CN106485897B - Intelligent robot system - Google Patents
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- CN106485897B CN106485897B CN201510548662.7A CN201510548662A CN106485897B CN 106485897 B CN106485897 B CN 106485897B CN 201510548662 A CN201510548662 A CN 201510548662A CN 106485897 B CN106485897 B CN 106485897B
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Abstract
The invention discloses a kind of intelligent robot system, which includes user terminal, route device, calculation processing apparatus and intelligent robot, wherein user terminal receives the demand for services instruction of user, and demand for services instruction is sent to calculation processing apparatus；Calculation processing apparatus instructs according to demand for services and determines destination service point, and the coordinate information of destination service point is determined in distribution arrangement coordinate corresponding with the actual physical location of multiple service points, according to the positional information calculation motion track of coordinate information and the intelligent robot awaited orders a little and generate mobile control signal；The communication module of intelligent robot receives after mobile control signal, according to mobile control signal control foresteerage gear and rear wheel drive mechanism action so that it is the service of destination service point that intelligent robot, which is moved to coordinates of targets point, intelligent robot is returned after completing demand for services and is awaited orders a little controller.Intelligent robot system of the invention, the requirement to communication range reduce, and energy consumption reduces.
Description
Technical field
The invention belongs to field of intelligent control technology more particularly to a kind of intelligent robot systems.
Background technique
Currently, intelligence control system such as intelligent domestic system is mainly region-wide Zigbee communication control system and complete
The WIFI communication control system in region, thus the requirement to communication control range is relatively high, in order to maintain communication range, often needs
It wants to bridge between multiple routers, the energy consumption of whole system is higher.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention needs
It is proposed a kind of intelligent robot system, requirement of the system to communication range reduces, and energy consumption reduces.
To solve the above-mentioned problems, the present invention proposes that a kind of intelligent robot system, the intelligent robot system include
User terminal, route device, calculation processing apparatus and intelligent robot, wherein the user terminal, for receiving the clothes of user
Business requirement command, and demand for services instruction is sent to the calculation processing apparatus；The calculation processing apparatus, according to institute
It states demand for services and instructs determining destination service point, and arrange coordinate in distribution corresponding with the actual physical location of multiple service points
The coordinate information of the middle determination destination service point, according to the coordinate information of the destination service point and the intelligence machine awaited orders a little
The positional information calculation motion track of people simultaneously generates mobile control signal；The intelligent robot, including ontology, front-wheel and after
Wheel, foresteerage gear, rear wheel drive mechanism, detection device, communication module and controller, wherein the communication module receives
To after the mobile control signal, the controller controls the foresteerage gear and institute according to the mobile control signal
State rear wheel drive mechanism action so that the intelligent robot be moved to coordinates of targets point be the destination service point service, it is described
Intelligent robot is awaited orders a little described in returning after completing demand for services；Wherein, the user terminal, the calculation processing apparatus
With awaiting orders a little in can be in communication zone for the intelligent robot.
Intelligent robot system according to the present invention receives demand for services instruction, calculation processing apparatus by user terminal
In include corresponding with the actual physical location of service point distribution arrangement coordinate, can be sat in distribution arrangement according to demand for services instruction
Parameter determines the coordinates of targets information of corresponding with service point, and the motion track of computational intelligence robot, and then intelligent robot root
It is to reach corresponding service point coordinate to meet user demand according to mobile control signal, compared with prior art, the system pair
Communication control range is relatively low, need to only guarantee that awaiting orders for calculation processing apparatus and intelligent robot a little is covered on the same signal and leads to
The communication zone in road does not need many routings between it and is bridged, and system energy consumption reduces, and reduces user for excessive
Wireless signal cover the worry that impacts.
Specifically, above-mentioned intelligent robot system further include: multiple household electrical appliance, the multiple household electrical appliance are distributed in institute
Multiple service points are stated, each household electrical appliance include the first infrared transceiver module, and the calculation processing apparatus is also used to according to
Demand for services instruction obtains the infrared function coding of the household electrical appliance of the corresponding service point, and the infrared function coding is sent out
It gives in the intelligent robot a little of awaiting orders；The intelligent robot further includes the second infrared transceiver module, the intelligent machine
Device people is after the service point for reaching the household electrical appliance, by second infrared transceiver module by the infrared function coding
The household electrical appliance of the corresponding service point are sent to, the household electrical appliance execute the corresponding function of the infrared function coding, and
For feedback status information to the intelligent robot, the intelligent robot returns to initial standby point to incite somebody to action by the communication module
The status information is sent to the calculation processing apparatus, and the calculation processing apparatus handles the status information, and
The user terminal is sent to be supplied to user or feed back to the service platform of the household electrical appliance.
The characteristics of giving full play to infrared communication can relatively easily realize the data between each producer's household electronic products
Communication；Carrying out intelligent domestic transformation and upgrade for household electrical appliance, cost is relatively low, does not need to put into excessive route device to protect
Card aggravates each household electrical appliance and is all covered on WIFI communication zone, and can be with the existing family with infrared remote control of seamless compatibility
Electrical appliance；Infrared coding transceiver module, manufacturing cost is very low, the service life, calorific value and stability it is all advantageous；Infrared communication
The power consumption of module is much smaller compared to the power consumption of WIFI communication module, without keeping the bridge joint of multiple route devices logical
Letter, meets the requirement of energy-saving household adventure in daily life.
Wherein, the calculation processing apparatus is also used to receive the input instruction of user, and is instructed according to the input to institute
It states distribution arrangement coordinate and/or the corresponding infrared coding function of the household electrical appliance is adjusted, voluntarily arrangement is simple, Ke Yizeng
Add the participation enthusiasm of user, enhancing user's viscosity improves the expansion of system.
Above system further include: wireless charger, wireless charger setting the intelligent robot await orders a little,
When the intelligent robot is awaited orders, the wireless charger is intelligent robot charging, guarantees the normal of intelligent robot
Work.
Specifically, the intelligence machine is artificially multiple, and multiple intelligent robots are located at different space physics positions,
Each intelligence machine includes Bluetooth data transfer module per capita, to constitute the connection of the physical bridge between multiple intelligent robots
Letter, so as to expand control range.
Further, the user terminal includes responder module, and the responder module is used to receive the operational order of user,
And answer-mode is determined according to the operational order, the demand for services is generated according to answer-mode and is instructed.
Specifically, the responder module includes one of voice answer-back module and key responder module, is answered by voice
It is simpler to answer operation, without many and diverse flow operations.
In addition, above system further includes remote control terminal and multiple household fixtures, the intelligent robot is also used to lead to
It crosses communication module and receives the control signal that the remote control terminal is sent, the controller controls intelligence according to the control signal
Energy robot is moved to before corresponding household fixtures and acts, so as to realize the long-range monitoring to household fixtures.
In addition, the intelligent robot further includes alarm module, the calculation processing dress is received in the communication module
After setting the alarm control signal instruction of transmission, the communication of the calculation processing apparatus cutting and the intelligent robot is described
Controller controls the alarm module and alarms, and so as to protect family's privacy, protects network security.
Wherein, the artificial logistics intelligent robot of the intelligence machine, the intelligent robot further include pressure sensor,
Whether put for after the intelligent robot reaches the service point, experiencing cargo/or unload, it is more intelligent.
Detailed description of the invention
Fig. 1 is the block diagram of intelligent robot system according to an embodiment of the invention；
Fig. 2 is the schematic diagram of the intelligent robot of a specific embodiment according to the present invention；
Fig. 3 is the block diagram of intelligent robot system according to an embodiment of the invention；
Fig. 4 is that the intelligent robot system of a specific embodiment according to the present invention is worked in intelligent domestic scene
The schematic diagram of journey；
Fig. 5 is the stream that intelligent robot system according to another embodiment of the invention works in intelligent domestic scene
Cheng Tu；
Fig. 6 is intelligent robot system work in Factory Logistics scene of another specific embodiment according to the present invention
The schematic diagram of process；
Fig. 7 is intelligent robot system work in Factory Logistics scene of another specific embodiment according to the present invention
Flow chart；And
Fig. 8 is Study of Intelligent Robot Control household fixtures in intelligent robot system according to another embodiment of the invention
Schematic diagram.
Appended drawing reference:
Intelligent robot system 1000,
User terminal 10, route device 20, calculation processing apparatus 30 and intelligent robot 40, household electrical appliance 50, wireless charging
Electric appliance 60, household fixtures 70, remote control terminal 80,
Intelligent robot 40 include ontology 401, front wheels and rear wheels 402, foresteerage gear 403, with Hall sensor
Rear wheel drive mechanism 404, detection device 405, communication module (not indicated in figure) and controller 406, signal tracking module 407,
Second infrared transceiver module 408, Bluetooth data transfer module 409, alarm module 410,
Signal grid 01, each operational module place 02 of factory.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Intelligent robot system according to an embodiment of the present invention is described with reference to the accompanying drawings.
Fig. 1 is according to the block diagram of the intelligent robot system of one embodiment of the present of invention, as shown in Figure 1, the intelligent machine
Device people system 1000 includes user terminal 10, route device 20, calculation processing apparatus 30 and intelligent robot 40, wherein routing
Device 20 can be laid out router (thin AP) for home router or enterprise-level WIFI, user terminal 10, calculation processing apparatus
30 and intelligent robot 40 await orders a little in can be in communication zone.
Wherein, user terminal 10 is used to receive the demand for services instruction of user, for example, user wants to beat for household electrical appliance
It turns on the aircondition perhaps electric cooker or for logistics, user wishes to transport goods by intelligent robot 40, then passes through user terminal
10 obtain demand for services instruction, and demand for services instruction is sent to calculation processing apparatus 30, user terminal 10 and calculation processing
Device 30 can carry out WIFI data communication.For example, user is needed the service of user by such as cell phone application of user terminal 10
The identification sentence for being converted into fixed format is sought, and the identification sentence of the fixed format is passed into calculation processing apparatus by WIFI
30 such as home computers or factory's calculation processing center.
Distribution arrangement coordinate corresponding with the actual physical location of multiple service points is installed soft in calculation processing apparatus 30
Part, wherein distribution arrangement coordinate can be understood as the intelligent robot 40 generated according to the actual geographic position of service point
Removable moving axes, it is the service of destination service point that intelligent robot 40, which is moved to coordinates of targets point according to instruction, and service point can be managed
Solution is the place such as household electrical appliance or cargo handling place that user wishes that intelligent robot 40 is gone to, corresponding above-mentioned distribution cloth
Set the coordinate points in coordinate.Calculation processing apparatus 30 is after the information for receiving the transmission of user terminal 10, according to demand for services
It instructs and determines destination service point, and determine the mesh in distribution corresponding with the actual physical location of multiple service points arrangement coordinate
The coordinate information of service point is marked, and is calculated according to the position of the coordinate information of destination service point and the intelligent robot 40 awaited orders a little
Motion track simultaneously generates mobile control signal, calculation processing apparatus 30 with can be in the intelligent robot 40 awaited orders in point range
Such as WIFI data communication is communicated, it is in serial data or code that calculation processing apparatus 30, which will control information conversion, is passed through
WIFI passes to intelligent robot 40.
As shown in Fig. 2, intelligent robot 40 include ontology 401, front wheels and rear wheels 402, foresteerage gear 403, band suddenly
The rear wheel drive mechanism 404 of your sensor, such as four direction of detection device 405 ultrasonic detector (for detecting obstacle
Object), communication module (not indicated in figure) and controller 406, the signal tracking mould of three-way layout is also set up on intelligent robot 40
For example infrared tracking module of block 407, shading strip, I/O expansion interface.Wherein, communication module, such as WIFI module, receive movement
After controlling signal, controller 406 is dynamic according to mobile control signal control foresteerage gear 403 and rear wheel drive mechanism 404
Make so that it is the service of destination service point that intelligent robot 40, which is moved to coordinates of targets point, intelligent robot 40 completes demand for services
It returns and is awaited orders a little later.
As can be seen that the intelligent robot system 1000 of the embodiment of the present invention, receives demand for services by user terminal 10
It instructs, includes distribution arrangement coordinate corresponding with the actual physical location of service point in calculation processing apparatus 30, according to service need
Ask instruction that can determine corresponding service point position, and the motion track of computational intelligence robot 40 in distribution arrangement reference axis, into
And intelligent robot 40 reaches corresponding service point to meet user demand, with prior art phase according to mobile control signal
Than the system is relatively low to communication control range, only need to guarantee that calculation processing apparatus 30 is a little covered with awaiting orders for intelligent robot 40
The communication zone in the same signal path is covered, many routings is not needed between it and is bridged, system energy consumption reduces,
It reduces user and the worry impacted is covered for excessive wireless signal.
Further, it is contemplated that operation in the related technology is excessively complicated, and hommization operation experience is poor, of the invention one
In a embodiment, as shown in figure 3, user terminal 10 includes responder module 11, the operation that responder module 11 is used to receive user refers to
It enables, and answer-mode is determined according to operational order, demand for services instruction is generated according to answer-mode.Specifically, responder module 11
It may include one of voice answer-back module and key responder module, for example, such as mobile phone of user's operation user terminal 10
APP determines response mould according to the voice messaging of user by its cloud speech identifying function and APP voice or key answering
Formula for example including automatic mode, customary model, have prompt answer-mode and without prompt answer-mode, and then according to answer-mode pair
The demand for services instruction of user, is converted into the identification sentence of fixed format, and should by the code building demand for services instruction answered
The identification sentence of fixed format passes to calculation processing apparatus 30 by WIFI.As can be seen that user's operation is very simple, it is easy to
Upper hand, using voice answer-back module, user need to only be done the answer that such as mobile phone of user terminal 10 (or voice wrist-watch) APP is provided
It selects out, without remembeing many and diverse operating process, optional automatic mode (intelligent domestic manufacturer cloud service backstage provides),
The customized customary model of user, new hand's mode, without prompt answer-mode, manipulate it is very humanized.
The intelligent robot system 1000 of the embodiment of the present invention, which can be applied to intelligent domestic system, can be used for intelligence
Operating mode pattern field.
Below by taking intelligent domestic field as an example, as shown in Figure 4, wherein region T1 is WIFI communication zone, and the present invention is implemented
The intelligent robot system 1000 of example further includes multiple household electrical appliance 50, and multiple household electrical appliance 50 are distributed in above-mentioned multiple services
Point, each household electrical appliance include the first infrared transceiver module.Calculation processing apparatus 30 is also used to be instructed according to demand for services and obtain
The infrared function coding of the household electrical appliance of corresponding with service point, and the infrared function coding is sent in intelligence machine a little of awaiting orders
People 40.
As shown in Fig. 2, intelligent robot 40 further includes the second infrared transceiver module 408, intelligent robot 40 reaches house
After the service point of electrical appliance 50, compiled by the infrared function that the second infrared transceiver module 408 sends calculation processing apparatus 30
Code is sent to the household electrical appliance 50 of corresponding with service point, and in practical applications, the second infrared transceiver module 408 can be set in intelligence
On the mechanical arm that robot 40 includes, after reaching service point, mechanical arm is rotated, so that the second infrared transceiver module 408
The first infrared transceiver module such as infrared coding as infrared coding transmitting tube is directed at the household electrical appliance of the corresponding service point receives
Infrared function signal is sent to household electrical appliance 50 by pipe, and household electrical appliance 50 execute the corresponding function of infrared function coding, meet and use
The demand at family, and with over the horizon communication system feedback status information to intelligent robot 40, and then intelligent robot 40 returns initially
It awaits orders a little so that status information is sent to calculation processing apparatus 30, calculation processing apparatus 30 by communication module such as WIFI module
Status information is handled, and be sent to the user terminal be supplied to user or feed back to household electrical appliance 50 service it is flat
Platform.
Wherein, it is contemplated that in practice, user wants voluntarily DIY intelligent domestic systematic comparison hardly possible, at of the invention one
In embodiment, calculation processing apparatus 30 is also used to receive the input instruction of user, and arranges coordinate to distribution according to input instruction
And/or the corresponding infrared coding function of household electrical appliance is adjusted.Computer processor unit 30 is equipped with corresponding actual physics position
Coordinate software is arranged in the distribution for the service point set, and user can arrange that coordinate software defines house according to self-demand by the distribution
The position of electricity, it is subsequent voluntarily to change when needing to re-start household electrical appliances location layout, it is extremely easy, voluntarily arrangement is simple, can
To increase the participation enthusiasm of user, enhancing user's viscosity improves the expansion of system.
Referring to shown in Fig. 4, the work for intelligent domestic system, to the intelligent robot system 100 of the embodiment of the present invention
Process is briefly described.As shown in figure 4, user passes through its cloud speech identifying function by such as cell phone application of user terminal 10
With APP voice (key) answering, users service needs instruction is converted to the identification sentence of fixed format, by the fixed grating
The identification sentence of formula passes to home computer i.e. calculation processing apparatus 30 by WIFI, is distributed by the household electrical appliances of home computer
Arrangement coordinate software (be provided with can user's customized household electrical appliances arrangement coordinate diagram, in the coordinate diagram and physical space such as Fig. 4
In black line signal grid 01 household electrical appliance 50 position correspond, also can customized addition corresponding household appliance it is each
The infrared coding of kind of function and the infrared coding of corresponding household electrical appliance state-data queries) it will identify that sentence is converted into serial ports number
According to or code, the intelligent robot 40 awaited orders in coordinate origin is passed to by WIFI, that is, passes through the family of the physical space of insertion
The sentence of mobile phone/bracelet APP fixed format passed over can be converted into executing generation by electrical appliance position coordinates figure software
Code, intelligent robot 40 rotate mechanical arm, infrared coding are sent out according to coordinate points of the code moving to corresponding household appliance are executed
The infrared coding reception pipe for penetrating pipe alignment household electrical appliance, passes through infrared communication for information on services and household electrical appliance status inquiry command
Mode passes to household electrical appliance 50, and household electrical appliance 50 run corresponding service function, and corresponding status data is passed through infrared
Communications feedback receives the status data of household electrical appliance 50 to intelligent robot 40, intelligent robot 40, moves back to black line grid
The status data is passed to home computer by coordinate origin, and home computer carries out corresponding data processing, a part of data
It is sent to user hand generator terminal by WIFI, a part of data can pass to the manufacturer of household electrical appliance 50 by internet.
According to the above description, as shown in figure 5,100 work process of intelligent robot system of the embodiment of the present invention specifically wraps
It includes:
S100, cell phone application are opened, and user chooses whether to open intelligent domestic system.It then enters step if on,
Otherwise S101 replys end.
S101, user select answer-mode, such as select customary model, automatic mode, have prompt answer-mode or nothing
Prompt answer-mode.
S102 passes through the code conversion of the corresponding demand for services instruction of the answer-mode selected for fixed format sentence
WIFI passes to home computer.
S103, home computer are distributed arrangement coordinate software by house fitting-up software (including corresponding household appliance
Infrared function coding and black line coordinate as shown in Figure 4) to data statement carry out processing be converted to execution code.
S104, home computer pass to the intelligent robot that coordinate origin is awaited orders for code is executed by WIFI.
S105, intelligent robot are compiled infrared function by infrared mode according to code moving is executed to respective coordinates point
Code passes to corresponding household electrical appliance.
S106, household electrical appliance execute the corresponding function of infrared function coding, and extremely by infrared mode feedback status information
Intelligent robot.
S107, intelligent robot return is awaited orders a little, and status information is sent to home computer by WIFI.
S108, home computer are handled status information by distribution arrangement coordinate software.
Treated information by WIFI mode is sent respectively to user mobile phone and household electrical appliance by S109, domestic robot
Manufacturer.
As can be seen that in the related technology, it is difficult to realize the intercommunication that product communicates between each household electrical appliance manufacturer, this
It is communicated between the intelligent robot 40 of inventive embodiments and household electrical appliance 50 by infrared mode, each manufacturer of household electric appli is only
The infrared coding of each function of development is needed, and cracking for infrared coding is also easy to, cracking will not be to family
Electrical appliance causes any harm, and can relatively easily realize the data communication between each producer's household electronic products, the present invention
The characteristics of giving full play to infrared communication of system 1000 in addition certain disadvantages be known as advantage in this system 1000 instead, for example,
One and same coding can control different household electrical appliance, can be with all kinds of household electrical appliance 50 of seamless compatibility.
The cost that intelligent domestic system is transformed for current user is very high, needs to replace asking for original household electrical appliance 50
Topic, the system 1000 of the embodiment of the present invention, carrying out intelligent domestic transformation and upgrade for household electrical appliance, cost is relatively low, does not need to throw
Enter excessive route device to guarantee to aggravate each household electrical appliance and all be covered on WIFI communication zone, and can be with seamless compatibility
The existing household electrical appliance with infrared remote control, user can experience intelligent domestic without replacing original household electrical appliance 50 in family
System.
In addition, the system 100 of the embodiment of the present invention, data communication is more stable, existing each household electrical appliance manufacturer
Cost by reducing WIFI module reaches the networking cost for reducing respective household electrical appliance, and WIFI module cost reduces, and connects
The stability that connects, heat-sinking capability, service life can all reduce, these can all directly affect the experience of user's intelligent domestic, and of the invention
Over the horizon communication system is used between 1000 intelligent robot 40 of system and household electrical appliance 50 of embodiment, infrared coding receives and dispatches mould
Block, manufacturing cost is very low, the service life, calorific value and stability it is all advantageous, only need to guarantee what intelligent robot 50 was installed
Infrared module has excellent performance the problem of WIFI module can be solved.
Besides, currently, in intelligent domestic system, in order to keep intercommunication between household electrical appliance, the energy consumption of household electrical appliance
Higher, the system 1000 of the embodiment of the present invention has certain advantage in energy-saving square face, and the power consumption of infrared communication module is compared
It is much smaller in the power consumption of WIFI communication module, without keeping the bridge communications of multiple route devices, it is raw to meet energy-saving household
The requirement that living body is tested.
As shown in figure 4, the intelligent robot system 1000 of the embodiment of the present invention further includes wireless charger 60, wireless charging
Awaiting orders a little in intelligent robot 40 can be set in device 60, and when intelligent robot 40 is awaited orders, wireless charger 60 is intelligent machine
Device people 40 charges, to guarantee the normal work of intelligent robot 40.
Below by taking factory's Intelligent logistics field as an example, as shown in Figure 6, wherein it is each that multiple service points can correspond to factory
Such as lathe, milling machine, control laboratory, blank and tooling room, finished product packing room, route device 20 is enterprise in operational module place 02
Grade WIFI is laid out router, and calculation processing apparatus 30 is factory's calculation processing center, and user terminal 10 can be employee's intelligence hand
Machine or intelligent sound wearable device, wherein the region T2 is the data communication region WIFI.It is each that wireless charger 60 is located at factory
The intelligent robot 40 of a near modules is awaited orders at a coordinate.It in an embodiment of the present invention, is logistics in intelligent robot 40
When with intelligent robot, intelligent robot 40 further includes pressure sensor, and pressure sensor is used to reach in intelligent robot and take
After business point, experience whether cargo is put/or unloaded.
Specifically, by taking blank and the logistics progress of tooling room as an example, as shown in fig. 7, the course of work specifically includes:
S110, engineering department write part drawing and operation card, and blank and tooling workshop are according to operation card, by blank, fixture 1,
Operation card, part drawing are put into turnover box 1, and according to operation card, fixture 2 is put into turnover box 2.
S111, employee generate request instructions according to operation card, using smart phone APP response, and APP converts instruction
For fixed format sentence, and sends the fixed format sentence to factory and calculate center.
S112, factory calculate central command and are converted to the sentence of the fixed format received by Facility Layout coordinate diagram
Coordinate value, and awaited orders coordinate value a little according to the changing coordinates of intelligent robot and neighbouring intelligent robot, it calculates most
Good motion track, order intelligent robot 1 and intelligent robot 2 are moved to blank and tooling workshop.
S113, turnover box 1 are placed on intelligent robot 1, and turnover box 2 is placed on intelligent robot 2.
S114, the pressure sensor of intelligent robot 1 detect that turnover box 1 has been placed, and are delayed after a period of time,
Program is run, the pressure sensor of intelligent robot 2 detects that turnover box 2 is placed, and is delayed after a period of time, runs journey
Sequence.
S115, intelligent robot 1 are moved to after service coordinate terminal, and worker 1 takes out turnover box 1, and intelligent robot 2 moves
After moving service coordinate terminal, worker 2 takes out turnover box 2.
S116, the pressure sensor of intelligent robot 1 detect that turnover box 1 has been taken out, and are delayed after a period of time,
Program is run, after the pressure sensor of intelligent robot 2 detects that turnover box 2 is removed, is delayed after a period of time, operation
Program.
S117, intelligent robot 1 are moved to a coordinate of awaiting orders nearest nearby, are charged by wireless charging device,
And coordinate data is fed back into factory's calculation processing center, similarly, intelligent robot 2 is moved to a seat of awaiting orders nearest nearby
Mark, is charged, and coordinate data is fed back to factory's calculation processing center by wireless charging device.
It is understood that the intelligent robot system of the embodiment of the present invention, control range is wider, limits control range
Be only black line grid, that is, actual physical location as shown in Figure 4 the range covered, when the range controlled compares
When wide, in order to guarantee the execution efficiency of order, physics bridge communications can be carried out using multiple intelligent robots 40.Specifically,
Intelligent robot 40 be it is multiple, multiple intelligent robots 40 are located at different space physics positions, as shown in Fig. 2, each
A intelligent robot 40 includes Bluetooth data transfer module 409, can pass through Bluetooth data transfer between intelligent robot 40
Module 409 is communicated, and to constitute the physics bridge communications between multiple intelligent robots 40, and then may be implemented broader
Control area, improve system 1000 expansion.
In addition, existing deficiency, the present invention are real in terms of network security and privacy of user protection for current smart home
It applies in the system 1000 of example, as shown in Fig. 2, intelligent robot 40 further includes alarm module 410, in the communication of intelligent robot 40
After module receives the alarm control signal instruction of the transmission of calculation processing apparatus 30, the cutting of calculation processing apparatus 30 and intelligent machine
The communication of device people 40, controller 406 control alarm module 410 and alarm.It in practical applications, can be by the anti-of system 1000
Wall with flues is arranged on calculation processing apparatus 30, once meeting with network attack, calculation processing apparatus 30 disconnects automatically and intelligence machine
The connection of people 40, and order intelligent robot 40 is alarmed by such as buzzer of alarm module 410, when situation is serious, only
Calculation processing apparatus can be only damaged, any damage will not be caused to household electrical appliance 50 and intelligent robot 40, further, when
When network hacker attempts to obtain the privacy of user's room availability, it is necessary to first break through the firewall of calculation processing apparatus 30, it is also necessary to
The control of intelligent robot 40 is obtained, difficulty is bigger, so, the system 1000 of the embodiment of the present invention is protected in privacy of user
There is certain advantage in terms of shield, network security protection.
As shown in figure 8, the intelligent robot system 1000 of the embodiment of the present invention can also include multiple 70 Hes of household fixtures
Remote control terminal 80, intelligent robot 40 are also used to receive the control letter that remote control terminal 80 is sent by communication module
Number, controller 406 is moved to before corresponding household fixtures and acts according to control signal control intelligent robot 40.Specifically,
For example, user can control intelligent robot 40 by such as smart phone of remote control terminal 80 in a manner of long-range WIFI
It opens the door, i.e. the key of door is no longer key or CUSTOM HOUSE HOTEL, but user's smart phone and virtual software identification code；Alternatively,
With WIFI, 3G/4G communication mode in other places, user can be with remote control home electrical appliance 50 by remote control terminal 80, can be with
The camera of order intelligent robot 40 is taken pictures, it will be appreciated that aggravates the feelings of black line network institute overlay area in such as Fig. 4
Condition.Can also to intelligent robot 40 install additional other modules, user by check ground network coordinate label, it can be achieved that other
False evidence service, such as intelligent end water, intelligent clothing taking improve the experience of user's intelligent domestic.
In the description of the present invention, any process described otherwise above in flow chart or herein or method description can be with
It is understood to, expression includes the steps that one or more generations for realizing specific logical function or the executable instruction of process
Module, segment or the part of code, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press
Sequence shown or discussed, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang
Function, this should be understood by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (9)
1. a kind of intelligent robot system, which is characterized in that the intelligent robot system include user terminal, route device,
Calculation processing apparatus and intelligent robot, wherein
The user terminal, the demand for services for receiving user instructs, and demand for services instruction is sent to the meter
Calculate processing unit；
The calculation processing apparatus instructs according to the demand for services and determines destination service point, and in the reality with multiple service points
The coordinate information that the corresponding destination service point is determined in the corresponding distribution arrangement coordinate of border physical location, takes according to the target
The coordinate information of business point and the positional information calculation motion track for the intelligent robot awaited orders a little simultaneously generate mobile control signal；
The intelligent robot, including it is ontology, front wheels and rear wheels, foresteerage gear, rear wheel drive mechanism, detection device, logical
Believe module and controller, wherein after the communication module receives the mobile control signal, the controller is according to
Mobile control signal controls the foresteerage gear and the rear wheel drive mechanism action so that the intelligent robot is mobile
Think the destination service point service to coordinates of targets point, the intelligent robot returned after completing demand for services it is described to
Point is ordered, the intelligence machine is artificially multiple, and multiple intelligent robots are located at different space physics positions, each intelligence
Machine includes Bluetooth data transfer module per capita, to constitute the physics bridge communications between multiple intelligent robots；
Wherein, the user terminal, the calculation processing apparatus and the intelligent robot are awaited orders a little in can communication zone
It is interior.
2. intelligent robot system as described in claim 1, which is characterized in that further include:
Multiple household electrical appliance, the multiple household electrical appliance are distributed in the multiple service point, and each household electrical appliance include first red
Outer transceiver module, the calculation processing apparatus are also used to instruct the household for obtaining the corresponding service point according to the demand for services
The infrared function coding of electric appliance, and the infrared function coding is sent in the intelligent robot a little of awaiting orders；
The intelligent robot, further includes the second infrared transceiver module, and the intelligent robot reaches the household electrical appliance
After service point, the infrared function coding is sent to the family of the corresponding service point by second infrared transceiver module
Electrical appliance, the household electrical appliance execute the corresponding function of the infrared function coding, and feedback status information is to the intelligent machine
Device people, the intelligent robot return initial standby point by the status information is sent to by the communication module it is described in terms of
Processing unit is calculated, the calculation processing apparatus handles the status information, and is sent to the user terminal to provide
To user or feed back to the service platforms of the household electrical appliance.
3. intelligent robot system as claimed in claim 2, which is characterized in that the calculation processing apparatus is also used to receive
The input of user instructs, and arranges that coordinate and/or the household electrical appliance are corresponding red to the distribution according to input instruction
Outer coding function is adjusted.
4. intelligent robot system as described in claim 1, which is characterized in that further include:
Wireless charger, the wireless charger setting await orders a little in the intelligent robot, await orders in the intelligent robot
When, the wireless charger is intelligent robot charging.
5. intelligent robot system as described in claim 1, which is characterized in that the user terminal includes:
Responder module, the responder module are used to receive the operational order of user, and determine response mould according to the operational order
Formula generates the demand for services according to answer-mode and instructs.
6. intelligent robot system as claimed in claim 5, which is characterized in that the responder module includes voice answer-back mould
One of block and key responder module.
7. intelligent robot system as described in claim 1, which is characterized in that further include:
Remote control terminal；With
Multiple household fixtures, the intelligent robot are also used to receive the control that the remote control terminal is sent by communication module
Signal processed, the controller are moved to before corresponding household fixtures and act according to control signal control intelligent robot.
8. intelligent robot system as described in claim 1, which is characterized in that the intelligent robot further include:
Alarm module, after the alarm control signal instruction that the communication module receives that the calculation processing apparatus is sent,
The communication of the calculation processing apparatus cutting and the intelligent robot, the controller control the alarm module and are reported
It is alert.
9. intelligent robot system as claimed in claim 5, which is characterized in that the artificial logistics intelligence of intelligence machine
Robot, the intelligent robot further include:
Pressure sensor, whether put for after the intelligent robot reaches the service point, experiencing cargo/or unload
Under.
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| CN201510548662.7A CN106485897B (en) | 2015-08-31 | 2015-08-31 | Intelligent robot system |
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| CN201510548662.7A CN106485897B (en) | 2015-08-31 | 2015-08-31 | Intelligent robot system |
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| CN106485897B true CN106485897B (en) | 2019-09-17 |
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| CN108632059B (en) * | 2017-03-19 | 2024-06-21 | 北京精确指向信息技术有限公司 | Method for obtaining physical position arrangement of client by server |
| JP6610610B2 (en) * | 2017-04-27 | 2019-11-27 | トヨタ自動車株式会社 | Voice input / output device, wireless connection method, voice dialogue system |
| CN110235075A (en) * | 2017-04-28 | 2019-09-13 | 深圳市元征科技股份有限公司 | A kind of automatic running method and device of factory's article-holding cart |
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| CN107463156B (en) * | 2017-08-29 | 2024-04-09 | 烟台大学 | Robot control system |
| CN108214489B (en) * | 2017-12-25 | 2020-11-10 | 华南理工大学广州学院 | Robot behavior control method |
| CN110147091B (en) * | 2018-02-13 | 2022-06-28 | 深圳市优必选科技有限公司 | Robot motion control method and device and robot |
| CN108879970A (en) * | 2018-06-06 | 2018-11-23 | 北京极智嘉科技有限公司 | To the method and relevant device of mobile robot wireless charging |
| CN108572647A (en) * | 2018-07-24 | 2018-09-25 | 南京阿凡达机器人科技有限公司 | A kind of smart home management method and management platform based on mobile robot |
| CN110912788B (en) * | 2018-09-18 | 2021-07-23 | 珠海格力电器股份有限公司 | Networking control method and device, storage medium and processor |
| CN109872600A (en) * | 2019-03-26 | 2019-06-11 | 杭州合学教育科技有限公司 | Automobile teaching aid object block method for carrying and device, readable storage medium storing program for executing and terminal |
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Effective date of registration: 20190805 Address after: 214028 No. 18 Changjiang South Road, Wuxi National High-tech Development Zone, Jiangsu Province Applicant after: Wuxi Swan Electrical Appliances Co., Ltd. Address before: 214028 Wuxi Changjiang Road, Wuxi New District, Jiangsu, No. 18 Applicant before: Wuxi Xiaotianer Co., Ltd. |
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