CN106426213A - Accompanying and nursing robot - Google Patents

Accompanying and nursing robot Download PDF

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Publication number
CN106426213A
CN106426213A CN201611042780.1A CN201611042780A CN106426213A CN 106426213 A CN106426213 A CN 106426213A CN 201611042780 A CN201611042780 A CN 201611042780A CN 106426213 A CN106426213 A CN 106426213A
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CN
China
Prior art keywords
robot
range
attending
activity
current scene
Prior art date
Application number
CN201611042780.1A
Other languages
Chinese (zh)
Inventor
邢锐程
陈渠
李哲毅
潘溢智
Original Assignee
深圳哈乐派科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳哈乐派科技有限公司 filed Critical 深圳哈乐派科技有限公司
Priority to CN201611042780.1A priority Critical patent/CN106426213A/en
Publication of CN106426213A publication Critical patent/CN106426213A/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
    • B25J11/008Manipulators for service tasks

Abstract

The invention provides an accompanying and nursing robot. The accompanying and nursing robot comprises a robot body and a control system arranged in the robot body. The control system comprises a monitoring unit, a recognition unit and an execution unit, wherein the monitoring unit is used for monitoring whether the action distance of an accompanied and nursed person exceeds the action range or not, the recognition unit is used for recognizing the current scene when the action distance of the accompanied and nursed person exceeds the action range, and the execution unit is used for executing the instruction corresponding to the current scene. The accompanying and nursing robot automatically recognizes the scene, executes the instruction corresponding to the scene to guide the accompanied and nursed person to behave to adapt to the scene, is good in accompanying and nursing effect and achieves accompanying and nursing in the true sense.

Description

Accompany and attend to robot
Technical field
The present invention relates to robotics, accompany and attend to robot in particular to one kind.
Background technology
With the continuous development of scientific and technical constantly progressive and roboticses, intelligent robot has gradually entered into thousand Ten thousand families, market also occur in that the life that many intelligent robots give people offers convenience and enjoyment, and wherein, robot of accompanying and attending to makees For one kind of intelligent robot, play the part of tutorial role, child etc. can be assisted to be accompanied and attended to the living and studying of people, to life Offer convenience.But existing at present robot of accompanying and attending to generally cannot guide to the behavior of the people that accompanied and attended to and supervise, thus accompanying Shield effect is bad, and guardian can not trust that robot of accompanying and attending to is looked after to the people that accompanied and attended to, and runs counter to robot of accompanying and attending to and realizes real meaning The original intention accompanied and attended in justice.
Content of the invention
The present invention is based on the problems referred to above it is proposed that a kind of robot of accompanying and attending to that can carry out scene Recognition.
In view of this, the present invention proposes one kind and accompanies and attends to robot, including robot body be arranged on described robot The control system of body interior, described control system includes:
Monitoring means, whether the operating range for monitoring the people that accompanied and attended to exceedes the range of activity of storage.
Recognition unit, for when described operating range exceedes described range of activity, identifying current scene.
Performance element, for executing instruction corresponding with described current scene.
Further, described control system also includes memorizer, and described monitoring means include range sensor and compare mould Block.
Described range sensor, for obtaining accompanied and attended to people and described the distance between robot of accompanying and attending to.
Whether described comparison module, exceed the range of activity of described memory storage for relatively described distance.
Further, described control system also includes memorizer, and described recognition unit includes image capture module and judgement Module.
Described image acquisition module, for machine of when described operating range exceedes described range of activity, accompanying and attending to described in acquisition The image of device people position.
Described judge module, for the scene image of the image of acquisition and described memory storage described in relative analyses, sentences Accompany and attend to described in disconnected the current scene at robot place.
Further, described control system also includes memorizer, and described performance element includes speaker.
Described speaker, for when described operating range is in described range of activity, playing described memory storage Audio-frequency information corresponding with described current scene.
Further, described control system also includes memorizer, and described performance element includes speaker and display screen.
Described speaker and described display screen, described for when described operating range is in described range of activity, playing The video information corresponding with described current scene of memory storage.
Further, described control system also includes memorizer, and described performance element includes infrared remote control module,
Described infrared remote control module, for when described operating range is in described range of activity, according to described memorizer The control information corresponding with described current scene of storage, controls and starts or close corresponding household electrical appliances.
Further, described robot body bottom is provided with rolling assembly, is provided with driving electricity inside described robot body Machine, described control system also includes memorizer, and described performance element includes control module,
Described control module, for when described operating range exceedes described range of activity, controlling described motor to drive Move described rolling assembly to be moved towards people position of being accompanied and attended to according to the route information of described memory storage.
Further, described performance element also includes speaker.
Described speaker, the robot movement for ought described accompany and attend to makes described operating range in described range of activity When, play the broadcast message corresponding with described current scene of described memory storage.
Further, described control module, the robot movement that is additionally operable to described to accompany and attend to makes described operating range in institute When stating in range of activity, described motor is controlled to drive described rolling assembly according to the route information court of described memory storage Described current scene moves so that described robot of accompanying and attending to returns to described current scene.
Further, described performance element also includes speaker.Described speaker, for robot of ought described accompanying and attending to towards institute State in current scene moving process, when described monitoring means detect described operating range again and exceed described range of activity, broadcast Put the broadcast message corresponding with described current scene of described memory storage.
Robot of accompanying and attending to provided in an embodiment of the present invention, carries out scene Recognition automatically, and executes finger corresponding with this scene Order, thus guiding is carried out the behavior adapting to this scene by the people that accompanies and attends to, effect of accompanying and attending to preferably, realizes accompanying and attending to truly.
For enabling the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate Appended accompanying drawing, is described in detail below.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to use required in embodiment Figure is briefly described it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows the structural representation of robot of accompanying and attending to provided in an embodiment of the present invention;
Fig. 2 shows the first module diagram of the control system of robot of accompanying and attending to shown in Fig. 1;
Fig. 3 shows the structural representation of the foot of robot of accompanying and attending to shown in Fig. 1;
Fig. 4 shows the second module diagram of the control system of robot of accompanying and attending to shown in Fig. 1.
Main element symbol description:
1000- accompanies and attends to robot;100- robot body;101- head;102- trunk;103- foot;104- rolls Assembly;1041- support wheel;1042- castor;1043- driven pulley;105- motor;200- control system;10- monitoring means; 11- range sensor;12- comparison module;20- recognition unit;21- image capture module;22- judge module;30- executes list Unit;31- control module;32- speaker;33- display screen;34- infrared remote control module;40- memorizer.
Specific embodiment
For the ease of understanding the present invention, below with reference to relevant drawings, robot of accompanying and attending to is carried out becoming apparent from, intactly retouches State.The preferred embodiment of robot of accompanying and attending to is given in accompanying drawing.Robot of accompanying and attending to can be realized by many different forms, It is not limited to embodiment described herein.Therefore, the detailed description to the embodiments of the invention providing in the accompanying drawings below It is not intended to limit the scope of claimed invention, but be merely representative of the selected embodiment of the present invention.Based on the present invention Embodiment, the every other embodiment that those skilled in the art are obtained on the premise of not making creative work, all Belong to the scope of protection of the invention.
Embodiment 1
Fig. 1 shows the structural representation of robot of accompanying and attending to provided in an embodiment of the present invention
As shown in figure 1, embodiments provide one kind accompanying and attending to robot 1000, including robot body 100 with set Put internal in robot body 100 or surface control system 200.
What Fig. 1 was merely exemplary provide a kind of shape of robot body 100 and structure it will be understood that robot body 100 Other shapes and structure can also be chosen as, be not limited here.
See also shown in Fig. 2, in the present embodiment, control system 200 includes monitoring means 10, recognition unit 20, holds Row unit 30 and memorizer 40.
Whether monitoring means 10 exceed the range of activity of storage for the operating range monitoring the people that accompanied and attended to.The present embodiment In, monitoring means 10 include range sensor 11 and comparison module 12.
Range sensor 11 is used for obtaining accompanied and attended to people and the distance between robot of accompanying and attending to.
Specifically, range sensor 11 real-time monitoring is accompanied and attended to people and the distance between robot 1000 of accompanying and attending to, thus obtaining Take the operating range of the people that accompanied and attended to.Now, accompany and attend to robot 1000 positioned at a scene.
Comparison module 12 is used for the range of activity whether relatively described distance exceedes memory storage.
Specifically, comparison module 12 compares the distance of range sensor 11 acquisition and the range of activity of memorizer 40 storage, Judge to be accompanied and attended to people operating range whether in described range of activity.Described range of activity is to be located with robot 1000 of accompanying and attending to Centered on position, with the border circular areas being accompanied and attended to people and the maximum distance accompanied and attended between robot 1000 is formed for radius.Described Maximum distance angularly can consider freely to arrange from the safety of the people that accompanied and attended to, and is not limited here.It is appreciated that work as being accompanied and attended to When the operating range of people is less than described maximum distance, the operating range representing the people that accompanied and attended to is in described range of activity;Conversely, Represent that the operating range of the people that accompanied and attended to exceedes described range of activity.
Recognition unit 20 is used for, when described operating range exceedes described range of activity, identifying current scene.The present embodiment In, recognition unit 20 includes image capture module 21 and judge module 22.
Image capture module 21 is used for obtaining the figure of robot position of accompanying and attending to when operating range exceedes range of activity Picture.
It should be noted that in the present embodiment, there are multiple living scenes, such as hall, dining room, object for appreciation in robot 1000 of accompanying and attending to Tool area or bedroom etc..Specifically, when the operating range of the people that accompanied and attended to exceedes described range of activity, image capture module 21 obtains Accompany and attend to the image of robot 1000 position.
Judge module 22 is used for the image of relative analyses acquisition and the scene image of memory storage, and judge to accompany and attend to robot The current scene being located.
In the present embodiment, memorizer 40 be stored with least one scene at least one image information it is preferable that memorizer 40 is deposited Contain the image information of each scene difference angle, consequently facilitating preferably identifying current scene.Specifically, judge module 22 is right The image collecting than image capture module 21 and the image information of memorizer 40 storage, stored according to memorizer 40 and image The image information that the image that acquisition module 21 collects matches, judges the current scene at robot 1000 place of accompanying and attending to.
Performance element 30 is used for executing instruction corresponding with described current scene.
In the present embodiment, performance element 30 includes speaker 32, display screen 33 or infrared remote control module 34.
Speaker 32 is used for the broadcast message corresponding with current scene of playout storage 40 storage, thus prompting is accompanied and attended to People returns to described current scene, that is, the people that points out to be accompanied and attended to returns to described range of activity.
Speaker 32 is additionally operable to when the operating range of the people that accompanied and attended to is in described range of activity, and playout storage 40 stores Audio-frequency information corresponding with described current scene, for example, when accompany and attend to robot 1000 place current scene be bedroom when, broadcast Put a first light music, people rests on time thus prompting is accompanied and attended to.
Speaker 32 and display screen 33 are used for, when the operating range of the people that accompanied and attended to is in described range of activity, playing storage The video information corresponding with described current scene of device 40 storage, for example, when the current scene at robot 1000 place of accompanying and attending to is During toy area, play teaching of use video of a certain toy etc..
Infrared remote control module 34 is used for when the operating range of the people that accompanied and attended to is in described range of activity, according to memorizer 40 The control information corresponding with described current scene of storage, controls and starts or close corresponding household electrical appliances, for example, when robot of accompanying and attending to When the current scene at 1000 places is bedroom, play teaching of use video of a certain toy etc., people is more preferable thus auxiliary is accompanied and attended to Play.
Embodiment 2
Fig. 1 shows the structural representation of robot of accompanying and attending to provided in an embodiment of the present invention
As shown in figure 1, embodiments provide one kind accompanying and attending to robot 1000, including robot body 100 with set Put internal in robot body 100 or surface control system 200.
Robot body 100 includes head 101, trunk 102 and foot of Liang Ge robot 103.Trunk 102 is connected to Head 101 bottom.Foot of Liang Ge robot 103 is symmetricly set on trunk 102 bottom.What Fig. 1 was merely exemplary provides a kind of machine The shape of device human body 100 and structure are it will be understood that robot body 100 can also be chosen as other shapes and structure, here It is not limited.
See also shown in Fig. 3, in the present embodiment, robot body 100 bottom is provided with rolling assembly 104, robot It is provided with motor 105 inside body 100.
Specifically, foot of each robot 103 bottom is provided with a rolling assembly 104.Rolling assembly 104 is used for movement and accompanies and attends to Robot.Specifically, rolling assembly 104 includes into support wheel 1041, castor 1042 and the driven pulley 1043 of angular distribution.
Further, foot of each robot 103 internal-internal is provided with a motor 105 (not shown).Drive electricity Machine 105 is directly connected with castor 1042, and in the present embodiment, the quantity of castor 1042 is one, in other examples, castor 1042 quantity can be two or three.Driven pulley 1043 is a kind of wheel not having and driving, when castor 1042 rotates, The position of foot of robot 103 changes, and driven pulley 1043 is thus rotate.Support wheel 1041 is also a kind of not driving Wheel, when castor 1042 rotates, the position of foot of robot 103 changes, and support wheel 1041 is thus rotate.
See also shown in Fig. 4, in the present embodiment, control system 200 includes monitoring means 10, recognition unit 20, holds Row unit 30 and memorizer 40.
Whether monitoring means 10 exceed the range of activity of storage for the operating range monitoring the people that accompanied and attended to.The present embodiment In, monitoring means 10 include range sensor 11 and comparison module 12.
Range sensor 11 is used for obtaining accompanied and attended to people and the distance between robot of accompanying and attending to.
Specifically, range sensor 11 real-time monitoring is accompanied and attended to people and the distance between robot 1000 of accompanying and attending to, thus obtaining Take the operating range of the people that accompanied and attended to.Now, accompany and attend to robot 1000 positioned at a scene.
Comparison module 12 is used for the range of activity whether relatively described distance exceedes memory storage.
Specifically, comparison module 12 compares the distance of range sensor 11 acquisition and the range of activity of memorizer 40 storage, Judge to be accompanied and attended to people operating range whether in described range of activity.Described range of activity is to be located with robot 1000 of accompanying and attending to Centered on position, with the border circular areas being accompanied and attended to people and the maximum distance accompanied and attended between robot 1000 is formed for radius.Described Maximum distance angularly can consider freely to arrange from the safety of the people that accompanied and attended to, and is not limited here.It is appreciated that work as being accompanied and attended to When the operating range of people is less than described maximum distance, the operating range representing the people that accompanied and attended to is in described range of activity;Conversely, Represent that the operating range of the people that accompanied and attended to exceedes described range of activity.
Recognition unit 20 is used for, when described operating range exceedes described range of activity, identifying current scene.The present embodiment In, recognition unit 20 includes image capture module 21 and judge module 22.
Image capture module 21 is used for obtaining the figure of robot position of accompanying and attending to when operating range exceedes range of activity Picture.
It should be noted that in the present embodiment, there are multiple living scenes, such as hall, dining room, object for appreciation in robot 1000 of accompanying and attending to Tool area or bedroom etc..Specifically, when the operating range of the people that accompanied and attended to exceedes described range of activity, image capture module 21 obtains Accompany and attend to the image of robot 1000 position.
Judge module 22 is used for the image of relative analyses acquisition and the scene image of memory storage, and judge to accompany and attend to robot The current scene being located.
In the present embodiment, memorizer 40 be stored with least one scene at least one image information it is preferable that memorizer 40 is deposited Contain the image information of each scene difference angle, consequently facilitating preferably identifying current scene.Specifically, judge module 22 is right The image collecting than image capture module 21 and the image information of memorizer 40 storage, stored according to memorizer 40 and image The image information that the image that acquisition module 21 collects matches, judges the current scene at robot 1000 place of accompanying and attending to.
Performance element 30 is used for executing instruction corresponding with described current scene.In the present embodiment, performance element 30 includes Control module 31 and speaker 32
Control module 31 is used for, when operating range exceedes range of activity, controlling motor 105 to drive rolling assembly 104 The people that accompanied and attended to is guided to return to described current scene.
Specifically, when the operating range of the people that accompanied and attended to exceedes described range of activity, control module 31 controls motor 105 driving rolling assemblies 104 move towards people position of being accompanied and attended to according to the route information that memorizer 40 stores.When machine of accompanying and attending to After people 1000 is mobile, when the operating range of the people that accompanied and attended to is in described range of activity, speaker 32 playout storage 40 storage Broadcast message corresponding with current scene, thus prompting is accompanied and attended to, people returns to described current scene.
Further, after robot 1000 of accompanying and attending to is mobile, when the operating range of the people that accompanied and attended to is in described range of activity, Control module 31 control motor 105 to drive route information that rolling assembly 104 stores according to memorizer 40 is towards current scene Move so that robot 1000 of accompanying and attending to returns to current scene.
Preferably, in robot 1000 of accompanying and attending to is towards described current scene moving process, monitoring means 10 real-time monitoring quilt Whether the operating range of people of accompanying and attending to exceedes described range of activity, when the operating range of the people that accompanied and attended in moving process exceedes described work During dynamic scope, represent the described current scene that leads back to not followed robot 1000 of accompanying and attending to by the people that accompanies and attends to, speaker 32 is again The broadcast message corresponding with current scene of secondary playout storage 40 storage, so repeats, until guiding is accompanied and attended to, people returns to institute State current scene.
In another embodiment, performance element 30 also includes display screen 33 or infrared remote control module 34.
Speaker 32 is used for when the operating range of the people that accompanied and attended to is in described range of activity, playout storage 40 storage Audio-frequency information corresponding with described current scene, for example, when the current scene at robot 1000 place of accompanying and attending to is bedroom, plays One first light music, thus prompting is accompanied and attended to, people rests on time.
Speaker 32 and display screen 33 are used for, when the operating range of the people that accompanied and attended to is in described range of activity, playing storage The video information corresponding with described current scene of device 40 storage, for example, when the current scene at robot 1000 place of accompanying and attending to is During toy area, play teaching of use video of a certain toy etc..
Infrared remote control module 34 is used for when the operating range of the people that accompanied and attended to is in described range of activity, according to memorizer 40 The control information corresponding with described current scene of storage, controls and starts or close corresponding household electrical appliances, for example, when robot of accompanying and attending to When the current scene at 1000 places is bedroom, play teaching of use video of a certain toy etc., people is more preferable thus auxiliary is accompanied and attended to Play.
Robot of accompanying and attending to provided in an embodiment of the present invention, carries out scene Recognition automatically, and executes finger corresponding with this scene Order, thus guiding is carried out the behavior adapting to this scene by the people that accompanies and attends to, effect of accompanying and attending to preferably, realizes accompanying and attending to truly.
The system that the embodiment of the present invention is provided, it realizes the technique effect of principle and generation and preceding method embodiment phase With for briefly describing, system embodiment part does not refer to part, refers to corresponding contents in preceding method embodiment.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, and not It is that therefore, other examples of exemplary embodiment can have different values in order to limit.It should be noted that:Similar label and word Female expression similar terms in following accompanying drawing, therefore, once be defined in a certain Xiang Yi accompanying drawing, then in subsequent accompanying drawing Do not need it to be defined further and explains.
It should be understood that disclosed device can pass through other sides in several embodiments provided herein Formula is realized.Device embodiment described above is only that schematically for example, the division of described unit, only one kind are patrolled Volume function divides, and actual can have other dividing mode when realizing, and for example, multiple units or assembly can in conjunction with or can To be integrated into another system, or some features can be ignored, or does not execute.Another, shown or discussed each other Coupling or direct-coupling or communication connection can be by some communication interfaces, the INDIRECT COUPLING of device or unit or communication link Connect, can be electrical, mechanical or other forms.
The described unit for separating component explanation can be or may not be physically separate, be that unit shows Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks On unit.The purpose to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs.
In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention it is also possible to It is that unit is individually physically present it is also possible to two or more units are integrated in a unit.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be defined by scope of the claims.

Claims (10)

1. one kind is accompanied and attended to robot, including robot body with the control system that is arranged on described robot body, its feature It is, described control system includes:
Monitoring means, whether the operating range for monitoring the people that accompanied and attended to exceedes the range of activity of storage;
Recognition unit, for when described operating range exceedes described range of activity, identifying current scene;
Performance element, for executing instruction corresponding with described current scene.
2. robot of accompanying and attending to according to claim 1 is it is characterised in that described control system also includes memorizer, described Monitoring means include range sensor and comparison module,
Described range sensor, for obtaining accompanied and attended to people and described the distance between robot of accompanying and attending to;
Whether described comparison module, exceed the range of activity of described memory storage for relatively described distance.
3. robot of accompanying and attending to according to claim 1 is it is characterised in that described control system also includes memorizer, described Recognition unit includes image capture module and judge module,
Described image acquisition module, for robot of when described operating range exceedes described range of activity, accompanying and attending to described in acquisition The image of position;
Described judge module, for the scene image of the image of acquisition and described memory storage described in relative analyses, judges institute State the current scene at robot place of accompanying and attending to.
4. robot of accompanying and attending to according to claim 1 is it is characterised in that described control system also includes memorizer, described Performance element includes speaker,
Described speaker, for when described operating range is in described range of activity, play described memory storage with institute State the corresponding audio-frequency information of current scene.
5. robot of accompanying and attending to according to claim 1 is it is characterised in that described control system also includes memorizer, described Performance element includes speaker and display screen,
Described speaker and described display screen, for when described operating range is in described range of activity, playing described storage The video information corresponding with described current scene of device storage.
6. robot of accompanying and attending to according to claim 1 is it is characterised in that described control system also includes memorizer, described Performance element includes infrared remote control module,
Described infrared remote control module, for when described operating range is in described range of activity, according to described memory storage Control information corresponding with described current scene, control start or close corresponding household electrical appliances.
7. robot of accompanying and attending to according to claim 1 is it is characterised in that described robot body bottom is provided with rolling group Part, is provided with motor inside described robot body, and described control system also includes memorizer, and described performance element includes controlling Molding block,
Described control module, for when described operating range exceedes described range of activity, controlling described motor to drive institute State rolling assembly to be moved towards people position of being accompanied and attended to according to the route information of described memory storage.
8. robot of accompanying and attending to according to claim 7 is it is characterised in that described performance element also includes speaker,
Described speaker, for when described accompany and attend to robot movement make described operating range in described range of activity when, broadcast Put the broadcast message corresponding with described current scene of described memory storage.
9. according to claim 7 accompany and attend to robot it is characterised in that
Described control module, the robot movement that is additionally operable to described to accompany and attend to makes described operating range in described range of activity When, control described motor to drive described rolling assembly according to the route information of described memory storage towards described current scene Move so that described robot of accompanying and attending to returns to described current scene.
10. robot of accompanying and attending to according to claim 9 is it is characterised in that described performance element also includes speaker,
Described speaker, for described accompanying and attending to robot towards in described current scene moving process, described monitoring means are again When described operating range is detected and exceeding described range of activity, play the corresponding with described current scene of described memory storage Broadcast message.
CN201611042780.1A 2016-11-23 2016-11-23 Accompanying and nursing robot CN106426213A (en)

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2018157325A1 (en) * 2017-03-01 2018-09-07 深圳市前海中康汇融信息技术有限公司 Child accompanying robot and operation method therefor

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CN101898354A (en) * 2010-08-25 2010-12-01 颜小洋 Intelligent household service robot
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CN104723344A (en) * 2015-03-17 2015-06-24 江门市东方智慧物联网科技有限公司 Smart home service robot system
CN105945969A (en) * 2016-07-12 2016-09-21 太仓光电技术研究所 Old people service robot
CN106113062A (en) * 2016-08-23 2016-11-16 陈中流 One is accompanied and attended to robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101898354A (en) * 2010-08-25 2010-12-01 颜小洋 Intelligent household service robot
CN102773862A (en) * 2012-07-31 2012-11-14 山东大学 Quick and accurate locating system used for indoor mobile robot and working method thereof
CN104723344A (en) * 2015-03-17 2015-06-24 江门市东方智慧物联网科技有限公司 Smart home service robot system
CN105945969A (en) * 2016-07-12 2016-09-21 太仓光电技术研究所 Old people service robot
CN106113062A (en) * 2016-08-23 2016-11-16 陈中流 One is accompanied and attended to robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018157325A1 (en) * 2017-03-01 2018-09-07 深圳市前海中康汇融信息技术有限公司 Child accompanying robot and operation method therefor

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Application publication date: 20170222