CN108994839A - The control method and storage medium of intelligent infant nurse robot - Google Patents
The control method and storage medium of intelligent infant nurse robot Download PDFInfo
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- CN108994839A CN108994839A CN201810958618.7A CN201810958618A CN108994839A CN 108994839 A CN108994839 A CN 108994839A CN 201810958618 A CN201810958618 A CN 201810958618A CN 108994839 A CN108994839 A CN 108994839A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses the control methods and storage medium of a kind of intelligent infant nurse robot, it include: the state parameter information that object is detected according to, whether the state that object is detected described in analysis changes, so that it is determined that corresponding nurse mode and the first nurse movement, when being not received by the instruction of the first nurse of Authorization execution movement, the second nurse movement corresponding with the nurse mode is executed.The control method of intelligence nurse disclosed by the invention robot, the first nurse movement and the second nurse movement are equipped with by each corresponding nurse mode, when monitoring that child's state converts, it is sent to the multiple donor and executes the nurse request that first nurse acts, the first nurse movement or the second nurse movement are executed according to authorized order, it can be when being not received by authorized order, child is executed and is pacified, reduce the energy that guardian nurses child's consumption, realizes the technical effect of intelligence nurse child.
Description
Technical field
The present invention relates to intelligent robot technology field more particularly to a kind of control methods of intelligent infant nurse robot
And storage medium.
Background technique
With the gradually quickening of social progress and people's rhythm of life, robot not only industry, medicine, agricultural or
It is widely used in military affairs, even more beginning slowly the social activity for incorporating the mankind or family on the living conditions especially in the family has
Many home intelligent robots, including domestic intelligent clean robot are clear to the carry out such as ground, window for being automatically performed
Reason, home intelligent educational robot, for many-sided imagination, creativity, thinking ability etc. for improving child, home child roars of laughter are slept
Robot is slept for replacing parent to carry out roars of laughter to child.
But parent big city in the family now because work the reason of, cannot accompany and attend to constantly infant at one's side, and
And existing home child Hong Shui robot is concentrated mainly on fool to child and sleep, it can not the current shape of real-time monitoring child
State carries out authorization interaction with multiple donors, so that it is determined that child's current state and the corresponding processing movement of current state and peace
Movement is comforted, child cannot be intelligently nursed.
Summary of the invention
The main purpose of the present invention is to provide a kind of intelligent infants to nurse robot and its control method, storage medium,
Aim to solve the problem that and be unable to the current state of real-time monitoring child in the prior art, according to the state of child become with multiple donors into
Row authorization interaction cannot intelligently be seen so that it is determined that child's current state and the corresponding processing of current state act and pacify movement
The technical issues of care of young.
To achieve the above object, the present invention provides a kind of control method of intelligent infant nurse robot, the intelligence
It includes robot body that child, which nurses robot, and sensor unit, control circuit plate unit and power supply on the body is arranged
Unit, the control circuit plate unit include communication module, memory, processor and storage in the memory and can be
The computer program run on the processor, the control method that the intelligent infant nurses robot include:
The state parameter information for being detected object that the sensor unit detects is obtained in real time；
According to the state parameter information for being detected object, whether the state that object is detected described in determination becomes
Change；
When the state for being detected object changes, the current state of object is detected described in acquisition；
According to the current state for being detected object, corresponding nurse mode and the first nurse movement are determined；
The multiple donor's information prestored in intelligent infant nurse robot are obtained, simultaneously to the multiple donor
Send the first nurse request for executing first nurse movement, the first nurse request includes that get described is detected
The change information of the state parameter of object and the first nurse action message；
In the first preset time period, the authorization feedback information of the multiple donors feedback prestored described in acquisition judges
Whether the quantity that the authorization feedback information of the multiple donor's feedback is received in the first preset time period, which is greater than first, is preset
Value；
The quantity that the authorization feedback information of the multiple donor's feedback is received in first preset time period is big
When the first preset value, the whether all authorized orders of the authorization feedback information received are judged；
In all authorized orders of the authorization feedback information, the first nurse movement is executed；
When the authorization feedback information is not all of as authorized order, judge that the authorization in the authorization feedback information refers to
Whether the quantity of order is more than the quantity for forbidding instruction, and judges whether the quantity of the authorized order is greater than first threshold；
The quantity of authorized order in the authorization feedback information forbids the quantity of instruction, and authorized order more than described in
Quantity when being greater than first threshold, execute first nurse movement；
When the quantity of authorized order in the authorization feedback information is less than or equal to the quantity for forbidding instruction, or
The quantity of authorized order of the person in the authorization feedback information forbids the quantity of instruction, but the quantity of authorized order more than described in
When less than or equal to the first threshold, the second nurse movement corresponding with the nurse mode is executed；
The quantity for receiving the authorization feedback information of the multiple donor's feedback in the second preset time period is obtained, is sentenced
Whether the quantity of the disconnected authorization feedback information that the multiple donor's feedback is received in the second preset time period is greater than
Second preset value, second preset time period are greater than the duration of first preset time period；
When the quantity of the authorization feedback information for receiving the multiple donor's feedback is greater than the first preset value, into
Enter it is described judge the authorization feedback information that receives whether all authorized orders the step of；
It is default to be less than or equal to described first in the quantity for the authorization feedback information for receiving the multiple donor's feedback
When value, the second nurse movement is continued to execute.
More preferably, described send simultaneously to the multiple donor executes the first nurse request that first nurse acts
The step of, comprising:
Call preset social platform；
Send to the multiple donor execute that first nurse acts the simultaneously by least one social software
One nurse request.
More preferably, described execution is sent to the multiple donor by least one social software simultaneously described first to see
The step of first nurse request of shield movement, comprising:
Foundation includes the social group of the multiple donor in the social software；
It is sent simultaneously in the social group to the multiple donor and executes the first nurse that first nurse acts
Request.
More preferably, described when the authorization feedback information is not all of as authorized order, judge the authorization feedback letter
Whether the quantity of the authorized order in breath is more than the quantity for forbidding instruction, and judges whether the quantity of the authorized order is greater than the
The step of one threshold value, comprising:
When the authorization feedback information is not all of as authorized order, judge to receive it is described forbid instructing it is corresponding
Whether the priority of donor is greater than the priority of the corresponding donor of the authorized order received；
The priority for instructing corresponding donor is forbidden to be greater than the preferential of the corresponding donor of the authorized order described
When grade, forbid instructing described in execution；
Forbid instructing the priority of corresponding donor excellent no more than the corresponding donor of the authorized order described
When first grade, whether the quantity of the authorized order in the authorization feedback information received described in judgement is more than the number for forbidding instruction
Amount, and judge whether the quantity of the authorized order is greater than first threshold.
More preferably, it is described judge to receive described forbid the priority for instructing corresponding donor whether to be greater than receiving
The corresponding donor of the authorized order priority the step of, comprising:
According to the current state of monitored target and preset priority algorithm, obtain in the multiple donor for institute
State the priority of each corresponding donor of current state of detected object；
Judge to receive described forbids whether the priority for instructing corresponding donor is greater than the authorization received
Instruct the priority of corresponding donor.
More preferably, described the step of obtaining the multiple donor's information prestored in intelligent infant nurse robot, packet
It includes:
The multiple donor's information prestored in intelligent infant nurse robot are obtained, include in donor's information
The donor can receive the default pot life section of authorization requests instruction；
Obtain current time, judge the default pot life section in current time and donor's information whether
Match；
According to the matching relationship between the default pot life section in current time and donor's information, extract
Multiple target donor information of intelligent infant nurse robot under current time.
More preferably, described the step of obtaining the multiple donor's information prestored in intelligent infant nurse robot, packet
It includes:
The location information that the multiple donors prestored in robot are nursed according to the intelligent infant, obtains the donor
Current location information；
According to the current location information of the multiple donor, obtain with the intelligent infant nurse at a distance from robot
Multiple target donor information in preset range.
More preferably, the corresponding nurse mode includes that roars of laughter are slept in mode, sleep pattern, Play mode and care mode
It is at least one.
The present invention also provides a kind of intelligence nurse robots, including robot body, and sensor list on the body is arranged
Member, control circuit board template and power module, the control circuit board template include communication module, memory, processor with
And the computer program that can be run in the memory and on the processor is stored, the processor executes the calculating
When machine program the step of the control method of above-mentioned intelligent infant nurse robot.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has computer
Program, which is characterized in that the computer program realizes the control of above-mentioned intelligent infant nurse robot when being executed by processor
The step of method processed.
In technical solution of the present invention, the first nurse movement is equipped with by each corresponding nurse mode and the second nurse is dynamic
Make, when monitoring that child's state converts, the nurse for executing first nurse and acting is sent to the multiple donor
Request, according to authorized order execute the first nurse movement or the second nurse act, can when being not received by authorized order,
Child is executed and is pacified, reduces the energy of nurse child's consumption of guardian, realizes the technical effect of intelligence nurse child.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of intelligent infant provided in an embodiment of the present invention nurses robot；
Fig. 2 is a kind of flow chart of the control method of intelligent infant nurse robot in first embodiment of the invention；
Fig. 3 is a kind of flow chart of the control method of intelligent infant nurse robot in second embodiment of the invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
It is all using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, directly or
It connects and is used in other related technical areas, be included within the scope of the present invention.
As shown in Figure 1, the present invention provides a kind of intelligence nurse robot, including robot body 10, setting is on the body
Sensor unit 11, control circuit plate unit 12 and power supply unit 13, control circuit plate unit 12 may include communication mould
Block 121, memory 122, processor 123 and it is stored in the computer journey that can be run in memory 122 and on processor 123
The step of sequence, processor 123 realizes the control method of intelligent infant nurse robot when executing computer program.
Wherein, the ontology 10 be equipped with cradle, the sensor unit 11 may include camera, infrared detector,
Microphone sensor and vocal print sensor etc. are for the states such as real-time monitoring monitored target expression shape change and movement variation
Sensor, and the state parameter information of this monitoring object is obtained by processor 123 in real time, the power supply unit 13 is intelligence
Each electric appliance unit of robot provides power supply, the communication module 121 for respectively with sensor unit 11 and preset
The intelligent terminal of multiple donors carries out real-time communication, and the processor 123 is used for the shape monitored according to sensor unit 11
State state modulator intelligently nurses the nurse movement of robot, and by the interaction with intelligent terminal, controls the intelligent robot
Executing corresponding first nurse movement and the second nurse movement, the control circuit plate unit 12 under various nurse modes can be
PC circuit board, the communication module 121 may include bluetooth communication or wifi communication module.
Intelligence nurse robot of the invention, is equipped with the first nurse movement and second by each corresponding nurse mode and sees
Shield movement sends to the multiple donor when monitoring that child's state is converted and executes what first nurse acted
Nurse request executes the first nurse movement according to authorized order or the second nurse acts, can refer to being not received by authorization
When enabling, child is executed and is pacified, reduce the energy that guardian nurses child's consumption, realizes the technology effect of intelligence nurse child
Fruit.
First embodiment
As shown in Fig. 2, the first embodiment of the present invention provides a kind of control method of intelligent infant nurse robot.Its
In, the control method of intelligent infant nurse robot can be applied to the intelligent infant nurse machine of previous embodiment offer
People.The control method of intelligent infant nurse robot may comprise steps of:
Step S101 obtains the state parameter information for being detected object that the sensor unit detects in real time.
It is to be appreciated that the multiple sensors that can be nursed in the sensor unit of robot by intelligent infant obtain in real time
Take the state parameter information for being detected object, wherein the state parameter for being detected object includes the expression for being detected object, moves
The informations parameter such as the volume of work, vocal print, sound.Specifically, in the present embodiment, imaging device or cam device can be passed through
Monitoring is detected the expression of object, movement, and the sound of object can be detected by sound transducer or microphone apparatus monitoring
The volume of sound can monitor the vocal print for being detected object by vocal print sensor.
Step S102, according to the state parameter information for being detected object, the state that object is detected described in determination is
It is no to change.
It is to be appreciated that the state for being detected object may include the states such as play, sleep, is sleepy, crying and screaming, wherein cry
Noisy can also include the state of crying and screaming such as wail, sob.Specifically, the multiple states for being detected object can be analyzed by processor
Parameter information, the activity of variation, trick and the variation of sound for calculating the frequency, expression of blink for being detected object determine quilt
Whether the state of detecting object changes, specifically, according to being detected object current state parameter information and laststate
Parameter information is compared, and the variation weight of state parameter information is judged whether within the scope of preset weights, so that analysis is detectd
Whether the state for surveying object changes, for example, each state parameter information is provided with corresponding weight, is obtaining current shape
When state parameter information, the weight of current state parameter information change is judged whether within the scope of preset weights, so that analysis is detectd
Whether the state for surveying object changes.Quilt can also be analyzed according to the state parameter information and preset algorithm for being detected object
Detect the current state of object.For example, when the frequency for being detected object blink is small less than the first default blink rate, the volume of sound
When the first default volume, the current state of analysis monitored target is sleep state, when the frequency of monitored target blink is big
In the second default frequency of wink, voiceprint is in the first default vocal print, when the volume of sound is greater than the second default volume, analysis
The current state of monitored target is state of wailing.It is thus possible to be detected pair according to the analysis of the current state of monitored target
Whether the state of elephant changes.
Step S103 is detected the current shape of object when the state for being detected object changes described in acquisition
State.
It is to be appreciated that only changing in the state that monitoring analyzes detected object, then intelligent robot is waken up
The corresponding nurse mode of starting, improves the intelligence of robot nurse child.
Step S104 determines that corresponding nurse mode and the first nurse are dynamic according to the current state for being detected object
Make.
It should be understood that described each state for being detected object is equipped with corresponding nurse mode, such as sleep state
Corresponding to be equipped with sleep nurse mode, state of wailing is corresponding to be equipped with nurse mode of wailing.There are two each nurse mode is set
Nurse movement, wherein the first nurse movement is that the treatment mechanism of corresponding nurse mode acts, such as touches baby, to baby
It is cleaned or is overturn etc. and carry out processing operation, the second nurse movement pacifies mechanism movement for corresponding nurse mode, for example,
Preset sound or preset video etc. is played to carry out pacifying operation.Specifically, the first nurse movement is needed by preset
Donor just executes after authorizing.
Step S105 obtains the multiple donor's information prestored in intelligent infant nurse robot, to the multiple
Donor sends the first nurse request for executing the first nurse movement simultaneously, and the first nurse request includes getting
The change information of the state parameter for being detected object and the first nurse action message.
Specifically, the multiple donors prestored may include father, mother, granddad, grandmother, the grandfather, milk of child
The frequent caregiver such as milk, nurse, also may include the personnel such as residential care doctor or baby nutrition teacher, in the present embodiment
In, can be thought by the communication module of the intelligent robot the multiple donors prestored send include get described in
It is detected the change information of the state parameter of object and the first nurse request of the first nurse action message.
Step S106, in the first preset time period, the authorization feedback letter of the multiple donors feedback prestored described in acquisition
Breath, judges whether the quantity that the authorization feedback information of the multiple donor's feedback is received in the first preset time period is greater than
First preset value.
It is to be appreciated that first preset time period can be configured according to the actual situation, for example, can be according to children
The difference at youngster's age is respectively set to 30 seconds, 60 seconds, 100 seconds etc., is not particularly limited herein, specifically, Ke Yitong
The authorization feedback information of the multiple donors feedback prestored described in the communication module acquisition for crossing intelligence nurse robot.Into one
Step ground can be fed back by the authorization that the processor statistics of intelligence nurse robot receives the multiple donor's feedback
Whether the quantity of information, the quantity that the authorization feedback information of the multiple donor's feedback is received described in analysis are greater than first in advance
If value, specifically, first preset value can be preset according to the actual situation, that is, in multiple donors at least
When a part of donor carries out authorization feedback, just judge that the nurse of execution is dynamic according to the information that this section entitlement people feeds back
Make.
Step S107 receives the authorization feedback information of the multiple donor's feedback in first preset time period
Quantity be greater than the first preset value when, judge the whether all authorized orders of the authorization feedback information received.
Specifically, since the authorization feedback information of the multiple donor feedback may include authorized order and forbid referring to
It enables, the quantity that the authorization feedback information of the multiple donor's feedback is received in first preset time period is greater than first
After preset value, the whether all authorized orders of the authorization feedback information received are further judged.
Step S108 executes the first nurse movement in all authorized orders of the authorization feedback information.
It should be understood that when the intelligent infant nurses the authorized order for multiple donors feedback that robot receives
When, the intelligent infant nurse robot executes the corresponding first nurse movement of the nurse mode according to the authorized order.
Step S109 judges the authorization feedback information when the authorization feedback information is not all of as authorized order
In the quantity of authorized order whether be more than the quantity for forbidding instruction, and judge whether the quantity of the authorized order is greater than first
Threshold value.
Specifically, it is described intelligence nurse robot not only receive authorized order, but also receive forbid instruction when, Ke Yitong
It crosses the quantity of the processor statistics authorized order and forbids the quantity of instruction, by judging whether the quantity of authorized order is more than
It is dynamic to determine whether to execute first nurse whether the quantity of the quantity and authorized order of forbidding instruction is greater than first threshold
Make.
The quantity of step S110, the authorized order in the authorization feedback information forbid the quantity of instruction more than described in,
And the quantity of authorized order executes first nurse movement when being greater than first threshold.
It is to be appreciated that the authorized order and described forbidding instruction that can carry out generation with codes such as digital or letters
It replaces, such as can indicate authorized order with 1, use 0 indicates to forbid instructing, authorized order can also be indicated with authorizaiton,
It indicates to forbid instructing with forbidden.In the present embodiment, it can be only when the quantity of authorized order is greater than 3, and authorization
The corresponding first nurse movement of nurse mode is just executed when the quantity of instruction is greater than the quantity for forbidding instruction.It is to be appreciated that institute
Stating first threshold can be configured according to the actual situation, be not particularly limited herein.
The quantity of step S111, the authorized order in the authorization feedback information forbid instruction less than or equal to described in
When quantity, or the quantity of the authorized order in the authorization feedback information forbids the quantity of instruction more than described in, but authorizes
When the quantity of instruction is less than or equal to the first threshold, the second nurse movement corresponding with the nurse mode is executed.
It should be understood that the second nurse movement is to pacify movement, for example, playing preset sound, or according to pre-
If movement shake the movement such as child, wherein the second nurse movement does not need to carry out authorization can to execute.Specifically,
When the quantity of authorized order in the authorization feedback information is less than or equal to the quantity for forbidding instruction, execute with it is described
The corresponding second nurse movement of nurse mode；Or the quantity of the authorized order in the authorization feedback information is more than the taboo
The quantity only instructed, but the quantity of authorized order be less than or equal to the first threshold when, execute it is corresponding with the nurse mode
The second nurse movement.
Step S112 obtains the authorization feedback information that the multiple donor's feedback is received in the second preset time period
Quantity, the quantity of the judgement authorization feedback information that the multiple donor's feedback is received in the second preset time period
Whether second preset value is greater than, and the duration of second preset time period is greater than the duration of first preset time period.
Wherein, the second time period can be configured according to the actual situation, the timing of second preset time period
Starting point, which can be, starts timing in the first preset time period timing, is also possible to start to count after the first preset time period
When, that is, the quantity of the authorization feedback information that the multiple donor feedback is received in the second preset time period can be with
The quantity of authorization feedback information including the multiple donor feedback received in the first preset time period, is also possible to
First preset time period terminate to the second preset time period at the end of period in receive the multiple donor feedback
Authorize the quantity of feedback information.
It is pre- to be greater than second in the quantity of the authorization feedback information for receiving the multiple donor's feedback by step S113
If when value, into it is described judge the authorization feedback information that receives whether all authorized orders the step of.
Specifically, it is greater than second in the quantity of the authorization feedback information for receiving the multiple donor's feedback to preset
When value, enter step the authorization feedback information that judges to receive in S107 whether all authorized orders the step of.
Step S114 is less than or equal to described in the quantity for the authorization feedback information for receiving the multiple donor's feedback
When the second preset value, the second nurse movement is continued to execute.
Specifically, it can continue to execute and pacify movement, prevent the state undue fluctuation of child, the body and mind for influencing child is strong
Health.
Below with intelligence nurse robot monitor child wail state when, said for the specific steps nursed
It is bright.
Intelligence nurse robot obtains facial expression, the voiceprint, sound of monitored child by each sensor in real time
The state parameters such as the size of sound volume, it is possible to understand that ground can judge the current state of subjects, in quilt according to state parameter
The current state of human observer from have sleep state become wailing state when, obtaining current state is to wail state, obtains current shape
The corresponding nurse mode of state is to wail nurse mode with corresponding first nurse action message, for example, first nurse acts
The the first nurse movement for including in information then obtains the intelligent infant nurse machine to help child to turn over processing diaper
The multiple donor's information prestored in people send simultaneously to child and parent, grandfather, grandmother and family doctor etc. and help child
Turn over the nurse request of processing diaper, the authorization feedback letter of the multiple donors feedback prestored described in acquisition in 30 seconds
Breath, and whether the quantity for calculating the feedback information in total received is greater than the first preset value 3, in the feedback information received
Quantity be greater than the first preset value 3 after, judge whether all feedback informations are authorization feedback information, in all authorizations
When feedback information is authorized order, then the movement of processing diaper is executed, when the feedback information received is inconsistent, judgement
Whether the quantity of authorized order is more than the quantity for forbidding instruction in the feedback information received, and whether the quantity of authorized order is big
In first threshold, the quantity of the authorized order in the feedback information received is more than the quantity for forbidding instruction, and authorizes
When the quantity of instruction is greater than first threshold, the movement for helping child to turn over processing diaper is executed, described in receiving
When the quantity of authorized order in authorization feedback information is not more than the quantity for forbidding instruction, execute and the nurse mode
Corresponding second nurse movement, alternatively, the quantity of the authorized order in the authorization feedback information forbids instructing more than described
Quantity, but the quantity of authorized order be less than or equal to the first threshold when, execute and the nurse mode corresponding second
Nurse movement, wherein the second nurse movement disperses the movement of child's attention, finally, sentencing to play preset music and video
Break and receives the quantity of the authorization feedback information of the multiple donor feedback in the second preset time period and whether be greater than second
Preset value, when the quantity of the authorization feedback information for receiving the multiple donor's feedback is greater than the second preset value, into
Enter the whether consistent step of the authorization feedback information for judging to receive, receives the multiple donor's feedback
When the quantity of authorization feedback information is not greater than the second preset value, continues to execute and pacify movement.
Technical solution of the present invention is equipped with the first nurse movement by each corresponding nurse mode and the second nurse is dynamic
Make, when monitoring that child's state converts, the nurse for executing first nurse and acting is sent to the multiple donor
Request, according to authorized order execute the first nurse movement or the second nurse act, can when being not received by authorized order,
Child is executed and is pacified, the energy that guardian nurses child's consumption is reduced, realizes the technical effect of intelligence nurse child.
It is possible to further call preset social platform by communication module, by least one social software to institute
It states multiple donors while sending the first nurse request for executing the first nurse movement.
It is to be appreciated that the preset social platform can be the app of mobile terminal, for example, wechat, microblogging or qq
Etc. social softwares, be also possible to webpage social platform, in the present embodiment, can be by least one social software to described more
Everyone of a donor sends the first nurse request for executing first nurse movement simultaneously, can also be in the social activity
Establish in software includes that the social group of the multiple donor to the multiple donor while being sent in the social group
Execute the first nurse request of the first nurse movement.Authorization requests are sent to preset multiple donors by social software
Information improves the efficiency of Real-time Feedback, also, by social group sending bulk message, multiple donors can be helped mutually to understand
Other people idea carries out real-time communication.
It is possible to further call the address list prestored by communication module, sends and hold simultaneously to the multiple donor
The messaging message of first nurse request of row the first nurse movement.
Second embodiment,
As shown in figure 3, a kind of control method of the intelligence nurse robot provided in the second embodiment of the present invention.Its
In, the control method of intelligent infant nurse robot can be applied to the intelligent infant nurse machine of previous embodiment offer
People.The control method of intelligent infant nurse robot may comprise steps of:
Step S201 obtains the state parameter information for being detected object that the sensor unit detects in real time；
Step S202, according to the state parameter information for being detected object, the state that object is detected described in determination is
It is no to change；
Step S203 is detected the current shape of object when the state for being detected object changes described in acquisition
State；
Step S204 determines that corresponding nurse mode and the first nurse are dynamic according to the current state for being detected object
Make；
Step S205 obtains the multiple donor's information prestored in intelligent infant nurse robot, to the multiple
Donor sends the first nurse request for executing the first nurse movement simultaneously, and the first nurse request includes getting
The change information of the state parameter for being detected object and the first nurse action message；
Step S206, in the first preset time period, the authorization feedback letter of the multiple donors feedback prestored described in acquisition
Breath, judges whether the quantity that the authorization feedback information of the multiple donor's feedback is received in the first preset time period is greater than
First preset value；
Step S207 receives the authorization feedback information of the multiple donor's feedback in first preset time period
Quantity be greater than the first preset value when, judge the whether all authorized orders of the authorization feedback information received；
Step S208 executes the first nurse movement in all authorized orders of the authorization feedback information；
Step S209a, when the authorization feedback information is not all of as authorized order, judge to receive described forbids
Instruct whether the priority of corresponding donor is greater than the priority of the corresponding donor of the authorized order received；
It is to be appreciated that different priority can be arranged to preset multiple donors, for example, parent can be set being
First priority, grandparents are the second priority, if, it is equal in the feedback information for receiving grandfather, two people of grandmother send
For authorized order, the feedback information of mother is that when forbidding instruction, can be judged whether by judging the priority of multiple donors
Execute the first nurse movement.
Step S209b forbids the priority for instructing corresponding donor to award greater than the authorized order is corresponding described
When weighing the priority of people, forbid instructing described in execution；
Specifically, in the present embodiment, when the priority of mother is greater than the priority of grandfather, grandmother, it is anti-to execute mother
Feedback is forbidden instructing, and does not execute the first nurse movement.
Step S209c forbids instructing the priority of corresponding donor corresponding no more than the authorized order described
When the priority of donor, whether the quantity of the authorized order in the authorization feedback information received described in judgement is more than taboo
The quantity only instructed, and judge whether the quantity of the authorized order is greater than first threshold.
It should be understood that receiving different authorization feedback informations, and the donor of different authorization feedback informations
, can whether more by the quantity of the authorized order in the authorization feedback information that receives described in judgement when priority is identical
In forbid instruction quantity, and judge the quantity of the authorized order whether be greater than first threshold decide whether execute first nurse
Movement.
The quantity of step S210, the authorized order in the authorization feedback information forbid the quantity of instruction more than described in,
And the quantity of authorized order executes first nurse movement when being greater than first threshold；
The quantity of step S211, the authorized order in the authorization feedback information forbid instruction less than or equal to described in
When quantity, or the quantity of the authorized order in the authorization feedback information forbids the quantity of instruction more than described in, but authorizes
When the quantity of instruction is less than or equal to the first threshold, the second nurse movement corresponding with the nurse mode is executed；
Step S212 obtains the authorization feedback information that the multiple donor's feedback is received in the second preset time period
Quantity, the quantity of the judgement authorization feedback information that the multiple donor's feedback is received in the second preset time period
Whether second preset value is greater than, and the duration of second preset time period is greater than the duration of first preset time period；
It is pre- to be greater than second in the quantity of the authorization feedback information for receiving the multiple donor's feedback by step S213
If when value, into it is described judge the authorization feedback information that receives whether all authorized orders the step of；
Step S214 is less than or equal to described in the quantity for the authorization feedback information for receiving the multiple donor's feedback
When the first preset value, the second nurse movement is continued to execute.
Technical solution of the present invention, by the way that the different priority of preset multiple donors is further arranged, excellent
When the high guardian of first grade not thinks to execute processing movement, intelligence nurse robot does not execute processing movement, it is therefore prevented that intelligence
Robot generation improperly processing operation when carrying out contact treatment to child can be nursed, intelligence nurse robot is realized
More accurate nurse effect.
Further, whether judge to receive described forbids the priority for instructing corresponding donor to be greater than receiving
The step of priority of the corresponding donor of the authorized order, comprising:
According to the current state of monitored target and preset priority algorithm, obtain in the multiple donor for institute
State the priority of each corresponding donor of current state of detected object；
Judge to receive described forbids whether the priority for instructing corresponding donor is greater than the authorization received
Instruct the priority of corresponding donor.
It is to be appreciated that multiple donors can be authorized with different priority according to the state current when subjects,
For example, mother that the first priority is child can be arranged when child wails, the second priority is the grandmother and grandfather of child
Grandfather, in baby sleep, the first priority of setting is servant, and the second priority is the grandmother and grandfather of child.It can be according to children
The different conditions of youngster give multiple donors different permissions, convenient for comprehensive nurse child.
Further, described the step of obtaining the multiple donor's information prestored in intelligent infant nurse robot,
Include:
The multiple donor's information prestored in intelligent infant nurse robot are obtained, include in donor's information
The donor can receive the default pot life section of authorization requests instruction；
Obtain current time, judge the default pot life section in current time and donor's information whether
Match；
According to the matching relationship between the default pot life section in current time and donor's information, extract
Multiple target donor information of intelligent infant nurse robot under current time.
It is to be appreciated that the donor can be respectively set can receive authorization requests when presetting multiple donors and refer to
The default pot life section enabled, can be sent to different target donors according to the period belonging to current point in time, for example,
6 points in 6 points of the period of afternoon in the morning, can be set to day-care mode, target donor can be monitored
Family doctor, grandfather, grandmother, the parent of person can be set to night nurse mode, target donor in other times section
It can be the parent and servant of subjects.Different donors is set by putting in different times, has saved donor's
Nurse amount prevents from needing nursing baby when donor, brings convenience to the studying and living of donor.
Further, described the step of obtaining the multiple donor's information prestored in intelligent infant nurse robot,
Include:
The location information that the multiple donors prestored in robot are nursed according to the intelligent infant, obtains the donor
Current location information；
According to the current location information of the multiple donor, obtain with the intelligent infant nurse at a distance from robot
Multiple target donor information in preset range.
It is to be appreciated that it is current to obtain multiple donors by gps signal transducer or other alignment sensors
Location information, by comparing donor current location information with intelligence nurse robot position at a distance from, with the intelligence
Energy child nurses the multiple target donor information of the distance of robot within a preset range.By finding the intelligent nurse machine of distance
The target donor of device people within a preset range, target donor can become larger or occur other states in detected person's crying
When, it is handled in the past with the shorter time, increases the convenience of nurse child.
It is to be appreciated that the corresponding nurse mode, which can include but is not limited to roars of laughter, sleeps mode, sleep pattern, mould of playing
At least one of formula and care mode.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has computer
Program, the computer program realize the step of the control method of above-mentioned intelligent infant nurse robot when being executed by processor
Suddenly.
It should be noted that the computer program due to computer readable storage medium realized when being executed by processor it is above-mentioned
Intelligent infant nurse robot control method generate the step of.Therefore all embodiments of the above method are suitable for the meter
Calculation machine readable storage medium storing program for executing, and can reach the same or similar beneficial effect.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (9)
1. a kind of control method of intelligent infant nurse robot, which is characterized in that the method is nursed applied to intelligent infant
Robot, intelligent infant nurse robot includes robot body, and sensor unit on the body, control circuit is arranged
Plate unit and power supply unit, the control circuit plate unit include communication module, memory, processor and are stored in described
In memory and the computer program that can run on the processor；The control method packet of intelligent infant nurse robot
It includes:
The state parameter information for being detected object that the sensor unit detects is obtained in real time；
According to the state parameter information for being detected object, whether the state that object is detected described in determination changes；
When the state for being detected object changes, the current state of object is detected described in acquisition；
According to the current state for being detected object, corresponding nurse mode and the first nurse movement are determined；
The multiple donor's information prestored in intelligent infant nurse robot are obtained, are sent simultaneously to the multiple donor
Execute the first nurse request of first nurse movement, the first nurse request includes that get described is detected object
State parameter change information and it is described first nurse action message；
In the first preset time period, the authorization feedback information of the multiple donors feedback prestored described in acquisition judges first
Whether the quantity that the authorization feedback information of the multiple donor's feedback is received in preset time period is greater than the first preset value；
The quantity that the authorization feedback information of the multiple donor feedback is received in first preset time period is greater than the
When one preset value, the whether all authorized orders of the authorization feedback information received are judged；
In all authorized orders of the authorization feedback information, the first nurse movement is executed；
When the authorization feedback information is not all of as authorized order, the authorized order in the authorization feedback information is judged
Whether quantity is more than the quantity for forbidding instruction, and judges whether the quantity of the authorized order is greater than first threshold；
The quantity of authorized order in the authorization feedback information forbids the quantity of instruction, and the number of authorized order more than described in
When amount is greater than first threshold, the first nurse movement is executed；
When the quantity of authorized order in the authorization feedback information is less than or equal to the quantity for forbidding instruction, Huo Zhe
The quantity of authorized order in the authorization feedback information is more than the quantity for forbidding instruction, but the quantity of authorized order is less than
Or when being equal to the first threshold, the second nurse movement corresponding with the nurse mode is executed；
The quantity for receiving the authorization feedback information of the multiple donor's feedback in the second preset time period is obtained, judges institute
It states and receives the quantity of the authorization feedback information of the multiple donor feedback in the second preset time period and whether be greater than second
Preset value, the duration of second preset time period are greater than the duration of first preset time period；
When the quantity of the authorization feedback information for receiving the multiple donor's feedback is greater than the second preset value, into institute
State the authorization feedback information that receives of judgement whether all authorized orders the step of；
When receiving the quantity of authorization feedback information of the multiple donor's feedback less than or equal to first preset value,
Continue to execute the second nurse movement.
2. a kind of control method of intelligent infant nurse robot according to claim 1, which is characterized in that described to institute
The step of stating multiple donors while sending the first nurse request for executing the first nurse movement, comprising:
Call preset social platform；
The first of execution the first nurse movement is sent simultaneously to the multiple donor by least one social software to see
Shield request.
3. a kind of control method of intelligent infant nurse robot according to claim 2, which is characterized in that described to pass through
At least one social software sends the first nurse request for executing that first nurse acts to the multiple donor simultaneously
Step, comprising:
Foundation includes the social group of the multiple donor in the social software；
It is sent simultaneously in the social group to the multiple donor and executes the first nurse request that first nurse acts.
4. a kind of control method of intelligent infant nurse robot according to claim 1, which is characterized in that described in institute
When stating authorization feedback information and being not all of as authorized order, whether judge the quantity for authorizing the authorized order in feedback information
More than the quantity for forbidding instruction, and the step of whether quantity of the authorized order is greater than first threshold judged, comprising:
When the authorization feedback information is not all of as authorized order, judge to receive described forbids instructing corresponding authorization
Whether the priority of people is greater than the priority of the corresponding donor of the authorized order received；
When the priority for forbidding instructing corresponding donor is greater than the priority of the corresponding donor of the authorized order,
Forbid instructing described in execution；
In the priority for forbidding the priority for instructing corresponding donor to be not more than the corresponding donor of the authorized order
When, whether the quantity of the authorized order in the authorization feedback information received described in judgement is more than the quantity for forbidding instruction,
And judge whether the quantity of the authorized order is greater than first threshold.
5. a kind of control method of intelligent infant nurse robot according to claim 4, which is characterized in that the judgement
Whether forbidding the priority for instructing corresponding donor to be greater than described in receiving, the authorized order received is corresponding is awarded
The step of weighing the priority of people, comprising:
According to the current state of monitored target and preset priority algorithm, obtain in the multiple donor for the quilt
The priority of each corresponding donor of the current state of test object；
Judge to receive described forbids whether the priority for instructing corresponding donor is greater than the authorized order received
The priority of corresponding donor.
6. a kind of control method of intelligent infant nurse robot according to any one of claims 1 to 5, feature exist
In described the step of obtaining the multiple donor's information prestored in intelligent infant nurse robot, comprising:
The multiple donor's information prestored in intelligent infant nurse robot are obtained, are awarded in donor's information including this
Power people can receive the default pot life section of authorization requests instruction；
Current time is obtained, judges whether current time matches with the default pot life section in donor's information；
According to the matching relationship between the default pot life section in current time and donor's information, extract current
Multiple target donor information of intelligent infant nurse robot under time.
7. a kind of control method of intelligent infant nurse robot according to any one of claims 1 to 5, feature exist
In described the step of obtaining the multiple donor's information prestored in intelligent infant nurse robot, comprising:
The location information that the multiple donors prestored in robot are nursed according to the intelligent infant, obtains working as the donor
Front position information；
According to the current location information of the multiple donor, obtain at a distance from intelligent infant nurse robot default
Multiple target donor information in range.
8. a kind of control method of intelligent infant nurse robot according to any one of claims 1 to 5, feature exist
In the corresponding nurse mode includes that at least one of mode, sleep pattern, Play mode and care mode are slept in roars of laughter.
9. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the computer program realizes intelligent infant nurse machine as claimed in any one of claims 1 to 8 when being executed by processor
The step of control method of people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810958618.7A CN108994839A (en) | 2018-08-22 | 2018-08-22 | The control method and storage medium of intelligent infant nurse robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810958618.7A CN108994839A (en) | 2018-08-22 | 2018-08-22 | The control method and storage medium of intelligent infant nurse robot |
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| Publication Number | Publication Date |
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| CN108994839A true CN108994839A (en) | 2018-12-14 |
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ID=64593428
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| CN201810958618.7A Withdrawn CN108994839A (en) | 2018-08-22 | 2018-08-22 | The control method and storage medium of intelligent infant nurse robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110427155A (en) * | 2019-08-28 | 2019-11-08 | 维沃移动通信有限公司 | A kind of nurse method and device |
| US11899467B2 (en) * | 2019-03-07 | 2024-02-13 | Samsung Electronics Co., Ltd. | Electronic apparatus and control method thereof |
-
2018
- 2018-08-22 CN CN201810958618.7A patent/CN108994839A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11899467B2 (en) * | 2019-03-07 | 2024-02-13 | Samsung Electronics Co., Ltd. | Electronic apparatus and control method thereof |
| CN110427155A (en) * | 2019-08-28 | 2019-11-08 | 维沃移动通信有限公司 | A kind of nurse method and device |
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Application publication date: 20181214 |