CN105798922B - A kind of home-services robot - Google Patents

A kind of home-services robot Download PDF

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Publication number
CN105798922B
CN105798922B CN201610312630.1A CN201610312630A CN105798922B CN 105798922 B CN105798922 B CN 105798922B CN 201610312630 A CN201610312630 A CN 201610312630A CN 105798922 B CN105798922 B CN 105798922B
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China
Prior art keywords
platform
home
robot
layer
services robot
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CN105798922A (en
Inventor
吴新宇
林盛增
陈春杰
雍旭
刘佳
孙健铨
傅睿卿
冯伟
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to CN201610312630.1A priority Critical patent/CN105798922B/en
Publication of CN105798922A publication Critical patent/CN105798922A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0005Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/003Controls for manipulators by means of an audio-responsive input
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086Proximity sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089Determining the position of the robot with reference to its environment

Abstract

The present invention provides a kind of home-services robot, described home-services robot uses laminated type structure, it is respectively first layer platform (1), second layer platform (2), third layer platform (3), the 4th layer of platform (4) and layer 5 platform (5) from the bottom to top, is connected between each platform by connecting bracket.It is that human-computer interaction device is installed as head on the degree-of-freedom joint of the neck of layer 5 platform in top, realize man-machine interaction content, in third layer platform, the real-time collected sound signal of sound transducer is set, 4th layer of platform sets laser scanner real time scan, it is that robot is positioned using DC motor Driver wheel and locating wheel on first layer platform on chassis, the high interactive experience towards full age bracket is realized, and erroneous judgement will not occur for robot.

Description

A kind of home-services robot
Technical field
The present invention is on field of artificial intelligence, especially with regard to smart home home-services robot, concretely It is a kind of home-services robot.
Background technology
In recent years, with the high speed development of robot technology, the life that the robot of service type is increasingly dissolved into the mankind is worked as In.Robot is not limited solely to the old man looked after in family of residing at, but from child to adult, or even the empty room of nobody home, It is required to give the service accordingly docked similar to the robot of house keeper.
In Patent No. 201520234145.8, a kind of entitled home-services robot patent, describe for youth People goes out work, needs to look after a kind of service robot of old man in family of residing at.The robot drives four using servomotor Deflecting roller, carry camera, body-sensing, ultrasonic sensor, laser radar, manipulator.Avoidance can mainly be implemented at home, Collection Item Information is observed by camera, items are captured to the old man in family using manipulator.
Due to the functional requirement more and more higher to robot, the product either occurred on the market at present or above-mentioned patent The service robot referred in document, it is using specific a kind of crowd as object, the crowd of whole age bracket can not be covered (not including the crowd given someone extra help such as this needs of infant in the crowd).
Therefore, a kind of new scheme how is researched and developed out, it can be directed to the crowd of any age bracket and occur with it Dialogue, accepts instruction action, Improving The Quality of Products is this area technical barrier urgently to be resolved hurrily.
The content of the invention
In order to overcome above mentioned problem existing for prior art, the invention provides a kind of home-services robot, the machine People uses laminated type structure design, is divided into five layers of platform from the bottom up, is connected between each platform with support, in top Human-computer interaction device is installed as head on the degree-of-freedom joint of the neck of layer 5 platform, realizes man-machine interaction content, In third layer platform, the real-time collected sound signal of sound transducer is set, the 4th layer of platform sets laser scanner real time scan, It is that robot is positioned using DC motor Driver wheel and locating wheel on first layer platform on chassis, realizes face To the high interactive experience of full age bracket, and erroneous judgement will not occur for robot.
It is an object of the present invention to provide a kind of home-services robot, described home-services robot uses laminated type Structure, from the bottom to top respectively first layer platform 1, second layer platform 2, third layer platform 3, the 4th layer of platform 4 and layer 5 Platform 5, it is connected by connecting bracket between each platform,
Described third layer platform 3 is provided with sound transducer 31, for real-time collected sound signal;
The 4th layer of described platform 4 is provided with laser scanner 41, for the home-services robot described in real time scan Residing space, map corresponding to generation;
The 5th described platform 5 is provided with human-computer interaction device, for gathering the command signal of user's input;
Described second layer platform 2 is provided with slave computer 23, for according to described command signal, voice signal and institute The map output action instruction stated;
The first described platform 1 is provided with direct current generator 17, the motor driving plate being connected with described direct current generator 17 16th, wheel 14 and locating wheel 19;
Described direct current generator 17 receives described action command by described motor driving plate 16, is moved according to described Make the wheel 14 described in order-driven, to drive described locating wheel 19 to roll, and then cause described home-services robot It is mobile;
The 5th described platform 5 also includes the neck driving joint being connected with described human-computer interaction device, for root Rotated according to described action command.
In a preferred embodiment of the invention, described second layer platform 2 also includes being connected with described slave computer 23 The gyroscope 24 connect, for when described home-services robot inclination, tilt signals to be sent to described slave computer 23.
In a preferred embodiment of the invention, the described front portion of the first platform 1 is also configured with crash sensor 15, in institute The first ultrasonic sensor 13, institute are additionally provided with the connecting bracket that the first platform 1 stated is connected with the second layer platform 2 Mounting hole is provided with the connecting bracket stated, for adjusting the installation site of the ultrasonic sensor 13.
In a preferred embodiment of the invention, described crash sensor 15 is three, and the first described ultrasonic wave passes Sensor 13 is six.
In a preferred embodiment of the invention, the angle between described crash sensor 15 is adjacent is in 120 degree, and often Two travel switches 151 are provided with individual described crash sensor 15.
In a preferred embodiment of the invention, described human-computer interaction device include Kinect53 and with it is described The tablet personal computer 51 that Kinect53 is connected, the 5th described platform 5 also include ten thousand to be connected with described tablet personal computer 51 Energy sized rack 52, for adjusting the installation site of the tablet personal computer 51.
In a preferred embodiment of the invention, described neck driving joint includes inward turning outward turning unit 6, passes through head The 54 stretching, extension flexing units 7 being connected with described inward turning outward turning unit 6.
In a preferred embodiment of the invention, described inward turning outward turning unit 6 include outer wall sleeve 61, be fixed on it is described Steering wheel 62 and bearing 64 in outer wall sleeve 61, described steering wheel 62 are used for according to described action command, driven described Bearing 64 is with the described left rotation and right rotation of head 54 of drive.
In a preferred embodiment of the invention, described inward turning outward turning unit 6 also includes being arranged on described steering wheel 62 The first angle sensor 63 of bottom.
In a preferred embodiment of the invention, described stretching, extension flexing unit 7 includes stepper motor 71 and described step One leading screw 72 of the phase of stepper motor 71 collocation, the contiguous block 73 being connected with described leading screw 72, it is connected with described contiguous block 73 Guide rail slide block 74, the swivel link 75 connect, the described driving load support 77 of swivel link 75, described stretching, extension flexing unit 7 It is additionally provided with second angle sensor 76.
In a preferred embodiment of the invention, the rear portion of the first described platform 1 is provided with charging contact 11 and electricity Pond 12, when the electricity of the battery 12 reaches lower limit, described battery 12 sends charging signals to described slave computer 23.
In a preferred embodiment of the invention, the rear of described second layer platform 2 is provided with infrared receiver transmitter 21 and second ultrasonic sensor 22, described home-services robot also include charging pile 0, described charging pile 0 is set There are infrared transmitter 01 and a spring contact 02, described infrared transmitter 01 is used to sending infrared signal, described infrared to connect Transmitting-receiving emitter 21 is used to receive described infrared signal, and described infrared signal is sent to described slave computer 23, described The second ultrasonic sensor 22 be used to send ultrasonic signal to described slave computer 23, described slave computer 23 is used for basis Described charging signals, ultrasonic signal and infrared signal output charging action instruction, drives described home services machine People is charged by described charging contact 11 with described spring contact 02 to described battery 12.
In a preferred embodiment of the invention, described infrared receiver transmitter 21 is five, is uniformly divided by 45 degree of angles Cloth.
In a preferred embodiment of the invention, described third layer platform 3 is additionally provided with power supply adaptor 32.
The beneficial effects of the present invention are, there is provided a kind of home-services robot, the robot use laminated type structure Design, is divided into five layers of platform, is connected between each platform with support from the bottom up, and installation is simple, Stability Analysis of Structures, efficiently dimension Shield, be in top layer 5 platform neck degree-of-freedom joint on human-computer interaction device is installed as head, realize Towards the high interactive experience of full age bracket, the real-time collected sound signal of sound transducer is set in third layer platform, the 4th layer flat Platform sets laser scanner real time scan, is additional using two DC motor Drivers, two wheels on first layer platform on chassis One locating wheel is come to robot three-point fix, and has three crash sensors in front, there is five uniform ultrasounds at support Wave sensor carrys out avoidance, can detect relatively low barrier, and erroneous judgement will not occur for robot.
For the above and other objects, features and advantages of the present invention can be become apparent, preferred embodiment cited below particularly, And coordinate institute's accompanying drawings, it is described in detail below.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of front elevation of home-services robot provided in an embodiment of the present invention;
Fig. 2 is a kind of back view of home-services robot provided in an embodiment of the present invention;
Fig. 3 is the hardware architecture diagram that robot is overall in embodiment provided by the invention;
Fig. 4 is a kind of schematic diagram of the first layer platform of home-services robot provided in an embodiment of the present invention;
Fig. 5 is a kind of schematic diagram of the second layer platform of home-services robot provided in an embodiment of the present invention;
Fig. 6 is a kind of schematic diagram of the third layer platform of home-services robot provided in an embodiment of the present invention;
Fig. 7 is a kind of schematic diagram of the 4th layer of platform of home-services robot provided in an embodiment of the present invention;
Fig. 8 is a kind of schematic diagram of the layer 5 platform of home-services robot provided in an embodiment of the present invention;
Fig. 9 is the inward turning outward turning unit in a kind of layer 5 platform of home-services robot provided in an embodiment of the present invention Schematic diagram;
Figure 10 is the stretching, extension flexing unit of layer 5 platform in a kind of home-services robot provided in an embodiment of the present invention Schematic diagram.
Drawing reference numeral:
Charging pile 0
Infrared transmitter 01
Spring contact 02
First platform 1
Charging contact 11
Battery 12
Ultrasonic sensor 13
Wheel 14
Crash sensor 15
Travel switch 151
Motor driving plate 16
Direct current generator 17
Locating wheel 19
Second layer platform 2
Infrared receiver transmitter 21
Second ultrasonic sensor 22
Slave computer 23
Gyroscope 24
Third layer platform 3
Sound transducer 31
Power supply adaptor 32
4th layer of platform 4
Laser scanner 41
5th platform 5
Tablet personal computer 51
Omnipotent sized rack 52
Kinect53
Head 54
Inward turning outward turning unit 6
Outer wall sleeve 61
Steering wheel 62
First angle sensor 63
Bearing 64
Stretch flexing unit 7
Stepper motor 71
Leading screw 72
Contiguous block 73
Guide rail slide block 74
Swivel link 75
Second angle sensor 76
Load bracket 77
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
The present invention be directed to service robot in the market, and being, can not as object using specifically a kind of crowd Cover crowd's (not including the crowd given someone extra help such as this needs of infant in the crowd) of whole age bracket.And existing clothes The sensor for avoidance is arranged in the place that business robot has only focused on more than robot belly or belly, is used in face of family In environmental aspect under, such as the shoes of people, threshold etc. are less than the feelings that may can't detect of place of robot belly Condition, and be possible to can be so that robot makes the situation of erroneous judgement, there is provided a kind of home-services robot, its can provide towards The high interactive experience of full age bracket, and erroneous judgement will not occur for robot.
The present invention relates to a kind of service humanoid robot towards family, is considering later stage efficient maintenance and reduction assembling On the premise of the Cost Problems of technique, while rationally designing the structure and driving joint of robot, all multisensors are equipped with, Abundant robot possessed function is intended to, wherein major function includes man-machine interaction, smart home, automatic obstacle-avoiding, path rule Draw etc..
Fig. 1 is a kind of front elevation of home-services robot provided in an embodiment of the present invention, as shown in Figure 1, described family Front yard service robot uses laminated type structure, from the bottom to top respectively first layer platform 1, second layer platform 2, third layer platform 3, 4th layer of platform 4 and layer 5 platform 5, it is connected by connecting bracket between each platform.
Existing service-delivery machine uses box-type, the piecemeal of case type or global design per capita, and mounting process is complicated to be improved Cost, and unload whole housing just can be so that efficiency is low for later maintenance or need when changing parts.And the present invention then adopts With laminated type structure design, not only assembling is simple, and Stability Analysis of Structures is also convenient for later stage efficient maintenance and expanded case.
Fig. 6 is a kind of schematic diagram of the third layer platform of home-services robot provided in an embodiment of the present invention, can by Fig. 6 Know, described third layer platform 3 is provided with sound transducer 31, for real-time collected sound signal.
Fig. 7 is a kind of schematic diagram of the 4th layer of platform of home-services robot provided in an embodiment of the present invention, can by Fig. 7 Know, the described the 4th layer of platform 4 is provided with laser scanner 41, for residing for the home-services robot described in real time scan Space, map corresponding to generation.
Fig. 8 is a kind of schematic diagram of the layer 5 platform of home-services robot provided in an embodiment of the present invention, can by Fig. 8 Know, the 5th described platform 5 is provided with human-computer interaction device, for gathering the command signal of user's input.
Fig. 5 is a kind of schematic diagram of the second layer platform of home-services robot provided in an embodiment of the present invention, can by Fig. 5 Know, described second layer platform 2 is provided with slave computer 23, for according to described command signal, voice signal and described Map output action instructs.
Fig. 4 is a kind of schematic diagram of the first layer platform of home-services robot provided in an embodiment of the present invention, and Fig. 2 is this A kind of back view for home-services robot that inventive embodiments provide.From Fig. 2, Fig. 4, the first described platform 1 is set There is direct current generator 17, motor driving plate 16, wheel 14 and the locating wheel 19 being connected with described direct current generator 17.
Described direct current generator 17 receives described action command by described motor driving plate 16, is moved according to described Make the wheel 14 described in order-driven, to drive described locating wheel 19 to roll, and then cause described home-services robot It is mobile.
Fig. 8 is a kind of schematic diagram of the layer 5 platform of home-services robot provided in an embodiment of the present invention, can by Fig. 8 Know, the 5th described platform 5 also includes the neck driving joint being connected with described human-computer interaction device, for according to Action command rotated.
As described above, a kind of home-services robot as provided by the invention, the robot are set using laminated type structure Meter, is divided into five layers of platform, is connected between each platform with support, be the neck of layer 5 platform in top from the bottom up Degree-of-freedom joint on human-computer interaction device is installed as head, man-machine interaction content is realized, in third layer platform setting sound The real-time collected sound signal of sound sensor, the 4th layer of platform set laser scanner real time scan, are first layer platform on chassis It is upper that robot is positioned using DC motor Driver wheel and locating wheel, realize the height interaction towards full age bracket Experience, and erroneous judgement will not occur for robot.
In a preferred embodiment of the invention, can distinguish in the front of described third layer platform 3 and dead astern Sound transducer 31 is set, and when its effect is that robot hears that user calls oneself, the Kinect for combining head makes The differentiation of the source direction of sound so that robot turns over certain angle, face toward the motion of the direction of user.
In a preferred embodiment of the invention, 360 degree of laser scannings can be placed in the 4th layer of described platform Instrument 41.The instrument map for scanning room without dead angle and can allow robot to judge its own in the map simultaneously Position, and the Scaned map in whole room is come out during being cruised in a room along with robot, and by making Demarcation of the user to room, robot can record the region such as bedroom, parlor scope, such user respectively by map When calling the robot in another room, robot can make optimum path planning by map so that it is arrived Up to user at one's side.In addition, 360 degree of laser scanners 41 can occur by the scanning carried out in real time to room to unexpected Or barrier that furniture has moved make instant judgement, combine crash sensor 15 and ultrasonic sensor at chassis 13 find out optimal solution jointly so that robot makes correct avoiding action.
Fig. 5 is a kind of schematic diagram of the second layer platform of home-services robot provided in an embodiment of the present invention, can by Fig. 5 Know, in a preferred embodiment of the invention, described second layer platform 2 also includes the top being connected with described slave computer 23 Spiral shell instrument 24, for when described home-services robot inclination, tilt signals to be sent to described slave computer 23, inclining herein Oblique signal includes the walking position and attitude information of robot now.When slave computer receives the tilt signals that gyroscope sends Afterwards, a computing and judgement can be carried out first in slave computer, that is, differentiates whether current angle of inclination can cause robot The dangerous angle fallen down, if it is not, continuing to go ahead;If it does, slave computer will signal to the first platform Motor driving plate, motor not be further continued for marching forward, but allow motor to return, to before non-run-off the straight just now State, path planning of then rerunning again avoid this slope at the moment, processing of detouring.That is, the present invention other In embodiment, the slave computer 23 that described second layer platform 2 is set is used for the various sensors of control machine people, domain motion Etc. function, gyroscope 24 provides walking position and attitude information, further corrects walking posture and mileage.
Fig. 4 is a kind of schematic diagram of the first layer platform of home-services robot provided in an embodiment of the present invention, can by Fig. 4 Know, in a preferred embodiment of the invention, the described front portion of the first platform 1 is also configured with crash sensor 15, described The first ultrasonic sensor 13 is additionally provided with the connecting bracket that first platform 1 is connected with the second layer platform 2, it is described Mounting hole is provided with connecting bracket, for adjusting the installation site of the ultrasonic sensor 13.Particularly left and right end side Two ultrasonic sensors 13 be arranged on PU wheel 14 surface, be ensure PU wheel 14 during traveling not by barrier Situations such as influenceing and PU 14 damages of wheel occur.
In a preferred embodiment of the invention, described crash sensor 15 is three, and the first described ultrasonic wave passes Sensor 13 is six.
In a preferred embodiment of the invention, the angle between described crash sensor 15 is adjacent is in 120 degree, and often Two travel switches 151 are provided with individual described crash sensor 15 (Fig. 4 is not drawn) so that robot can accurately know Road is which position on which sensor met.Such as when it encounters barrier, robot first retreats Action, then turns, if wherein left crash sensor, which receives, sends the order that allows robot to turn right after signal to avoid hindering Hinder thing, remaining is similar.
In a preferred embodiment of the invention, two direct current generators 17 can be used to drive two wheels additional on chassis One locating wheel realizes three-point fix to robot.Taken turns specifically, wheel can be PU.The locating wheel of the rear installation of robot 19, in order that within the triangle that the center of gravity for obtaining robot is maintained at PU wheels 14 and locating wheel 19 is formed, the entirety of robot The center of gravity of framework is in the triangle so that the good stability of robot.
The place that service robot of the prior art has only been focused on more than robot belly or belly is arranged for keeping away The sensor of barrier, under the environmental aspect in family's use, such as the shoes of people, threshold etc. are less than the place of robot belly Situation about may can't detect, and be possible to can be so that robot makes erroneous judgement.The present invention exists for this case The chassis portion of robot is uniform crash sensor on first layer platform so that erroneous judgement will not occur for robot.
As shown in Figure 4, the angle between described crash sensor 15 is adjacent can be in 120 degree, and each described collision Two travel switches 151 are provided with sensor 15 (Fig. 4 is not drawn) so that robot accurately can know which has been met Which position on one sensor.Such as when it encounters barrier, robot is first backward movement, Ran Houzhuan It is curved, if wherein left crash sensor sends the order for allowing robot to turn right with avoiding obstacles, remaining class after receiving signal Seemingly.
Fig. 8 is a kind of schematic diagram of the layer 5 platform of home-services robot provided in an embodiment of the present invention, can by Fig. 8 Know, described human-computer interaction device includes Kinect53 and the tablet personal computer 51 being connected with described Kinect53, described The 5th platform 5 also include the omnipotent sized rack 52 that is connected with described tablet personal computer 51, for adjusting the flat board electricity The installation site of brain 51.Service-delivery machine of the prior art is developed for the purpose of specific crowd per capita, functionally can not Meets the needs of full age bracket crowd, the service robot in the present invention uses human-computer interaction device, can be directed to any age The crowd of section talks with it, accepts instruction action.Specifically, described human-computer interaction device includes Kinect53 and put down Plate computer 51.Kinect and tablet personal computer are installed on the 2DOF joint of the neck of top as head, realized Main man-machine interaction content.
In a preferred embodiment of the invention, described neck driving joint includes inward turning outward turning unit 6, passes through head The 54 stretching, extension flexing units 7 being connected with described inward turning outward turning unit 6.Specifically, neck biography is installed in layer 5 platform Movable joint, neck driving joint are respectively ± 60 degree of inward turning outward turning unit 6 and stretch flexing unit 7, pass through cloud between them Platform 54 is connected.The teamwork of the two units make it that robot head is movable as people's generic flexible, is hearing user's After calling, robot judges to the direction that sound transmits, and is first turned back as people, then adjusts posture entirety again Turn to, advanced towards user, or follow owner to advance, substantially increase the interactive experience to people.Neck joint also carries There are Kinect53 and tablet personal computer 51.Wherein Kinect53 effect has:Recognition of face is carried out, when judgement is domestic household Different greetings can be sent by tablet personal computer 51, can be registered when judgement is stranger by domestic household To be categorized as the relative of resident family or friend, when not registering if taken pictures and sent with resident family to judge.In addition Kinect53 can also differentiate according to the different gestures of user causes robot to perform the actions such as forward-reverse stopping.And flat board is electric Brain 51 then adjusts suitable installation site by omnipotent sized rack 52 so that it carrys out finishing man-machine interaction most as host computer Major part, such as voice broadcast, calendar prompting, indoor patrol, chat, recognition of face and take pictures, gesture identification, Falls Among Old People examine A series of functions of survey, Intelligent housing etc..
Fig. 9 is the inward turning outward turning unit in a kind of layer 5 platform of home-services robot provided in an embodiment of the present invention Schematic diagram, as shown in Figure 9, in a preferred embodiment of the invention, described inward turning outward turning unit 6 includes outer wall sleeve 61st, the steering wheel 62 and bearing 64 being fixed in the outer wall sleeve 61, described steering wheel 62 are used to be referred to according to described action Order, described bearing 64 is driven to drive the described left rotation and right rotation of head 54.
In a preferred embodiment of the invention, described inward turning outward turning unit 6 also includes being arranged on described steering wheel 62 The first angle sensor 63 of bottom, it is main to feed back after robot accident power down the positional information of upper electricity again to slave computer 23.Under Position machine can adjust action command according to the positional information of the unit.
Stretching, extension flexing unit will not only load the weight of all components in whole head in whole head movement, also To keep enough stabilizations not vibrate as far as possible during exercise, also to ensure Kinect53 and tablet personal computer in man-machine interaction 51 screen wants proper alignment to user, therefore is a most important core in neck joint.Figure 10 is the present invention The schematic diagram of the stretching, extension flexing unit of layer 5 platform in a kind of home-services robot that embodiment provides, as shown in Figure 10, In a preferred embodiment of the invention, described stretching, extension flexing unit 7 includes stepper motor 71 and described stepper motor 71 One leading screw 72 of phase collocation, the contiguous block 73 being connected with described leading screw 72, the guide rail being connected with described contiguous block 73 Sliding block 74, swivel link 75, the described driving load support 77 of swivel link 75, described stretching, extension flexing unit 7 are additionally provided with Second angle sensor 76.
That is, described stretching, extension flexing unit 7 is driven using stepper motor 71, due to the step angle of stepper motor 71 compared with Height, therefore arrange in pairs or groups using the leading screw 72 that can bear enough bending stresses under a load so that can its position of walking of accurate control Put to reach the purpose that neck accurately aligns with user.Contiguous block 73, described contiguous block are provided with described leading screw 72 The guide rail and sliding block 74 and swivel link 75 of 73 connection both sides, it can be on leading screw 72 in the motion process for coming back and bowing Move reciprocatingly back and forth, while stepper motor 71 can also be swung up and down therewith.Described swivel link 75 transmits moment of torsion to head Portion's centre of gyration, driving load support 77 drive end rotation.Because whole stretching, extension flexing unit is under open loop situations, Therefore it is negative-feedback of the second angle sensor 76 as the unit to add special angular transducer, and the angle information on head is sent out Slave computer 23 is delivered to, slave computer can adjust action command according to the angle information of the unit.
Fig. 4 is a kind of schematic diagram of the first layer platform of home-services robot provided in an embodiment of the present invention, can by Fig. 4 Know, in a preferred embodiment of the invention, the rear portion of the first described platform 1 is provided with charging contact 11 and battery 12, When the electricity of the battery 12 reaches lower limit, described battery 12 sends charging signals to described slave computer 23.
Fig. 5 is a kind of schematic diagram of the second layer platform of home-services robot provided in an embodiment of the present invention, can by Fig. 5 Know, in a preferred embodiment of the invention, the rear of described second layer platform 2 be provided with infrared receiver transmitter 21 and Second ultrasonic sensor 22.In a preferred embodiment of the invention, described infrared receiver transmitter 21 is five, by 45 Degree angle is uniformly distributed.
Fig. 6 is a kind of schematic diagram of the third layer platform of home-services robot provided in an embodiment of the present invention, can by Fig. 6 Know, in a preferred embodiment of the invention, described third layer platform 3 is additionally provided with power supply adaptor 32.May be used also in the layer The unnecessary cabling of some parts is set.
Fig. 1 is a kind of front elevation of home-services robot provided in an embodiment of the present invention, and Fig. 2 carries for the embodiment of the present invention A kind of back view of the home-services robot supplied, as seen from Figure 1, Figure 2, described home-services robot also includes charging pile 0, described charging pile 0 is provided with infrared transmitter 01 and spring contact 02.
When the not enough power supply of robot, described infrared transmitter 01 is used to send infrared signal, and described is red External transmitting-receiving emitter 21 is used to receive described infrared signal, and described infrared signal is sent to described slave computer 23, The second described ultrasonic sensor 22 is used to send ultrasonic signal to described slave computer 23, and described slave computer 23 is used for Charging action instruction is exported according to described charging signals, ultrasonic signal and infrared signal, drives described home services Robot is charged by described charging contact 11 with described spring contact 02 to described battery 12.
That is, when the not enough power supply of robot, five infrared receiver transmitters 21 can start to catch in charging pile 0 The infrared signal that another infrared transmitter 01 transmitting at slit comes, after capturing infrared signal, this five red External transmitting-receiving emitter 21, which can interact, to be sent instruction and causes robot adjustment posture, finally to face the direction of charging pile 0 Advance.When the charging contact 11 of robot touches spring contact 02 of charging pile, process is started to charge up.Therefore, originally The home-services robot that invention provides possesses the function of automatic charging.
As described above, the invention provides a kind of service robot of the high interactive experience towards full age bracket.The machine People uses laminated type structure design, is divided into 5 layers of platform from the bottom up, is connected between platform with support, installs simple structure It is stable, it is easy to safeguard.Kinect and flat board are installed on the 2DOF joint of the neck of top (i.e. layer 5 platform) Computer is used as head, realizes main man-machine interaction content.Two direct current generators are used on chassis (i.e. first layer platform) The driving additional locating wheel of two wheels to have 3 crash sensors to robot three-point fix, chassis front, at support have 5 uniform ultrasonic sensors, mainly do avoidance use;The infrared hair of 5 automatic chargings is evenly equipped with second layer platform Penetrate reception device and gyroscope and main control chip;Before and after third layer platform each sound transducer and place unnecessary cabling and Adapter etc.;360 degree of laser scanners are installed in 4th layer of platform, mainly doing map structuring and path planning and avoidance makes With;5th layer of stage+module has the neck joint of 2DOF, supports head to realize inward turning outward turning and stretching, extension flexing action.With The home-services robot of prior art is compared, and possesses abundant function and very high integrated level.
Fig. 3 is the hardware architecture diagram that robot is overall in embodiment provided by the invention, from the figure 3, it may be seen that the service-delivery machine People mainly has following characteristics:
1st, it is overall to use laminated type structure design, and taken by finite element analysis using optimal support bracket selection and structure Build so that robot assembling is simple, Stability Analysis of Structures, is easy to later maintenance or peripheral expanded case;
2nd, multiple sensors are controlled by slave computer, the multiple data that fusion collection comes makes optimization processing, to reach connection Close the effect of high-precision avoidance;
3rd, the map structuring carried out by laser scanner to self path planning of robot and to not chummery, makes Traveling instruction can be sent by interactive voice or touch-screen by user to robot host computer by obtaining, and robot can be according to the life Make traveling any specified location into any room;
4th, user can issue an instruction to the smart home in control room to robot, the part by robot by signal without Line passes to the intelligent gateway in charging pile, then by intelligent gateway come the smart home in control room;
5th, the robot possesses huge and robustness software architecture so that user can pass through touch-screen, voice and hand Gesture come complete with robot enrich human-computer interaction function, such as voice broadcast, calendar prompting, indoor patrol, chat, face know Not with taking pictures, the detection of gesture identification, Falls Among Old People, Intelligent housing etc..
In figure 3, sound acquisition module is the microphone in the tablet personal computer installed on layer 5 platform.Touch display Screen refers to the tablet personal computer (the tablet personal computer inherently touch screen installed on the neck 2DOF joint of layer 5 platform ).Image capture module refers to infrared detector and depth camera in Kinect.Drawing positioning navigation module refers to 360 degree of laser scanners.Handheld terminal refers to installing among Client handset or ipad etc. related to the robot APP.WIFI routing modules refer to the wireless network installed in client own home, play robot by the net connection, hold Terminal and smart home.Host computer is the tablet personal computer of layer 5 platform.Slave computer is the robot master of second layer platform Control chip, i.e. slave computer.Speaker module is the loudspeaker in the tablet personal computer of layer 5 platform.Power module be battery and The self-contained electric power detection chip of battery.Automatic charging module is located at two places respectively, one is infrared in charging pile Transmitter and spring contact;The second is 5 infrared remote receivers of robot second layer platform back array and the second ultrasonic wave pass Both positive and negative polarity contact in sensor, and first layer platform.Listen the sound biography for arguing that a module is referred respectively to before and after third layer platform Sound array in sensor and Kinect, wherein the sound transducer before and after the 3rd platform is mainly rough differentiation sound source From before robot or behind, and the sound array in Kinect is then the angle that relatively accurately differentiation sound passes over Degree.Motor drive module is two motors and its motor driving plate in first layer platform.Automatic obstacle-avoiding module is to collide to pass Work in combination between sensor, the first ultrasonic sensor and 360 laser scanners.
Used by service robot provided by the invention man-machine interactive system can be directed to any age bracket crowd with It is talked with, and accepts instruction action.Smart home and safety-protection system are also melted into a whole by the present invention, and rarely having on the market at present can To serve the robot of household and security protection, such as the order robot by sending opening curtain to robot sends letter Number curtain is opened, also or in the empty room of nobody home gone on patrol, it is found that stranger is taken pictures and sent and owner Etc..The sensing for avoidance is arranged in the place that existing service robot has only been focused on more than robot belly or belly Device, under the environmental aspect in family's use, such as the shoes of people, threshold etc. may be sent out less than the place of robot belly The situation that biopsy does not detect, and be possible to can be so that robot makes erroneous judgement.The present invention is for this case in robot The uniform crash sensor of chassis portion so that erroneous judgement will not occur for robot.
Existing service robot majority is listening sound to distinguish also more stiff in this man-machine interaction experience of position, that is, detects sound The action turned and advanced to target is simply made after sound.And taken into full account in the present invention and improve robot in the interactive experience of people, After the calling of user is heard, robot judges to the direction that sound transmits, and is first turned back as people, then Posture is adjusted again integrally to turn to, and is advanced towards user, or follow owner to advance.
Existing service-delivery machine uses box-type, the piecemeal of case type or global design per capita, and mounting process is complicated to be improved Cost, and unload whole housing just can be so that efficiency is low for later maintenance or need when changing parts.And the present invention then adopts With laminated type structure design, not only assembling is simple, and Stability Analysis of Structures is also convenient for later stage efficient maintenance and expanded case.
The key point of the present invention and it is intended to protect and is a little:
1) laminated type structure design;
2) the joint high-precision independent avoidance of 360 degree of laser scanners, crash sensor and ultrasonic sensor;
3) create map using 360 degree of laser scanners in real time and make optimum path planning;
4) contact automatic charging system;
5) listen and argue a system;
6) 2DOF neck driving joint;
Compared with prior art, the advantage of the invention is that:
1) it is mounted with that crash sensor can detect relatively low barrier at subaerial chassis;
2) function of automatic charging is possessed;
3) walking posture and mileage are further corrected using gyroscope;
4) possessing listens sound to distinguish bit function;
5) create map in real time without dead angle using 360 degree of laser scanners and make optimum path planning, and and collision Sensor is combined with ultrasonic sensor differentiates barrier so that the high-precision avoiding barrier of robot;
6) 2DOF neck driving joint is used, improves the man-machine experience of user, and carry Kinect and tablet personal computer To make more preferable human-computer interaction function;
7) laminated type structure design, installation is simple, Stability Analysis of Structures, high maintenance.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, Ke Yitong Computer program is crossed to instruct the hardware of correlation to complete, described program can be stored in general computer read/write memory medium In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Those skilled in the art will also be appreciated that the various functions that the embodiment of the present invention is listed are by hardware or soft Part depends on the design requirement of specific application and whole home-services robot to realize.Those skilled in the art can be for Every kind of specific application, various methods can be used to realize described function, but this realization is understood not to exceed this hair The scope of bright embodiment protection.
Apply specific embodiment in the present invention to be set forth the principle and embodiment of the present invention, above example Explanation be only intended to help understand the present invention method and its core concept;Meanwhile for those of ordinary skill in the art, According to the thought of the present invention, there will be changes in specific embodiments and applications, in summary, in this specification Appearance should not be construed as limiting the invention.

Claims (12)

1. a kind of home-services robot, it is characterized in that, described home-services robot uses laminated type structure, from the bottom to top Respectively first layer platform (1), second layer platform (2), third layer platform (3), the 4th layer of platform (4) and layer 5 platform (5), it is connected between each platform by connecting bracket,
Described third layer platform (3) is provided with sound transducer (31), for real-time collected sound signal;
The 4th layer of described platform (4) is provided with laser scanner (41), for the home-services robot described in real time scan Residing space, map corresponding to generation;
The 5th described platform (5) is provided with human-computer interaction device, for gathering the command signal of user's input;
Described second layer platform (2) is provided with slave computer (23), for according to described command signal, voice signal and institute The map output action instruction stated;
Described the first platform (1) is provided with direct current generator (17), the motor driving being connected with described direct current generator (17) Plate (16), wheel (14) and locating wheel (19);
Described direct current generator (17) receives described action command by described motor driving plate (16), is moved according to described Make the wheel (14) described in order-driven, to drive described locating wheel (19) to roll, and then cause described home services machine Device people moves;
The 5th described platform (5) also includes the neck driving joint being connected with described human-computer interaction device, for basis Described action command is rotated;
Described human-computer interaction device includes Kinect (53) and the tablet personal computer being connected with described Kinect (53) (51), the 5th described platform (5) also includes the omnipotent sized rack (52) being connected with described tablet personal computer (51), is used for Adjust the installation site of the tablet personal computer (51);Described neck driving joint includes inward turning outward turning unit (6), passes through head (54) the stretching, extension flexing unit (7) being connected with described inward turning outward turning unit (6).
2. home-services robot according to claim 1, it is characterized in that, described second layer platform (2) also include with The gyroscope (24) that described slave computer (23) is connected, for when described home-services robot inclination, to described Slave computer (23) sends tilt signals.
3. home-services robot according to claim 1, it is characterized in that, described the first platform (1) front portion also configures There is crash sensor (15), also set in the connecting bracket that described the first platform (1) is connected with the second layer platform (2) The first ultrasonic sensor (13) is equipped with, mounting hole is provided with described connecting bracket, for adjusting the supersonic sensing The installation site of device (13).
4. home-services robot according to claim 3, it is characterized in that, described crash sensor (15) is three, Described the first ultrasonic sensor (13) is six.
5. home-services robot according to claim 4, it is characterized in that, between described crash sensor (15) is adjacent Angle be in 120 degree, and it is each described in crash sensor (15) on be provided with two travel switches (151).
6. home-services robot according to claim 1, it is characterized in that, described inward turning outward turning unit (6) includes outer Wall sleeve (61), the steering wheel (62) and bearing (64) being fixed in the outer wall sleeve (61), described steering wheel (62) are used for According to described action command, described bearing (64) is driven to drive described head (54) left rotation and right rotation.
7. home-services robot according to claim 6, it is characterized in that, described inward turning outward turning unit (6) also includes It is arranged on the first angle sensor (63) of described steering wheel (62) bottom.
8. home-services robot according to claim 1, it is characterized in that, described stretching, extension flexing unit (7) includes step Stepper motor (71), the leading screw (72) mutually arranged in pairs or groups with described stepper motor (71), the company being connected with described leading screw (72) Connect block (73), the guide rail slide block (74) being connected with described contiguous block (73), swivel link (75), described swivel link (75) driving load support (77), described stretching, extension flexing unit (7) are additionally provided with second angle sensor (76).
9. home-services robot according to claim 1, it is characterized in that, the rear portion of described the first platform (1) is set Have charging contact (11) and battery (12), when the electricity of the battery (12) reaches lower limit, described battery (12) to Described slave computer (23) sends charging signals.
10. home-services robot according to claim 9, it is characterized in that, the rear of described second layer platform (2) is set Infrared receiver transmitter (21) and the second ultrasonic sensor (22) are equipped with, described home-services robot also includes charging Stake (0), described charging pile (0) are provided with infrared transmitter (01) and spring contact (02), described infrared transmitter (01) it is used to send infrared signal, described infrared receiver transmitter (21) is used to receive described infrared signal, and by described in Infrared signal send to described slave computer (23), described the second ultrasonic sensor (22) is used for described slave computer (23) ultrasonic signal is sent, described slave computer (23) is used for according to described charging signals, ultrasonic signal and infrared Signal output charging action instructs, and drives described home-services robot to pass through described charging contact (11) and described bullet Spring contact (02) is charged to described battery (12).
11. home-services robot according to claim 10, it is characterized in that, described infrared receiver transmitter (21) is Five, it is uniformly distributed by 45 degree of angles.
12. home-services robot according to claim 1, it is characterized in that, described third layer platform (3) is additionally provided with Power supply adaptor (32).
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