CN106154869A - A kind of telepresence intelligent robot, telepresence interactive system and method thereof - Google Patents
A kind of telepresence intelligent robot, telepresence interactive system and method thereof Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/40—Support for services or applications
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Abstract
The invention discloses a kind of telepresence exchange method, including: intelligent terminal is connected with the foundation of high in the clouds data server, and obtains account information；According to account information, intelligent terminal sets up with operation control terminal and is connected, and receives the communication data that operation control terminal sends；When communication data is for controlling class communication data, according to communication data, generates corresponding robot control instruction, and robot control instruction is sent to telepresence intelligent robot；When communication data is reaction type communication data, intelligent terminal, according to communication data, automatically generates feedback information or obtains corresponding feedback information to high in the clouds data server, being stored by feedback information, for the feedback system of feedback information is learnt, and it is sent to operation control terminal；Telepresence intelligent robot receives robot control instruction, and makes corresponding action response.The invention also discloses a kind of telepresence intelligent robot and telepresence interactive system, make robot can apply to various scene.
Description
Technical field
The present invention relates to field of intelligent control technology, particularly to a kind of telepresence intelligent machine
People, telepresence interactive system and method thereof.
Background technology
The research and development field of modern intelligent control technology, machine man-based development is concentrated mainly on
Industrial robot field, the weakest for service type machine man-based development.Along with people
Growth in the living standard, and the development of the technology such as cloud computing, big data, Internet of Things, for
Machine Man's Demands, is developed to ordinary consumer by industrial, agriculture etc., and they compel to be essential
Want a kind of can for life offer convenience, the attractive in appearance and service type robot product of fashion.
Present stage, through scientific research and the effort of enterprise personnel, researched and developed manufacture a certain amount of
Service type robot, during the test of these robots and using, it appeared that below
Shortcoming:
First, service function is single, and application is narrow；Common service robot is used primarily in
Some special dimension, applies just for a certain function, is often only applicable to some special occasions,
As candy striper is generally used for hospital, fire-fighting robot is generally used for fire-fighting etc..
Secondly, using three-wheel, four-wheel or more wheels design, category is similar, lacks aesthetic wound more
Newly；The service robot seen on the market mostly uses multiple wheel design, with three-wheel or four-wheel
In the majority, and profile is similar, lacks aesthetic creativity, is difficult to the need meeting people to novel robot
Ask.
3rd, robot most people are interactive with robot, lack the communication energy of machine person to person
Power；The service robot of reality is mostly that people goes to control robot to move, and lacks machine person to person
The ability of machine exchange.
4th, class peopleization is serious, has kind of an insecurity to people；Such as external emulation beauty's machine
People, appearance is much like with the mankind, but different from people the most again, has a kind of uncomfortable to people
Experience sense.
5th, expensive, inconvenience is promoted；It is special that service robot on market is used in some
Industry field, it usually needs customization, somewhat expensive, is hardly formed scale market.
To sum up state, how to enable service type robot be flexibly applied to widely occasion,
It is that those skilled in the art are presently required and solve the technical problem that.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of telepresence intelligent robot, remotely
Interactive system and method thereof, can allow the robot to be flexibly applied to multiple occasion when participating in the cintest.
For achieving the above object, the present invention provides following technical scheme:
A kind of telepresence exchange method, is applied to telepresence interactive system, described remotely faces
Field interactive system includes high in the clouds data server, intelligent terminal, operation control terminal and telepresence intelligence
Can robot；Described telepresence exchange method includes:
Described intelligent terminal sets up with described high in the clouds data server and is connected, and obtains account information；
According to described account information, described intelligent terminal sets up with operation control terminal and is connected, and receives
The communication data that described operation control terminal sends；
When described communication data is for controlling class communication data, described intelligent terminal is according to described logical
Letter data, generates corresponding robot control instruction, and described robot control instruction is sent
To described telepresence intelligent robot；When described communication data is reaction type communication data,
Described intelligent terminal, according to described communication data, automatically generates feedback information or to described high in the clouds
Data server obtains corresponding feedback information, carries out described feedback information storing record, uses
In the feedback system of described feedback information is learnt, and it is sent to described operation control terminal；
Described telepresence intelligent robot receives described robot control instruction, and makes corresponding
Action response.
Preferably, when described operation control terminal and described intelligent terminal are positioned at same gateway, described
Intelligent terminal sets up with operation control terminal and is connected, and receives the communication data that described operation control terminal sends
Process include:
Described intelligent terminal is directly connected to described operation control terminal, and directly receives described manipulation eventually
The communication data that end sends；
When described operation control terminal and described intelligent terminal are in different gateway, described intelligent terminal
Set up with operation control terminal and be connected, and receive the process bag of the communication data that described operation control terminal sends
Include:
Described intelligent terminal is connected with described operation control terminal by Relay Server, and by relaying
Server receives the communication data that described operation control terminal sends.
Preferably, also include:
When described reaction type communication data is literal order, described intelligent terminal will receive
Described literal order is uploaded to Analysis server, and described literal order is turned by described Analysis server
Change the structural data of association area into, and described structural data is sent to data server；
Result data is returned to described Analysis server by described data server, and described analysis takes
Described result data is converted into text language by business device, and returns to described intelligent terminal.
Preferably, when described reaction type communication data is phonetic order or video instructions, described
The described phonetic order received or described video instructions are uploaded to voice server by intelligent terminal,
Described phonetic order or described video instructions are converted into literal order by described voice server, and
Return to described intelligent terminal；
The described literal order received is uploaded to described Analysis server by described intelligent terminal,
Described literal order is converted into the structural data of association area by described Analysis server, and will
Described structural data is sent to data server；
The result data of described structural data is returned to described Analysis Service by data server
Device, result data is converted into text language, and returns to described intelligence by described Analysis server
Terminal；
Described text language is sent to described voice server, described voice by described intelligent terminal
Described text language is converted into voice feedback or video feed by server, and returns to described intelligence
Can terminal；
Described voice feedback or described video feed are directly play or send by described intelligent terminal
Play out to described operation control terminal.
A kind of telepresence intelligent robot, including:
Robot body；
The reception control module being arranged on described robot body, is used for receiving intelligent terminal and sends out
The robot control instruction sent, enters described robot body according to described robot control instruction
Row controls, and described robot body makes corresponding action response；
Described robot control instruction is, the control that described intelligent terminal sends according to operation control terminal
The instruction that class communication data generates.
Preferably, described robot body is provided with the base of self-balancing, and described base includes:
Gyroscope and/or accelerometer, described gyroscope and/or described accelerometer all with described reception
Control module connects, and for sensing the moving equilibrium state of described base, and described motion is put down
Weighing apparatus state is sent to described reception control module；
External taking turns, described external take turns by driving motor to control, described motor controls with described reception
Module connects, and described reception control module sends according to described gyroscope and/or described accelerometer
Described moving equilibrium state, controls the described external motion taken turns.
Preferably.Be provided with telescopic elevating lever on described base, described base be used for filling
The robot head blocking described intelligent terminal is connected by described elevating lever, is provided with in described base
Control the motor that described elevating lever carries out stretching.
Preferably, described base also includes moveable rod assemblies, described rod assemblies
For automatically falling off when described base is static or after power-off, described base is supported.
A kind of telepresence interactive system, including high in the clouds data server, intelligent terminal, manipulation
Terminal and telepresence intelligent robot；
Described high in the clouds data server, for providing account information for described intelligent terminal；
Described intelligent terminal, for when communication data is for controlling class communication data, according to described
Communication data, generates corresponding robot control instruction, and described robot control instruction is sent out
Deliver to described telepresence intelligent robot；When described communication data is reaction type communication data,
According to described communication data, automatically generate feedback information or obtain to described high in the clouds data server
Take corresponding feedback information, carry out described feedback information storing record, for described feedback
The feedback system of information learns, and is sent to described operation control terminal；
Described operation control terminal, is used for sending described communication data, and is used for receiving described feedback
Information；
Described telepresence intelligent robot, is used for receiving described robot control instruction, and does
Go out corresponding action response.
Preferably, described high in the clouds data server includes Analysis server, data server, and
/ or voice server；
Described intelligent terminal, is additionally operable to directly from described high in the clouds data server down loading updating data
Bag, carries out data renewal process according to described more new data packets.
A kind of telepresence exchange method that the present invention provides, by telepresence intelligent robot
Data interaction is carried out, it is achieved the data of operation control terminal and intelligent terminal are handed over high in the clouds data server
Mutually, and realize remotely controlling this telepresence intelligent robot, make the application of robot not limit to
In aspectant control；Further, since intelligent terminal can obtain information with high in the clouds data server,
Intelligent terminal in robot obtains the data on the data server of high in the clouds, by high in the clouds data
The study repeatedly of data on server, formed simulation people structural data, when have people and she
When going exchange, robot self just can substitute people to be come and people's abundant mode controlling robot alternately,
Make intelligent terminal more various to control mode and the operational approach of robot so that robot answers
With can apply to various scene.
The invention provides a kind of telepresence intelligent robot, hereinafter referred to as robot, machine
People is provided with the control module that accepts for carrying out data interaction with intelligent terminal, and robot is permissible
Connect high in the clouds data server by intelligent terminal and carry out data communication, and control robot body
Operate.Intelligent terminal, as the brain of robot, is Split type device with fuselage body, can
To save construction cycle and the development cost of developing intellectual resource terminal, select conventional mobile device,
Such as smart mobile phone or iPAD etc..If it addition, needing to change the use function of robot, only
Need the application program of intelligent terminal is developed, it is not necessary to the global procedures of change intelligent terminal,
This makes the procedure Selection of robot and arranges the most flexible.
A kind of telepresence interactive system that the present invention provides includes intelligent terminal and telepresence
Intelligent robot, is used for ensureing that above-mentioned telepresence exchange method is applied in reality.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below
The accompanying drawing used required in embodiment or description of the prior art will be briefly described, aobvious and
Easily insight, the accompanying drawing in describing below is only embodiments of the invention, common for this area
From the point of view of technical staff, on the premise of not paying creative work, it is also possible to attached according to provide
Figure obtains other accompanying drawing.
Fig. 1 is the flow chart of telepresence exchange method specific embodiment one provided by the present invention；
Fig. 2 is the flow chart of telepresence exchange method specific embodiment two provided by the present invention；
Fig. 3 is the flow chart of telepresence exchange method specific embodiment three provided by the present invention；
Fig. 4 is the structural representation of the specific embodiment of telepresence robot provided by the present invention；
Fig. 5 is the knot of base portion in telepresence robot provided by the present invention specific embodiment
Structure schematic diagram；
Fig. 6 is the knot of fuselage sections in telepresence robot provided by the present invention specific embodiment
Structure schematic diagram；
Fig. 7 is fuselage lower half in telepresence robot provided by the present invention specific embodiment
Structural representation；
Fig. 8 is robot head portion in telepresence robot provided by the present invention specific embodiment
The structural representation divided；
Fig. 9 is the schematic diagram of telepresence interactive system specific embodiment provided by the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present invention
Case is clearly and completely described, it is clear that described embodiment is only the present invention one
Divide embodiment rather than whole embodiments.Based on the embodiment in the present invention, this area is general
The every other embodiment that logical technical staff is obtained under not making creative work premise,
Broadly fall into the scope of protection of the invention.
The core of the present invention is to provide a kind of telepresence exchange method, is applied to telepresence and hands over
System mutually, another core of the present invention is to provide a kind of telepresence interactive system, is used for ensureing
Said method realization in practice and utilization.
Refer to Fig. 1, Fig. 1 is telepresence exchange method specific embodiment provided by the present invention
The flow chart of one.
Step s101: intelligent terminal sets up with high in the clouds data server and is connected, and obtains account letter
Breath.
Step s102: according to account information, intelligent terminal sets up with operation control terminal and is connected, and connects
The communication data that control terminal of bringing drill to an end sends.
Optionally, step s102 can be particularly as follows: according to account information, intelligent terminal be with manipulation eventually
The Relay Server connection establishment that end is connected connects, and enters the room that account information is corresponding, takes
Must be with the connection of operation control terminal.
Step s103: when communication data is for controlling class communication data, intelligent terminal is according to communication
Data, generate corresponding robot control instruction, and robot control instruction are sent to remotely
Intelligent robot when participating in the cintest；When communication data is reaction type communication data, intelligent terminal is according to logical
Letter data, automatically generates feedback information or obtains corresponding feedback letter to high in the clouds data server
Breath, carries out feedback information storing record, for the feedback system of feedback information is learnt,
And it is sent to operation control terminal；
Step s104: telepresence intelligent robot receives robot control instruction, and makes phase
The action response answered.
Optionally, robot control instruction can be sent to telepresence intelligent machine by intelligent terminal
Any one step before device people, is communicated with the foundation of telepresence intelligent robot by network
Connect.
A kind of telepresence exchange method that the present embodiment provides, by telepresence intelligent machine
People and high in the clouds data server carry out data interaction, it is achieved operation control terminal and the data of intelligent terminal
Alternately, and realize remotely controlling this telepresence intelligent robot, make the application not office of robot
It is limited to aspectant control；Further, since intelligent terminal can obtain letter with high in the clouds data server
Breath, the intelligent terminal in robot obtains the data on the data server of high in the clouds, by high in the clouds
The study repeatedly of data on data server, forms the structural data of simulation people, when there being people
When going to exchange with her, robot self just can substitute people to be come and people abundant control robot alternately
Mode, makes intelligent terminal more various to control mode and the operational approach of robot so that machine
The application of people can apply to various scene.
Optionally, in step s102 when operation control terminal and intelligent terminal are positioned at same gateway,
Intelligent terminal sets up with operation control terminal and is connected, and receives the mistake of the communication data that operation control terminal sends
Journey includes:
Intelligent terminal is directly connected to operation control terminal, and directly receives the communication that operation control terminal sends
Data；
When operation control terminal and intelligent terminal are positioned at different gateway, intelligent terminal builds with operation control terminal
Stand and connect, and the process receiving the communication data that operation control terminal sends includes:
Intelligent terminal is connected with operation control terminal by Relay Server, and is connect by Relay Server
The communication data that control terminal of bringing drill to an end sends.
The method can make operation control terminal the most flexible with the connection of intelligent terminal, is not limited to two
Person is all connected into same gateway.
Optionally, refer to Fig. 2, Fig. 2 is telepresence exchange method provided by the present invention tool
The flow chart of body embodiment two.When the reaction type communication data mentioned in step s103 is that word refers to
When making, this step s103 also should include:
Step s311: when described reaction type communication data is literal order, intelligent terminal will connect
The literal order received is uploaded to Analysis server, and literal order is converted into phase by Analysis server
The structural data in field, pass, and structural data is sent to data server；
Step s312: result data is returned to Analysis server, Analysis Service by data server
Result data is converted into text language by device, and returns to intelligent terminal.
In the telepresence exchange method that the present embodiment is provided, intelligent terminal is by sending out instruction
Give the Analysis server in the data server of high in the clouds and data server, at major part data
Reason process transfers to high in the clouds data server to complete, and processes intelligence eventually by high in the clouds data server
The required problem to be processed of end, this method is greatly saved the information processing capacity of intelligent terminal,
Intelligent terminal has only to carry out transmission and the reception of data, saves the process space of intelligent terminal；
And, the disposal ability of high in the clouds data server is strong, processing speed fast, well improves whole
Body processing speed, accelerates handling process.
Optionally, refer to Fig. 3, Fig. 3 is telepresence exchange method provided by the present invention tool
The flow chart of body embodiment three.When the reaction type communication data in step s103 is phonetic order,
This step s103 also should include:
Step 321: when reaction type communication data is phonetic order or video instructions, intelligence is eventually
The phonetic order received or video instructions are uploaded to voice server by end, and voice server will
Phonetic order or video instructions are converted into literal order, and return to intelligent terminal；
Step 322: the literal order received is uploaded to Analysis server by intelligent terminal, point
Literal order is converted into the structural data of association area by analysis server, and by structural data
It is sent to data server；
Step 323: the result data of structural data is returned to Analysis Service by data server
Device, result data is converted into text language, and returns to intelligent terminal by Analysis server；
Step 324: text language is sent to voice server, voice server by intelligent terminal
Text language is converted into voice feedback or video feed, and returns to intelligent terminal；
Step 325: voice feedback or video feed are directly play or be sent to behaviour by intelligent terminal
Control terminal plays out.
In the telepresence exchange method that the present embodiment is provided, for the process side of phonetic order
Formula, based on processing mode for literal order in above-described embodiment, saves the place of intelligent terminal
Reason space, accelerates disposed of in its entirety flow process.
Except the telepresence exchange method disclosed in above-described embodiment, present invention also offers one
Planting telepresence intelligent robot, hereinafter referred to as robot, this robot specifically includes that
Robot body；
The reception control module being arranged on robot body, for receiving what intelligent terminal sent
Robot control instruction, is controlled robot body according to robot control instruction, machine
Human body makes corresponding action response；
Robot control instruction is, the control class communication number that intelligent terminal sends according to operation control terminal
According to the instruction generated.
Refer to Fig. 4 to Fig. 8, Fig. 4 to Fig. 8 and be respectively telepresence machine provided by the present invention
The structural representation of the specific embodiment of device people, the structural representation of base portion, fuselage sections
Structural representation, the structural representation of fuselage lower half and the structural representation of head portion.
Robot body includes base 100, fuselage 200 and head 300, above-mentioned acceptance control
Module is master control borad 36, and master control borad 36 is arranged on base 100.
First, base 100 part of robot is introduced.Robot body is provided with self-balancing
Base 100, base 100 includes external taking turns, gyroscope and/or accelerometer.
Gyroscope and/or accelerometer are all connected with master control borad 36, for sensing the fortune of base 100
Dynamic equilibrium state, and be sent to moving equilibrium state receive control module；
External wheel is controlled by driving motor, and motor is connected with receiving control module, receives and controls mould
The moving equilibrium state that tuber sends according to gyroscope and/or accelerometer, controls the external motion taken turns.
Optionally, running gear can be two external takes turns, and two external wheels are driven by two respectively
Galvanic electricity machine controls, and i.e. the base 100 of robot is coaxial two wheels robot base.Of the prior art
Robot base mostly is three-wheel, four-wheel or many wheels situation in order to ensure robot
Balance and stable movement.Due to, base 100 is provided with measurement apparatus, this measurement apparatus with
Master control borad 36 connects, and the result of monitoring is sent to master control borad 36, and is integrated by master control borad 36
After be sent to robot and control device accordingly, controlling device can be according to real-time moving equilibrium
Robot is controlled by state, thus ensure that stablizing of robotic movement.
So, the running gear of base no longer can ensure stablizing, OK of motion by many wheels
Dynamic device can be two-wheeled, even single wheel, it is also possible to is the movable fixture of other forms.
Below as a example by the running gear of two-wheeled, specifically introduce robot base 100 structure and
Connected mode.
The base 100 of robot mainly includes measurement apparatus, master control borad 36, left wheel assemblies, the right side
Wheel apparatus, upper casing, drain pan and power equipment etc..
Master control borad 36 is connected with measurement apparatus, left wheel assemblies, right wheel device etc. respectively, master control
Plate 36 gathers the base motions information measured by measurement apparatus, and gathers left wheel assemblies and right wheel
The information such as the motor speed of device, are used for being sent to control device.
Following is a brief introduction of right wheel device, right wheel device mainly includes that right wheel, right wheel drive motor.
The front axle driving motor 39 loads side plate 38, is fixed by interior hexagonal round head screw 44,
Drivewheel 41 is enclosed within the front axle driving motor 39, is fixed by M3 holding screw 42；Side
Board shaft 49 is fixed on side plate 38 by hexagon socket countersunk flat cap head screw 50；Timing Belt breast wheel 45 overlaps
On middle wheel shaft 43, load clutch shaft bearing 46 in centre, with cross recess countersunk head machinery simultaneously
Screw 40 is fixed；Drivewheel 41 is connected by the first Timing Belt 60 with Timing Belt breast wheel 45；
Terminal synchronous pulley 51 is contained on side plate axle 49, and arranges the second bearing 52, terminal thereon
Synchronous pulley 51 is connected with Timing Belt breast wheel 45 by the second Timing Belt 61, bearing (ball) cover
53 are arranged on one end for fixing.
Wheel 79 is arranged on above bearing (ball) cover 53, and lampshade 56 is by coiled hair cruciform slot screw
58 are fixed on wheel 79, mounting tyre 80 on wheel 79, and wheel 79 is by wheel cross
Groove pan head screw 81 is fixed on terminal synchronous pulley 51.
Driving motor 39 to be used for driving whole right wheel both forward and reverse directions to rotate, internal two-stage synchronizes
Band: the first Timing Belt 60 and the second Timing Belt 61, respectively as decelerator, increases and drives electricity
Moment outside machine driving.
Optionally, drive connection mode can also use allowance for bark beyond belt wheel have tension force or
There is the attachment structure of buffer capacity.Drive connection mode of the prior art, mainly uses electricity
Machine combines the transmission of decelerator, but for needing to keep moving equilibrium and the robot of static balance
For base, decelerator does not has tensioning, cushioning effect, starts, stops and speed-change process shortage
Buffering effect.The drive connection mode provided in the present embodiment, uses between drivewheel and right wheel
Belt transmission connects, and is owing to belt is originally as Flexible Connector, has tension force, for motion
Transmission there is cushioning effect.During belt with drive, increase transmission by belt
Resiliency, the self-balancing ability of base can be improved.So, any have tension force or have
The kind of drive of buffer capacity all can be as the scheme involved by the present embodiment.
Optionally, drive connection mode can be not limited to above-mentioned secondary transmission, can basis
The specific design situation of robot base is adjusted.
In Fig. 5, right wheel other attachment structures of device part motor Cross Recess Head Screw 37 respectively,
Wheel 47, axle jump ring 48, recessed pan head tapping screw 65 in Timing Belt.
The structure of left wheel assemblies is identical with right wheel structure with connected mode, is not introduced at this.
Optionally, left wheel assemblies and right wheel device can be symmetrical structure.
Optionally, the composition of measurement apparatus is not limited to gyroscope and/or accelerometer two kinds sensing
Device, any balance and/or kinestate can be monitored sensor, induction apparatus etc., all
The alternative that the present embodiment is provided can be the most all should be as a part for measurement apparatus.
Optionally, base 100 is provided with telescopic elevating lever 66, base 100 be used for
The robot head of intelligent terminal of being installed is connected by elevating lever, is provided with control and rises in base 100
Fall bar 66 carries out the motor stretched.
The effect of upper casing 77 part is the top skeleton supporting whole base.
Optionally, upper casing 77 part is not limited only to upper body, is additionally provided with lifting
Shaft bar 66 and upper lifting motor 67.A lifting rod bracket 66, elevating lever it is provided with in the middle of upper casing
Support 66 is mainly used in the connection of robot base and robot fuselage position, can make main body section
Dividing on the telescopic upper casing 77 being connected to base, upper lifting motor 67 is mainly used in driving lifting
The lifting of shaft bar 66.The two ends of lifting rod bracket 66 are fixed on side plate 38 by holding screw
On, upper lifting motor 67 is installed from lower to upper from the centre position of lifting rod bracket 66, then leads to
Crossing the first Cross Recess Head Screw 71 to be fixed on lifting rod bracket 66, upper casing 77 is from top to bottom
Covering on whole lifting rod bracket 66, the both sides of upper casing 77 arrange M4 hot-melting nut 78, with
When side plate 38 combines, fixed by mark hexagon socket countersunk flat cap head screw 59, nameplate 76 and infrared light transmission
Sheet 3 is clipped between upper casing 77 and drain pan 1.
Optionally, upper casing 77 arranges ultrasonic sensor 69, ultrasonic sensor 69 with
Master control borad 36 connects, and for sensing the barrier of base-adjacent, and is passed to by induction information main
Control plate 36.A sensor stand 68 is filled, sensing in the middle of the lifting rod bracket 66 of upper casing 77
Device support 68 is locked on lifting rod bracket 66 by hexagonal stainless steel stud 70, and ultrasound wave passes
Sensor 69 is fixed on egative film by upper cover M3 holding screw 75.
In Fig. 5, upper casing 77 other attachment structures of part are respectively infrared light transmission sheet 3, hexagonal not
Rust steel stud the 70, second Cross Recess Head Screw 72, axle connected device 73, axle connected device flexible glue 74,
M3 holding screw 75, nameplate 76 and M4 hot-melting nut 78.
Optionally, upper casing 77 is not limited to structure shown in above-mentioned situation or Fig. 5.
Optionally, base 100 also includes moveable rod assemblies, and rod assemblies is used for
Automatically fall off when base 100 is static or after power-off, base 100 is supported.Existing skill
In art, taking turns the bases base device as robot frequently with, one is to ensure that robot more
Balance at the volley, two is the robot placement when static or holding state for convenience.
Due to the base that base is two-wheeled, single wheel involved in the present embodiment, so at base
Time static, need to arrange rod assemblies, the balance on chassis be supported, it is often more important that
When the unexpected power-off of robot base, robot base can not keep balance, props up so adding
Brace apparatus, automatically falls off for rod assemblies when power is off, and protection robot base will not
Topple over.
Optionally, the main attachment structure of rod assemblies is as follows:
Leg motor rubber sleeve 24, leg motor 23 front end shaft it is arranged with on leg motor 23
Portion is cased with leg motor in synchrony belt wheel 25, is locked by hexagon socket cap head screw 26 and is locked
Fixed.Being integrally placed to installation in leg left housing 7, by outside leg motor 23
Leg motor fix sheet metal component 27 and support leg screw 28 is fixed in leg left housing 7.
The first bronze medal axle the 16, second bronze medal axle 14 and the 3rd bronze medal axle 19 it is provided with on the right shell of leg 21,
It is additionally provided with leg axle 8 and jump ring 12.Timing Belt drivewheel 9 is arranged on plastic spacer 11,
Leg motor in synchrony belt wheel 25 is connected with Timing Belt drivewheel 9 by leg Timing Belt 17,
Second leg connectors 15 is installed on second bronze medal axle 14, the 4th bronze medal axle 20 is mounted with the 4th
Foot adapter 18, is cased with on the second leg connectors 15 and the 4th leg connectors 18 respectively
Leg 29, and fix with leg Cross Recess Head Screw 30, then put callosity 31 respectively.
Whole rod assemblies is driven two legs to move up and down by the rotating of leg motor 23.
When leg motor 23 rotates forward, leg motor in synchrony belt wheel 25 drives screw mandrel to rotate toward inner ring,
Prop up spike 29 to turn inside along screw mandrel, a spike 29 is packed up；When motor reversal, leg
Motor in synchrony belt wheel 25 drives screw mandrel toward outer ring rotating, and a spike 29 turns outward along screw mandrel,
A spike 29 is put down.Whole control is to be called software by master control borad 36 to realize.Such as: machine
During device start, master control borad 36 controls leg motor 23 and rotates forward, and a spike 29 rises；Machine closes
During machine, master control borad 36 controls leg motor 23 and inverts, and a spike 29 falls.
When detecting that battery electric quantity is less than normal working voltage, master control borad calls software first by two
Leg puts down, and then shuts down, thus has reached before power-off the supporting role to base.
Rod assemblies part in Fig. 5 also includes leg recessed pan head tapping screw 22, leg bearing
13 and interior hexagonal flush end holding screw 10.
Optionally, outside at wheel increases lighting effects, arranges instruction as on device in action
Lamp, display lamp can be connected with master control borad 36, the state that the most real-time display robot is current.
Optionally, display lamp can be selected for PCB_LED lamp plate 55, and PCB_LED lamp plate 55 sets
Putting between bearing (ball) cover 53 and wheel 79, PCB_LED lamp plate 55 is existed by location borehole jack
On lampshade 56, fix with M12 nut 54 and coiled hair cross recess tapping screw 57.This solid
Determine mode, the light of PCB_LED lamp plate 55 can be made to send from the side of wheel.Optionally,
PCB_LED lamp plate sets at least two lighting lamp state, including for kinestate and resting state,
It is respectively different bright light modes, to distinguish base running status.
Optionally, wheel is provided with light decoration part 82, makes light at light decoration part 82
Block in gap and pass through, light can be made softer.
Optionally, also include that infrared sensing module 63, infrared sensing module 63 are arranged on infrared
On module carrier 62, fix with Cross Recess Head Screw 64, simultaneously in infrared sensing module 63
Above arranging infrared light transmission sheet 3, infrared sensing plays sequestration, infrared sensor is main
It is used for outside is played avoidance effect.Infrared sensing module 63 is connected with master control borad 36, is used for
The barrier of sensing base-adjacent, and induction information is passed to master control borad 36.
Optionally, the arrangement of infrared sensing module is not limited to above-mentioned situation.
Drain pan 1 part of base is mainly provided with charging panel 4, switch keycap 6, drain pan 1
Sidepiece is provided with M4 hot-melting nut 2, and charging panel 4 is arranged on by base recessed pan head tapping screw 5
On drain pan 1, base recessed pan head tapping screw 5 is corresponding with M4 hot-melting nut 2 fixing, on & off switch
Cap 6 is enclosed within the switch of charging panel 4.
Optionally, the structure that arranges of drain pan 1 part is not limited to above-mentioned situation with connected mode.
Optionally, external take turns as rubber buff wheel.Compared with the friction system used in traditional structure
The General Purpose Rubber wheel of number skidding little, easy, this kind of rubber buff wheel is due to material, energy
Enough more ground proximitys, effectively increase the contact area with ground, thus increase coefficient of friction,
Ensure balance when base is walked on the ground and safety.
Optionally, above-mentioned power equipment is set of cells, and set of cells includes multiple battery 32 and electricity
Pond foam 33, is lined with battery foam 33, and fixes sheet metal component 34 by battery below battery 32
It is fixed with battery recessed pan head tapping screw 35, prevents set of cells from colliding, it is to avoid because set of cells is touched
Hit caused safety problem.
Optionally, each parts connected mode of robot base is not limited to use aforesaid way
It is attached, the part that just can be used for connection with other or parts.
The robot base that above-described embodiment is provided, by the measurement apparatus motion shape to base
State and poised state are monitored, and monitoring result are collected by master control borad 36, and then
Collecting the control device being sent to robot, this base can effectively monitor and grasp in real time
Kinestate, and serve data to the control device of robot in time, be conducive to improving
The ability to act of robot.
Fuselage 200 part of robot primarily serves the function of oscilaltion, double-wheel self-balancing machine
Device people's fuselage main body is made up of fuselage upper boom 213 and fuselage lower beam 201, and fuselage lower beam 201 pushes up
Portion's set upper boom fixed plastics part 202, plays guide effect, and the oscilaltion of fuselage is mainly the end of by
The upper lifting motor 67 of seat 100 drives fuselage worm screw 206 to rotate, thus raises or decline.
The top of fuselage worm screw 206 is equipped with guiding working of plastics 210 and guides plastic pad 211,
When guiding plastic pad 211 is to prevent fuselage worm screw 206 oscilaltion, with fuselage lower beam 201
Rubbing, bar 213 with scraping machine, the effect guiding working of plastics 210 is for guiding fuselage snail
The direction that bar 206 moves up and down.
Fuselage worm screw 206 top is equipped with rising plastic nut 212, cross recessed countersunk head tapping screw
214 will rise plastic nut 212 centerlock, mainly prevent fuselage worm screw 206
Vibrations are produced during oscilaltion.The bottom of fuselage worm screw 206 is cased with PU pipe 209, is used for limiting
Position, buffering, be cased with a pole anchor tip 203 bottom fuselage worm screw 206, solid at pole
Being inserted in fuselage axis in determining joint 203 and hold 204, hole back-up ring 205 is used for blocking fuselage bearing 204
Movement, the lower end of fuselage worm screw 206 loads shaft block ring 207, and accesses shaft coupling 208
It is connected with the upper lifting motor 67 of base 100, by the positive and negative rotation of motor 67 of base 100,
Thus drive fuselage worm screw 206 to rise or fall.Fuselage sections also includes the machine shown in Fig. 7
Body cross recess countersunk head mechanical screw 215 and fuselage Cross Recess Head Screw 216.
Optionally, fuselage 200 concrete structure of robot is not limited to above-mentioned situation.
Head 300 head of robot is mainly used to load intelligent terminal and configuration intelligent terminal
Some auxiliary device, simultaneously form an entirety with base, fuselage.
Head 300 mainly includes intelligent terminal's containment vessel joint 301, intelligent terminal's connecting plate 302,
Head the first screw 303, coiling lid 304, intelligent terminal protects back cover 305, head second
Screw 306, back cover foam 307, mirror 308, intelligent terminal protects fore shell 309, iron plate 310,
Fore shell foam 311.
Intelligent terminal loads intelligent terminal and protects fore shell 309, inserts for accommodating different intelligent terminal
Enter and the elasticity of intelligent terminal, protect fore shell 309 built-in fore shell foam 311 intelligent terminal.
Intelligent terminal protects the bottom of fore shell 309 equipped with iron plate 310, is used for adsorbing wide-angle lens, front
Shell foam 311, below equipped with back cover foam 307, is then nested into intelligent terminal and protects back cover 305
In.
Intelligent terminal protects and is provided with mirror 308 in back cover 305 bottom protrusion part, and intelligence is eventually
The post-positioned pick-up head of end reflexes to the position near base 100 by mirror 308, is used for checking
Object near base 100.
Intelligent terminal's containment vessel joint 301 is connected with the fuselage upper boom 213 of fuselage 200, intelligence
Terminal protection shell joint 301 is by head the first screw 303 with intelligent terminal's connecting plate 302 even
Connecing, this connecting plate is provided with USB interface and a touch key, intelligent terminal can be by number
It is connected realization charging according to the USB of line with intelligent terminal's connecting plate 302, intelligence can be detected eventually simultaneously
Whether end is inserted in containment vessel.
Intelligent terminal's containment vessel joint 301 arranges coiling lid 304, the number of intelligent terminal
Can be wrapped in above according to line, coiling lid 304 and intelligent terminal protect back cover 305 to pass through head
Second screw 306 is fixed.
Optionally, the structure of fuselage 200 and connected mode are not limited to above-mentioned situation, machine
Head 300 head of people is mainly used to load intelligent terminal, so, any can equip intelligence
The structure of terminal and connected mode all should be the scheme of the present embodiment.
Optionally, the telepresence intelligent robot that above-described embodiment is provided also includes that intelligence is eventually
End, above-mentioned intelligent terminal can be completely fixed and be arranged on telepresence intelligent robot, therewith
Become an entirety；Intelligent terminal can also be detachably arranged in telepresence intelligent robot
On, facilitate robot to change and update the program of intelligent terminal.
Present embodiments provide a kind of telepresence intelligent robot, hereinafter referred to as robot, machine
Device people is provided with the control module that accepts for carrying out data interaction with intelligent terminal, and robot can
Carry out data communication connecting high in the clouds data server by intelligent terminal, and control robot this
Body operates.Intelligent terminal, as the brain of robot, is Split type device with fuselage body,
Construction cycle and the development cost of developing intellectual resource terminal can be saved, select conventional mobile device,
Such as smart mobile phone or iPAD etc..If it addition, needing to change the use function of robot, only
Need the application program of intelligent terminal is developed, it is not necessary to the global procedures of change intelligent terminal,
This makes the procedure Selection of robot and arranges the most flexible.This telepresence intelligent robot
Other Each part refer to prior art, repeats no more herein.
Except the telepresence exchange method disclosed in above-described embodiment and telepresence robot,
Present invention also offers and a kind of include remotely facing of telepresence robot disclosed in above-described embodiment
Field interactive system, for ensureing the enforcement in reality of the above-mentioned telepresence exchange method.
Refer to the schematic diagram that Fig. 9, Fig. 9 are telepresence interactive system provided by the present invention.
The present embodiment does the telepresence interactive system provided, mainly include high in the clouds data server,
Intelligent terminal and telepresence intelligent robot；
High in the clouds data server, for providing account information for intelligent terminal；
Intelligent terminal, for when communication data is for controlling class communication data, according to described communication
Data, generate corresponding robot control instruction, and described robot control instruction are sent to
Described telepresence intelligent robot；When communication data is reaction type communication data, according to logical
Letter data, intelligent terminal automatically generates feedback information or obtains to high in the clouds data server corresponding
Feedback information, carry out feedback information storing record, for feedback system to feedback information
Learn, and be sent to operation control terminal；
Operation control terminal, is used for sending communication data, and for receiving feedback information；
Telepresence intelligent robot, is used for receiving robot control instruction, and makes corresponding
Action response.
Optionally, telepresence robot can select the telepresence that above-described embodiment is provided
Robot, intelligent terminal can be the terminal unit with Intelligent control system, such as, intelligence
Mobile phone or iPAD etc..
Optionally, high in the clouds data server includes Analysis server, data server, and/or language
Sound server；Intelligent terminal, is additionally operable to directly from high in the clouds data server down loading updating packet,
Data renewal process is carried out according to more new data packets.
Optionally, intelligent terminal is provided with based process module, can not connect high in the clouds
In the case of data server, directly robot is controlled.
Optionally, above-mentioned intelligent terminal is connected with robot by modes such as Bluetooth wireless communications,
And by the behavior of the application program controlling robot in intelligent terminal.Application in intelligent terminal
Program includes the initialization program to robot, including avoidance program, self-balancing program,
Battery management program, display lamp program, motor control program, Bluetooth communication program etc..
Intelligent terminal by receive master control borad 36 data signal, transfer corresponding data module,
Data program controls accordingly, specifically includes that
Avoidance program pin is to infrared and avoiding obstacles by supersonic wave algorithm；
Self-balancing program pin is to gyroscope and acceleration algorithm；
Managing electric quantity and battery status are monitored by battery management program pin；
The state instruction that robot is run by display lamp program pin, including mechanical disorder, machine is transported
Row state, it is breath light state that machine stops；
Motor controls the program pin rotating to left and right motor, advance, retreat, turn left, turn right,
The control etc. stopped；Action is packed up and transferred to support bar motor, the upper shifting of elevating lever motor, under
Shifting, stopping action；
The Bluetooth communication program pin various data modes to producing in program, are sent to intelligent terminal
Process.
Optionally, above-mentioned telepresence interactive system also includes operation control terminal, and this operation control terminal can
Think common smart mobile phone, iPAD or other there is the terminal unit of intelligence system.
The telepresence interactive system that the present embodiment is provided can ensure that above-mentioned telepresence is handed over
Method is applied in reality mutually.The structure of other each several parts of this telepresence interactive system
Refer to prior art, repeat no more herein.
Mutual to a kind of telepresence intelligent robot provided by the present invention, telepresence above
System and method are described in detail.Former to the present invention of specific case used herein
Reason and embodiment are set forth, and the explanation of above example is only intended to help and understands this
Bright method and core concept thereof.It should be pointed out that, for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to the present invention is carried out some improvement
And modification, these improve and modify in the protection domain also falling into the claims in the present invention.
Claims (10)
1. a telepresence exchange method, it is characterised in that be applied to telepresence mutual
System, described telepresence interactive system includes high in the clouds data server, intelligent terminal, manipulation
Terminal and telepresence intelligent robot；Described telepresence exchange method includes:
Described intelligent terminal sets up with described high in the clouds data server and is connected, and obtains account information；
According to described account information, described intelligent terminal sets up with operation control terminal and is connected, and receives
The communication data that described operation control terminal sends；
When described communication data is for controlling class communication data, described intelligent terminal is according to described logical
Letter data, generates corresponding robot control instruction, and described robot control instruction is sent
To described telepresence intelligent robot；When described communication data is reaction type communication data,
Described intelligent terminal, according to described communication data, automatically generates feedback information or to described high in the clouds
Data server obtains corresponding feedback information, carries out described feedback information storing record, uses
In the feedback system of described feedback information is learnt, and it is sent to described operation control terminal；
Described telepresence intelligent robot receives described robot control instruction, and makes corresponding
Action response.
Telepresence exchange method the most according to claim 1, it is characterised in that
When described operation control terminal and described intelligent terminal are positioned at same gateway, described intelligent terminal
Set up with operation control terminal and be connected, and receive the process bag of the communication data that described operation control terminal sends
Include:
Described intelligent terminal is directly connected to described operation control terminal, and directly receives described manipulation eventually
The communication data that end sends；
When described operation control terminal and described intelligent terminal are in different gateway, described intelligent terminal
Set up with operation control terminal and be connected, and receive the process bag of the communication data that described operation control terminal sends
Include:
Described intelligent terminal is connected with described operation control terminal by Relay Server, and by relaying
Server receives the communication data that described operation control terminal sends.
Method the most according to claim 1 and 2, it is characterised in that also include:
When described reaction type communication data is literal order, described intelligent terminal will receive
Described literal order is uploaded to Analysis server, and described literal order is turned by described Analysis server
Change the structural data of association area into, and described structural data is sent to data server；
Result data is returned to described Analysis server by described data server, and described analysis takes
Described result data is converted into text language by business device, and returns to described intelligent terminal.
Method the most according to claim 3, it is characterised in that
When described reaction type communication data is phonetic order or video instructions, described intelligent terminal
The described phonetic order received or described video instructions are uploaded to voice server, institute's predicate
Described phonetic order or described video instructions are converted into literal order by sound server, and return to
Described intelligent terminal；
The described literal order received is uploaded to described Analysis server by described intelligent terminal,
Described literal order is converted into the structural data of association area by described Analysis server, and will
Described structural data is sent to data server；
The result data of described structural data is returned to described Analysis Service by data server
Device, result data is converted into text language, and returns to described intelligence by described Analysis server
Terminal；
Described text language is sent to described voice server, described voice by described intelligent terminal
Described text language is converted into voice feedback or video feed by server, and returns to described intelligence
Can terminal；
Described voice feedback or described video feed are directly play or send by described intelligent terminal
Play out to described operation control terminal.
5. a telepresence intelligent robot, it is characterised in that including:
Robot body；
The reception control module being arranged on described robot body, is used for receiving intelligent terminal and sends out
The robot control instruction sent, enters described robot body according to described robot control instruction
Row controls, and described robot body makes corresponding action response；
Described robot control instruction is, the control that described intelligent terminal sends according to operation control terminal
The instruction that class communication data generates.
Telepresence intelligent robot the most according to claim 5, it is characterised in that
Described robot body is provided with the base (100) of self-balancing, and described base (100) including:
Gyroscope and/or accelerometer, described gyroscope and/or described accelerometer all with described reception
Control module connects, and is used for sensing the moving equilibrium state of described base (100), and by described
Moving equilibrium state is sent to described reception control module；
External taking turns, described external take turns by driving motor to control, described motor controls with described reception
Module connects, and described reception control module is for sending out according to described gyroscope and/or described accelerometer
The described moving equilibrium state sent, controls the described external motion taken turns.
Telepresence intelligent robot the most according to claim 6, it is characterised in that
Be provided with telescopic elevating lever (66) on described base (100), described base (100) with
Robot head for the described intelligent terminal that is installed is connected by described elevating lever, described base
(100) it is provided with in and controls the motor that described elevating lever (66) carries out stretching.
Telepresence intelligent robot the most according to claim 7, it is characterised in that
Described base (100) also includes moveable rod assemblies, and described rod assemblies is used for
Automatically fall off when described base (100) is static or after power-off, described base (100) is carried out
Support.
9. a telepresence interactive system, it is characterised in that include high in the clouds data server,
Intelligent terminal, operation control terminal and telepresence intelligent robot；
Described high in the clouds data server, for providing account information for described intelligent terminal；
Described intelligent terminal, for when communication data is for controlling class communication data, according to described
Communication data, generates corresponding robot control instruction, and described robot control instruction is sent out
Deliver to described telepresence intelligent robot；When described communication data is reaction type communication data,
According to described communication data, described intelligent terminal automatically generates feedback information or to described high in the clouds
Data server obtains corresponding feedback information, carries out described feedback information storing record, uses
In the feedback system of described feedback information is learnt, and it is sent to described operation control terminal；
Described operation control terminal, is used for sending described communication data, and is used for receiving described feedback
Information；
Described telepresence intelligent robot, is used for receiving described robot control instruction, and does
Go out corresponding action response.
Telepresence interactive system the most according to claim 9, it is characterised in that institute
State high in the clouds data server and include Analysis server, data server, and/or voice server；
Described intelligent terminal, is additionally operable to directly from described high in the clouds data server down loading updating data
Bag, carries out data renewal process according to described more new data packets.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510141341.5A CN106154869A (en) | 2015-03-27 | 2015-03-27 | A kind of telepresence intelligent robot, telepresence interactive system and method thereof |
| PCT/CN2015/097857 WO2016155365A1 (en) | 2015-03-27 | 2015-12-18 | Remote telepresence smart robot, remote telepresence interaction system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510141341.5A CN106154869A (en) | 2015-03-27 | 2015-03-27 | A kind of telepresence intelligent robot, telepresence interactive system and method thereof |
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| WO (1) | WO2016155365A1 (en) |
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| CN108818554A (en) * | 2018-07-05 | 2018-11-16 | 浙江山诺智能科技有限公司 | A kind of multimedia intelligent robot |
| CN109605383A (en) * | 2019-01-29 | 2019-04-12 | 深圳前海达闼云端智能科技有限公司 | Information communication method, robot and storage medium |
| CN110769071A (en) * | 2019-10-31 | 2020-02-07 | 北京鲲鹏神通科技有限公司 | Robot remote learning control method |
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| CN103707293A (en) * | 2013-12-12 | 2014-04-09 | 桂林电子科技大学 | Simulated wire-walking robot |
| CN203888925U (en) * | 2014-06-24 | 2014-10-22 | 纳恩博（天津）科技有限公司 | Remote virtual robot based on dynamic balance car |
| CN104142639A (en) * | 2014-08-12 | 2014-11-12 | 邹康康 | Control method and device for intelligent oven |
| CN204129507U (en) * | 2014-08-29 | 2015-01-28 | 浪潮集团有限公司 | A kind of Intelligent dynamic environment monitoring system stored based on cloud |
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| CN108818554A (en) * | 2018-07-05 | 2018-11-16 | 浙江山诺智能科技有限公司 | A kind of multimedia intelligent robot |
| CN109605383A (en) * | 2019-01-29 | 2019-04-12 | 深圳前海达闼云端智能科技有限公司 | Information communication method, robot and storage medium |
| CN110769071A (en) * | 2019-10-31 | 2020-02-07 | 北京鲲鹏神通科技有限公司 | Robot remote learning control method |
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