction of equipment room, increases the workload of people, equipment
Intelligence degree it is low.
In addition, existing electronic equipment largely lacks space locomotivity, and allow to move, it also can not be accurate
Perceive ambient enviroment, it is difficult to be accurately positioned and be operated.Also therefore, the moving process of almost all of mobile electronic equipment
It is not independence, generally requires the real-time control and intervention of people, this fundamentally limits the intelligence of equipment, affects each
Equipment carries out the ability of task cooperative under complex environment.
Summary of the invention
It is an object of the invention to provide a kind of smart machines of disadvantages mentioned above for overcoming existing equipment, so that the intelligence is set
It is standby to be interacted with surrounding devices, and can according to demand autonomous to execute certain function or movement.
According to an embodiment of the invention, providing a kind of smart machine, comprising:
Receiving unit is configured to receive the first signal sent by least one first electronic equipment, wherein described
First signal indicates the device identification of first electronic equipment；
Computing unit is configured to after the receiving unit receives first signal, is believed by described first
Number calculate the first position of first electronic equipment；
First driving unit is configured to drive the smart machine；With
Control unit is configured to control first driving unit according to the first position, by the intelligence
Energy equipment navigates to first area, wherein the first area is corresponding with the first position.
It is understood that the first area or second area is corresponding with the first position or the second position contains
Justice refers to that the first area or second area can be the region including the first position or the second position, can be position
Region near the first position or the second position, or can be and determined according to the first position or the second position
Smart machine is needed to go to execute the region of certain functions or operations.
According to another embodiment of the present invention, smart machine further includes image acquisition units, described image acquisition unit quilt
It is configured to after the smart machine is navigated to the first area, acquires the first image of the first area.
According to another embodiment of the present invention, smart machine further includes transmitting unit, is configured to first figure
As being sent at least one second electronic equipment.
According to another embodiment of the present invention, the computing unit further includes path planning unit, the path planning list
Member goes out the first position of first electronic equipment according to first signal resolution, then transfer include at least cover with it is described
The map in the region of the second position locating for the corresponding first area in first position and the smart machine, and according to the map
And the path is planned in the first area and the second position.
According to another embodiment of the present invention, smart machine further includes image acquisition units, is led in the smart machine
During boat to the first area, described image acquisition unit is always on to look for first electronic equipment or be located at
Target device in the first area.
According to another embodiment of the present invention, while determining the smart machine navigating to the first area,
Described control unit opens first driving unit.
According to another embodiment of the present invention, smart machine further includes mechanically actuated unit and the driving mechanically actuated list
Second driving unit of member, the mechanically actuated unit, which is configured to that target device can be operated at least one, to be operated, institute
Stating target device is that first electronic equipment or other in the first area can operate equipment.
According to still another embodiment of the invention, the present invention also provides a kind of for controlling the intelligent control side of smart machine
Method, the intelligent control method include:
The first signal sent by least one first electronic equipment is received, wherein first signal indicates described first
The device identification of electronic equipment；
The first position of first electronic equipment is calculated according to first signal received；
The smart machine is moved to first area according to the first position, wherein the first area and described the
One position is corresponding.
According to another embodiment of the present invention, the intelligent control method further include: be navigated in the smart machine
Behind the first area, the first image of the first area is acquired.
According to another embodiment of the present invention, the intelligent control method further include: by the first image be sent to
Few second electronic equipment.
According to another embodiment of the present invention, the step of calculating first position includes path planning step, the path rule
Drawing step includes: to go out the first position of first electronic equipment according to first signal resolution；It transfers to include at least and cover
The map in the region of the second position locating for first area corresponding with the first position and the smart machine；With according to institute
It states map and the first area and planning path is carried out in the second position.
According to another embodiment of the present invention, the intelligent control method further include: be navigated in the smart machine
During the first area, Image Acquisition is carried out always.
According to another embodiment of the present invention, the smart machine includes the first driving unit, is executing navigation step
Meanwhile opening first driving unit.
According to another embodiment of the present invention, the intelligent control method further include: reach first in the smart machine
After target area, target device can be operated by operating at least one, wherein the target device be first electronic equipment or
Person be in the first area other can operate equipment.
Smart machine and intelligent control method according to the present invention, the smart machine can be between ambient electronics
Network is formed, information needed is obtained from ambient enviroment, navigates to destination according to demand, and execute corresponding operation.
Detailed description of the invention
Fig. 1 is the functional block diagram of the smart machine of embodiment according to the present invention.
Fig. 2 is according to another embodiment of the present invention for controlling the schematic frame of the intelligent control method of smart machine
Figure.
Fig. 3 shows the schematic block diagram of the calculating step in the intelligent control of embodiment according to the present invention.
Specific embodiment
The present invention is described below in conjunction with specific embodiment.
Fig. 1 is the functional block diagram of the smart machine 100 of embodiment according to the present invention.In the present embodiment, should
Smart machine can be intelligent robot 100.Intelligent robot 100 can with the first electronic equipment 202,204 of surrounding and
The communication of second electronic equipment 302,304.In the present embodiment, the specific example of first electronic equipment 202,204 can be
The infrared sensing equipment 204 for being set to outdoor rainwater sensing apparatus 202 and being set at indoor doorway.In the present embodiment,
The specific example of second electronic equipment 302,304 can be memory 302 and handheld-type intelligent terminal 304, such as at present
Widely used smart phone.It will be appreciated by persons skilled in the art that rainwater sensing apparatus 202 and infrared sensing equipment
204 are merely exemplary, and limit the concrete type or quantity of first electronic equipment 202,204 without being intended to.Similarly,
Memory 302 and handheld-type intelligent terminal 304 are merely exemplary, and limit the second electronic equipment 302,304 without being intended to
Concrete type or quantity.It may occur to persons skilled in the art that not departing from the model of the invention being defined by the claims
In enclosing, first electronic equipment and second electronic equipment can be any type and quantity expected according to concrete application
Other electronic equipments.
As shown in Figure 1, intelligent robot 100 may include receiving unit 102, computing unit 104, the first driving unit
106, control unit 108.Receiving unit 102 is constructed such that receive to be set by rainwater sensing apparatus 202 and infrared induction
Standby 204 the first signal and the second signal sent, wherein first signal, second signal respectively indicate the rainwater induction
The device identification of equipment 202 and infrared sensing equipment 204.Computing unit 104 is constructed such that can be in the receiving unit
After 102 receive the first signal and the second signal, the rainwater sense is calculated by the first signal and the second signal
Answer the first position and the second position of equipment 202 and infrared sensing equipment 204.First driving unit 106 is constructed such that energy
Enough drive the intelligent robot 100.In the standby state, the first driving unit 106 is powered down to save electric power, and in intelligence
When energy robot 100 needs are driven, the first driving unit 106 is just turned on.Control unit 108 is constructed such that being capable of root
First driving unit 106 is opened and controlled according to the first position or the second position, by the intelligent robot 100
Navigate to first area or second area, wherein the first area or second area respectively with the first position or second
It sets corresponding.The first area or second area meaning corresponding with the first position or the second position refer to, described
First area or second area can be the region including the first position or the second position, can be positioned at described first
Set or the second position near region, or can be and need smart machine according to what the first position or the second position determined
100 go to execute the region of certain functions or operations.In an embodiment according to the present invention, the first area can be with
The corresponding windowsill region in the position of rainwater sensing apparatus 202, and the second area can be and infrared sensing equipment 204
Doorway region near the corresponding indoor doorway in position.
According to an embodiment of the invention, the computing unit 104 includes path planning unit 1042, the path planning list
Member goes out the first position of first electronic equipment, such as the first of rainwater sensing apparatus 202 according to first signal resolution
Then the ground in the region including covering the third place locating for the first area and the intelligent robot 100 is transferred in position
Figure, and the path is planned according to the map and the first area and the third place.
According to an embodiment of the invention, intelligent robot 100 can also include image acquisition units 110.Image Acquisition list
Member 110 is constructed such that acquire after the intelligent robot 100 is navigated to the first area or second area
The first image or the second image of the first area or second area, and be further configured in the intelligent robot
It is always on to look for first electronic equipment or position during 100 are navigated to the first area or second area
Target device in the first area.That is, image acquisition units 110 both can be used for reach target area it
Taking pictures or recording a video afterwards, to store or send for investigating ambient condition, can be used for carrying out video guide during the navigation process
Boat.
It is, of course, understood that image acquisition units 110 can during two with different operating modes under work
Make.For example, during intelligent robot 100 navigates to first area or second area, image acquisition units 110 can be
Low frequency, low resolution operating mode under work, and when intelligent robot 100 reach first area or second area it
Afterwards, image acquisition units 110 can be worked under high frequency, high-resolution operating mode based on verification purpose.Intelligence
Robot 100 can also include transmitting unit 112.Transmitting unit 112 is constructed such that can be by the first image or
Two images are sent to memory 302 and handheld-type intelligent terminal 304.Certainly, can install on intelligent terminal 304 can be to machine
The application software that people 100 is manipulated, so that related personnel can also be by realizing that application software grasps robot 100
Control.
Intelligent robot 100 can also include mechanically actuated unit 114 and drive the second of the mechanically actuated unit to drive
Moving cell 116.The mechanically actuated unit 114, which is configured to that target device can be operated at least one, to be operated.The machine
Tool operating unit 114 is, for example, mechanical arm.The target device that operates is first electronic equipment or in described the
Other of one region can operate equipment.For example, the target device that operates can be window in windowsill region, the machinery
The operation that operating unit 114 executes for example can be the switch that switching is located at the device of first area, or executes and close window movement.
Second driving unit 116 and first driving unit 106 according to specific design be also possible to the same driving unit or
Two driving units of common sparing driving part, that is, the navigation of robot 100 is advanced and the operation of mechanically actuated unit 114
Movement can be executed by different driving parts, the identical driving part of identical driving part or part.It is understood that
It is that as needed, robot can also send instruction to realize certain function, thus robot and target device to target device
It realizes communication interaction, forms the interference networks of an intelligence with surrounding devices, complete various complex tasks.
It is executed when rainy by intelligent robot 100 below and describes its working principle for closing window operation.In receiving unit
After 102 receive the signal of the transmission of rainwater sensing apparatus 202, computing unit 104 calculates first of rainwater sensing apparatus 202
It sets, and cooks up the path for going to first area based on map.Control unit 108 according to the calculated result of computing unit 104, with
The first operating mode unlatching image acquisition units 110 of low frequency, low resolution, while opening and controlling the first driving unit 106
Robot 100 is navigated into windowsill region according to the path that computing unit 104 is planned.After reaching windowsill region, control unit 108
Image acquisition units 110 are switched into high frequency, high-resolution second operating mode from the first operating mode, and according to acquisition
Analysis of image data window state in which.Analyze window it is in the open state in the case where, control unit 108 control machine
Tool arm 114 closes window.While image acquisition units 110 acquire the image of first area, also image is sent to and is deposited
Reservoir 302 and/or handheld-type intelligent terminal 304.It will be appreciated by persons skilled in the art that the application of above-mentioned rainy pass window
Scene is only exemplary, and is not construed as limiting the invention.Those skilled in the art can not depart from protection of the present invention
Many similar application scenarios are expected in the case where range, such as check whether that someone breaks in, whether checks kitchen fuel gas
Close, the room under up/down steps to upstairs house or place cruise, verification etc..
Therefore, robot 100 according to the present invention can self-navigation be moved to and rainwater sensing apparatus 202 and infrared sense
The corresponding windowsill region in the position of equipment 204 and doorway region are answered, to be taken pictures or to be recorded a video, and by picture number obtained
It is neutralized for related personnel to be stored in memory 302 at intelligent end according to memory 302 and handheld-type intelligent terminal 304 is sent to
It is checked on end 304.Robot 100 according to the present invention can be communicated with ambient electronics, and independent navigation is to target area
It carries out taking pictures evidence obtaining or executes certain functional performance, be truly realized intelligent autonomous control.
Fig. 2 is according to another embodiment of the present invention for controlling the frame of the intelligent control method 1000 of smart machine 100
Figure.It is executed when rainy below with reference to the intelligent robot 100 in above-described embodiment and describes intelligent control side for closing window operation
Method 1000.
The intelligent control method 1000 includes:
Step 1002, the first signal that rainwater sensing apparatus 202 is sent is received, wherein first signal indicates rainwater sense
Answer the device identification of equipment 202；
Step 1004, the first position of rainwater sensing apparatus 202 is calculated according to first signal received；
Step 1006, the energization of the first driving unit 106 is turned on, according to the first position by the intelligence machine
People 100 navigates to window area, wherein the window area is corresponding with the first position, and in the intelligent robot
During 100 are navigated to the window area, image acquisition units 110 are with low frequency, the first operating mode of low resolution
It is always on to look for window；
Step 1008, after the smart machine is navigated to the window area, image acquisition units 110 with high frequency,
High-resolution second operating mode acquires the first image of the window area；With
Step 1010, the first image is sent to memory 302 and/or handheld-type intelligent terminal 304.
The intelligent control method 1000 can also include: step 1012, in discovery window situation in the open state
Under, make its closing using the intelligent robot 100 operation window.
Fig. 3 shows showing for the calculating step 1004 in the above-mentioned intelligent control method 100 of embodiment according to the present invention
Example.According to an embodiment of the invention, step 1004 may include path planning step 10042, the path planning step includes:
Step 100422, the first position of rainwater sensing apparatus 202 is gone out according to first signal resolution；Step 100424, transfer to
Few includes the region for covering the third place locating for window area corresponding with the first position and the intelligent robot 100
Map；With step 100426, according to the map and the first area and the third place come planning path.
It will be appreciated by persons skilled in the art that the label sequence of the step in the above method might not represent in fact
Border executes sequence, but in the conceived case, and each step with reversed order or can be performed simultaneously, without departing from model of the invention
It encloses.Moreover, those skilled in the art can increase and decrease or modify certain in invention thought range of the invention according to actual needs
Step.
Intelligent control device according to the present invention and intelligent control is described in detail in conjunction with attached drawing and above-described embodiment
Method, but above-described embodiment is merely exemplary, and is not construed as limiting the invention.Those skilled in the art can by
The various modifications and equivalent substitution of above-described embodiment are expected within the scope of the present inventive concept that claims limit.
Claims (14)
1. a kind of smart machine, comprising:
Receiving unit is configured to receive the first signal sent by least one first electronic equipment, wherein described first
Signal indicates the device identification of first electronic equipment；
Computing unit is configured to after the receiving unit receives first signal, passes through the first signal meter
Calculate the first position of first electronic equipment；
First driving unit is configured to drive the smart machine；With
Control unit is configured to control first driving unit according to the first position, the intelligence is set
It is standby to navigate to first area, wherein the first area is corresponding with the first position.
2. smart machine according to claim 1, which is characterized in that further include image acquisition units, described image acquisition
Unit is configured to after the smart machine is navigated to the first area, acquires the first image of the first area.
3. smart machine according to claim 2, which is characterized in that further include transmitting unit, being configured to will be described
First image is sent at least one second electronic equipment.
4. smart machine according to claim 1, which is characterized in that the computing unit further includes path planning unit,
The path planning unit goes out the first position of first electronic equipment according to first signal resolution, then transfers at least
Map including covering the region of the second position locating for first area corresponding with the first position and the smart machine,
And the path is planned according to the map and the first area and the second position.
5. smart machine according to claim 1, which is characterized in that further include image acquisition units, set in the intelligence
During being navigated to the first area, described image acquisition unit is always on to look for first electronic equipment
Or the target device in the first area.
6. smart machine according to claim 1, which is characterized in that determining to navigate to the smart machine into described the
While one region, described control unit opens first driving unit.
7. smart machine according to claim 1, which is characterized in that further include mechanically actuated unit and the driving machinery
Second driving unit of operating unit, wherein the mechanically actuated unit is configured to that target device can be operated at least one
It is operated, the target device is that first electronic equipment or other in the first area can operate equipment.
8. a kind of for controlling the intelligent control method of smart machine, the intelligent control method includes:
The first signal sent by least one first electronic equipment is received, wherein first signal indicates first electronics
The device identification of equipment；
The first position of first electronic equipment is calculated according to first signal received；
The smart machine is moved to first area according to the first position, wherein the first area and described first
It sets corresponding.
9. intelligent control method according to claim 8, which is characterized in that further include:
After the smart machine is navigated to the first area, the first image of the first area is acquired.
10. intelligent control method according to claim 9, which is characterized in that further include:
The first image is sent at least one second electronic equipment.
11. intelligent control method according to claim 8, which is characterized in that the step of calculating first position includes path
Planning step, the path planning step include:
Go out the first position of first electronic equipment according to first signal resolution,
It transfers to include at least and covers the second position locating for first area corresponding with the first position and the smart machine
Region map, and
According to the map and the first area and the second position come planning path.
12. intelligent control method according to claim 8, which is characterized in that further include:
During the smart machine is navigated to the first area, Image Acquisition is carried out always.
13. intelligent control method according to claim 8, which is characterized in that the smart machine includes that the first driving is single
Member opens first driving unit while executing navigation step.
14. intelligent control method according to claim 8, which is characterized in that further include:
After the smart machine reaches first object region, target device can be operated by operating at least one, wherein the mesh
Marking device is that first electronic equipment or other in the first area can operate equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510864522.0A CN105527869B (en) | 2015-12-01 | 2015-12-01 | Smart machine and its intelligent control method |
| PCT/CN2016/107306 WO2017092620A1 (en) | 2015-12-01 | 2016-11-25 | Smart device, smart control method thereof and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510864522.0A CN105527869B (en) | 2015-12-01 | 2015-12-01 | Smart machine and its intelligent control method |
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| CN105527869A CN105527869A (en) | 2016-04-27 |
| CN105527869B true CN105527869B (en) | 2019-03-01 |
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| WO (1) | WO2017092620A1 (en) |
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| CN105527869B (en) * | 2015-12-01 | 2019-03-01 | 纳恩博（北京）科技有限公司 | Smart machine and its intelligent control method |
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| CN103389486A (en) * | 2012-05-07 | 2013-11-13 | 联想(北京)有限公司 | Control method and electronic device |
| CN103778143A (en) * | 2012-10-22 | 2014-05-07 | 联想(北京)有限公司 | Map constructing method, electronic devices and system |
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| ES2366689T3 (en) * | 2001-06-12 | 2011-10-24 | Irobot Corporation | PROCEDURE AND SYSTEM FOR A MULTIMODE COVERAGE FOR AN AUTONOMOUS ROBOT. |
| JP2004151924A (en) * | 2002-10-30 | 2004-05-27 | Sony Corp | Autonomous mobile robot and control method for the same |
| KR100692897B1 (en) * | 2005-10-28 | 2007-03-12 | 엘지전자 주식회사 | Moving robot |
| CN101957617A (en) * | 2010-10-13 | 2011-01-26 | 东莞市泰斗微电子科技有限公司 | A kind of domestic electric appliances controller and control method |
| CN102845285A (en) * | 2012-06-07 | 2013-01-02 | 常熟理工学院 | Solar automatic flower watering robot |
| CN103198572B (en) * | 2013-02-19 | 2016-01-13 | 东莞宇龙通信科技有限公司 | The intelligent control method of equipment and system in region |
| CN104199452B (en) * | 2014-09-26 | 2017-03-08 | 上海未来伙伴机器人有限公司 | Mobile robot, mobile-robot system, movement and communication means |
| CN104887155B (en) * | 2015-05-21 | 2017-05-31 | 南京创维信息技术研究院有限公司 | Intelligent sweeping |
| CN105005305B (en) * | 2015-07-22 | 2018-07-31 | 上海思依暄机器人科技股份有限公司 | Controlled machine people, remote control equipment, robot system and the method being applicable in |
| CN105527869B (en) * | 2015-12-01 | 2019-03-01 | 纳恩博（北京）科技有限公司 | Smart machine and its intelligent control method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103389486A (en) * | 2012-05-07 | 2013-11-13 | 联想(北京)有限公司 | Control method and electronic device |
| CN103778143A (en) * | 2012-10-22 | 2014-05-07 | 联想(北京)有限公司 | Map constructing method, electronic devices and system |
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| CN105527869A (en) | 2016-04-27 |
| WO2017092620A1 (en) | 2017-06-08 |
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