CN109015676A - A kind of robot for accompanying the walking of old man open air - Google Patents
A kind of robot for accompanying the walking of old man open air Download PDFInfo
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- CN109015676A CN109015676A CN201810912967.5A CN201810912967A CN109015676A CN 109015676 A CN109015676 A CN 109015676A CN 201810912967 A CN201810912967 A CN 201810912967A CN 109015676 A CN109015676 A CN 109015676A
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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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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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
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a kind of robots for accompanying the walking of old man open air, it includes speech cloud AI server, one-to-one navigation module, fuselage, head, component of handing in hand, component of waving backward, wheeled vehicle bottom, infrared obstacle avoidance module, storage tank, main control unit, speech microphone module, and main control unit and speech cloud AI server are wirelessly connected；Machine station module is installed on component of waving backward, follows label wearing in old man's wrist, and robot switches in walking shoulder to shoulder, between walking, resident stop, and wheeled vehicle bottom is under infrared obstacle avoidance module booting or is moved to the left or right；Main control unit is connect with machine station module, wheeled vehicle bottom driver, speech microphone module and infrared obstacle avoidance module serial data, exports manipulation storage tank opening and closing by main control unit.The present invention realizes robot ambulation under the premise of not configuring list pair multi-vision visual, multichannel millimeter radar, by inexpensive measure, has positive effect in terms of meeting its township old man that lives and its open air is accompanied to stroll chat, assistance shopping.
Description
Technical field
The present invention relates to a kind of robot for accompanying the walking of old man open air, be more specifically be related to a kind of short wireless navigation,
The robot that interactive voice, wheeled vehicle bottom technology are realized.
Background technique
Youth studies abroad more and more outside rear residence country, and numerous and confused invite is looked after children outside parents' destination country；Domestic urbanization hair
Quickly, young people lives from small city to medium-sized city, from big city to a line urban work for exhibition；Granddad grandparents grandmother comes
Grandson generation is accompanied to go to school or look after grandson generation to these cities；It is very lonely that the old men, which come alien land in fact far from local villagers,
, it needs to go about outdoors with suffering in the minds of excretion.
It is difficult to encounter partner in its township, if there is a company robot is adjoint, also compensates for old man in the helpless of its township
With loneliness.
Open air goes about including coming park, coming garden, come supermarket shop, come food market, come arenas, such as
Fruit arranges a robot that old man is accompanied to go to, which must walk in street, walking in zebra stripes, in short, the machine
People moves towards community from family, moves towards street from community and interacts with Pedestrians and vehicles.
Robot automatically walk is in community in the intelligence such as the technical measures in street and merchandising machine people, pilotless automobile
Can equip common technology basis, monocular vision, binocular vision, multi-vision visual, multichannel millimeter radar form merchandising machine people and
The basic components of pilotless automobile automatically walk；The navigation of these automatically walks is up to hundreds of thousands people with basic components are expensive
People's coin, it is unpractical for being directly used in and accompanying the robot of old man open air walking.
In accompanying old man open air walking process, if prominent old man is mainly position, robot is allowed to be in secondary role,
It walks and does not walk, the past speed where walked, walked, loiters, if all being decided by old man, robot is exactly to follow old man
Track route and beat.
Hitching pet dog with true cable is the solution that old man walks a dog in community in street, is drawn by old man by cable
Robot ambulation is also unpractical for street, intelligence equipment this kind of for robot in community.
Therefore, how to allow robot under the premise of not configuring multi-vision visual, multichannel millimeter radar, do not take cable to draw
Under the premise of robot ambulation, moreover it is possible to realize that robot follows the track route of old man and beat to walk in community and street, be
Problem in the urgent need to address at present.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the present invention relates to a kind of robots for accompanying the walking of old man open air, more
Particularly relate to the robot that a kind of short wireless navigation, interactive voice, wheeled vehicle bottom technology are realized.
In order to achieve the above object, this invention takes following technical schemes:
A kind of robot for accompanying the walking of the elderly open air, including
Fuselage, in 155cm between 165cm, four support frames are fixedly mounted head respectively from top to down, draw total height
Hand unit is put backward
Hand unit, storage tank, wheeled vehicle bottom；
Head is made ellipsoid for plastic foam material, and speech microphone module is fixedly mounted inside ellipsoid；
It hands in hand component, to be turned under curved fixed arm, handing in hand component in conjunction with supporting fuselage skeleton；
Wave backward component, be length 40cm between 50cm, radius 3cm to it is between 5cm, with supporting fuselage frame
Between formed and fix 90 degree of light plastic foam object column members vertically combined backward, component ends of waving backward installation is a pair of
The machine station module of one navigation module；
Storage tank, for long 30cm between 40cm, wide 30cm between 40cm, high 40cm between 50cm in six faces cube
Body；Wherein five facades are to close installation, and upper vertical face sides edge is contacted between with six face cubes as laying electromagnetism item；
Wheeled vehicle bottom is made of four Mecanum wheels, motor driver, car bodies；Car body be length and width 40cm to 50cm it
Between, high 20cm to cuboid between 30cm, car body inner circumferential configures 4 fixed holes so that storage box, car body outside four is fixedly mounted
4 fixed holes of week configuration are to be fixedly mounted four support frames of fuselage；
Speech cloud AI server is third party AI platform, receives the voice document of client's upload, identifies and return pair in time
Voice document is talked about to client；
It is characterized in that, it further includes one-to-one navigation module, component ends of waving backward, wheeled vehicle bottom motor driven
Device, infrared obstacle avoidance module, main control unit, speech microphone module,
A pair of navigation module is made of machine station module with label model, and machine station module is installed on described waves backward
Component ends, label model are worn in the elderly's left finesse；
The wheeled vehicle bottom motor drive outputs mouth is connect with Mecanum wheel, wheeled vehicle bottom motor driver
It is connect by serial data line with the main control unit；
Machine station module is connect by serial data line with the main control unit；
The speech microphone module is made of microphone acquisition module and speech player, the speech microphone module
It is fixedly installed in the head,
The microphone acquisition module is connect by serial data line with the main control unit；
The infrared obstacle avoidance module is made of 24 switching mode IR evading obstacle sensors and infrared main module；
The IR evading obstacle sensors are fixedly installed in the car body surrounding upper edge at the wheeled vehicle bottom；The infrared main mould
Block by serial data line with the main control unit by being connect；
The main control unit is industrial control computer, and configuration WIFI module, 4G module, multiloop be serial and USB interface,
Support TCP IP communication；
The main control unit and speech cloud AI server are wirelessly connected；
The main control unit output loop is connect with the storage box electromagnetism circuit；
The main control unit voice plays port and connect with the speech player of speech microphone module；
The main control unit is configured to perform the following operations:
After completing speech cloud AI server registration, acquisition microphone module voice document is uploaded to speech cloud AI service
Device plays the dialogic voice file that port plays the passback of speech cloud AI server by voice；
The distance between label model and base station module and angle are calculated in real time, are acquired infrared main module in real time and are uploaded data
It forms robot wheeled vehicle bottom surrounding obstacle real-time status and passes through string according to the distance and angle, surrounding obstacle real-time status
Row data line assigns instruction to wheeled vehicle bottom motor driver, manipulates wheeled vehicle bottom and is walking shoulder to shoulder, front and back walking, is being resident and stops
Between switch.
Preferably, 24 switching mode IR evading obstacle sensors are long at the wheeled vehicle bottom according to 15 degree of interval layouts
Cube upper side edge.
Preferably, the measure of walking shoulder to shoulder is to keep the distance and angle constant, which refers to label model
The distance between the module of machine station, range is in 70cm between 120cm；The angle is that label model and machine station module position relationship are thrown
Be mapped under OXY rectangular coordinate system the angle between OX axis, robot on the right side of old man shoulder to shoulder when, which is 145 degree, and error is
5 degree；Robot on the left of old man shoulder to shoulder when, which is 90 degree, error be 5 degree.
Preferably, front and back walking measure is to keep at a distance and angular range is constant, which refers to label model
The distance between the module of machine station, range is in 130cm or more；The angle refers to that label model is projected with machine station module position relationship
Angle, the angular range refer between 30 degree to 160 degree between OX axis under OXY rectangular coordinate system, 5 degree of error.
Preferably, the wheeled vehicle bottom switches measure between walking shoulder to shoulder, front and back walking, resident stop are as follows:
(1) when being walked shoulder to shoulder when without any obstacle between robot and old man, continuation is walked shoulder to shoulder；
(2) when obstacle occurs in walking shoulder to shoulder between robot and old man, front and back walking is switched to from walking shoulder to shoulder；
(3) on the left of street in the walking process of front and back, when positive, right side is accessible；From front and back, walking is switched back into goes shoulder to shoulder
It walks；
(4) as 10cm between label model shutdown and label model and machine station module, robot is resident to be stopped.
Preferably, the label model configures start and close key.
Preferably, the main control unit output loop high level then connects electromagnetism electric power loop；Main control unit output
Circuit low level then cuts off electromagnetism electric power loop.
Preferably, the robot main control unit output loop exports high level when label model shuts down；It is marking
When signing module and machine station module distance less than 10cm, low level is exported.
The old man of grandson generation is looked after the advantages and positive effects of the present invention are: staying temporarily in its township, is social development
One increasing special group, the present invention are installed on component of waving backward by machine station module, label are followed to wear in old
Human wrist realizes that robot follows old man's route and beat to walk；It is realized between old man and robot by speech cloud AI server
The chat communication enriched constantly, by configuring storage tank, robot ships old man's bought articles.Therefore, robot of the present invention exists
Under the premise of not configuring vision, multichannel millimeter radar, its open air is accompanied to meet the old man in its township of living in low-cost production
Stroll chat, shopping side face has good effect.
Detailed description of the invention
Fig. 1 is robot components composition schematic diagram of the present invention
Fig. 2 is robot data information interaction system of the present invention composition figure
Fig. 3 a is the accessible road walking schematic diagram of Robot of the present invention
Fig. 3 b is obstacle road walking schematic diagram on the right side of Robot of the present invention
Fig. 3 c is obstacle road walking schematic diagram on the left of Robot of the present invention
Fig. 3 d is Robot two sides obstacle road of the present invention walking schematic diagram
Fig. 3 e is Robot road street crossing of the present invention walking schematic diagram
Fig. 4 robot of the present invention is resident, walks shoulder to shoulder, front and back walking flow path switch figure
Fig. 5 is robot of the present invention and speech cloud AI server data interaction diagrams
In figure: 11- fuselage, the head 12-, 13- wave backward component, 15- machine station module, the 16- of component, 14- that hand in hand are wheeled
Vehicle bottom,
17- storage tank, 18- main control unit, the opening and closing of 40- storage tank, 41- speech player, 42- microphone module, 43- wheel
Formula vehicle bottom driver,
45- infrared obstacle avoidance module, 46- label model, 100- speech cloud AI server.
Specific embodiment
To make the purpose of the present invention, technical solution and effect clearer, clear and definite, right as follows in conjunction with drawings and embodiments
The present invention is further described.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to
Limit the present invention.
Please refer to Fig. 1-Fig. 5, a kind of robot that accompanying the walking of old man open air is with robot components shown in Fig. 1 to implement
Basis；It is to be run under data information interactive system frame as shown in Figure 2；
The robot components by fuselage, head, component of handing in hand, backward wave component, wheeled vehicle bottom, infrared obstacle avoidance module,
Storage tank, main control unit, speech microphone module composition；
The data information interactive system is made of three parts:
First part is speech cloud AI server, is third party's speech cloud AI platform, timely for the voice to robot
Identification is responded with dialogue；
Second part is robot main control unit, acquires awareness tool and manipulates execution unit；
Part III is each awareness tool of robot and execution unit.
Technical solution of the present invention embodiment is introduced one by one below.
One, each building block of robot
As shown in Figure 1, the fuselage 11 of robot of the present invention is from ground to head lofty perch total height in 155cm to 165cm
Between, it is respectively from top to down: head 12, component 13 of handing in hand, component 14 of waving backward, main control unit 18, storage tank 17, wheeled
Vehicle bottom 16, speech microphone module are installed on head.Head 12, component 13 of handing in hand, component 14 of waving backward is light plastic bubbles
Foam object component, fuselage from top to down within the scope of 110cm only include basic framework with supporting head part 12, component 13 of handing in hand, to
After wave component 14；Main control unit 18, storage tank 17, wheeled vehicle bottom 16 are within the scope of underbelly 45cm to 55cm, weight side
16 maximum of face wheeled vehicle bottom, followed by storage tank 17 followed by main control unit 18；Under the configuration of this structure, robot 90%
Weight is in liftoff 45cm, and center of gravity is under 30cm, it is ensured that robot stabilized steady under 10 kilometers of speeds of travel per hour.
Component 13 of handing in hand is to be turned under curved fixed arm, hand in hand component 13 in conjunction with supporting fuselage frame.
Component 14 of waving backward be one joint of another arm of robot, the joint be length 40cm to 50cm it
Between, radius, to the light plastic foam object column member between 5cm, formed in 3cm between the column member and supporting fuselage frame
90 degree are fixed backward vertically to combine；The machine station module of one-to-one navigation module is installed in 14 end of component of waving backward.
Storage tank 17 be fixedly mounted on long 30cm on wheeled vehicle bottom between 40cm, width 30cm between 40cm,
High 40cm between 50cm in six face cubes；Six five, face cube facades are closing installation, and upper vertical face sides are along vertical with six faces
Cube contact is electromagnetism item between, and upper vertical face sides edge is contacted with six face cubes after energization is attracted along the mutual iron of electromagnetism item；It is disconnected
Discharged after electricity it is magnetic, manual free pull-up with put down facade.
Wheeled vehicle bottom is the omnidirectional mobile vehicle bottom for configuring four Mecanum wheels, and device output port driving wheat is driven by motor
Ke Namu takes turns Omni-mobile walking；Motor driver serial data line is connect with main control unit, receives the drive that main control unit is assigned
Dynamic order.
It is 40cm between 50cm that each component, which is encapsulated as length and width, inside wheeled vehicle bottom, height 20cm to cuboid between 30cm
It is interior；Wheeled vehicle bottom inner circumferential configures 4 fixed holes so that storage box is fixedly mounted, and surrounding configures 4 fixed holes outside wheeled vehicle bottom
Hole is to be fixedly mounted supporting fuselage frame.
Supporting fuselage, head are subsidized in 1cm to 2cm plastic blister foam member by thickness, component of handing in hand, are backward waved between component
Gap, making robot, front and back such as one is whole up and down, and only in storage box trailing flank, there are void spaces.
So far, by with upper-part construction height in 155cm to the humanoid shape robot between 165cm, wheeled vehicle
Bottom can Omni-mobile walking, head speech microphone module can be with external communication.
Two, one-to-one navigation
One-to-one navigation module is made of machine station module and label model, and machine station module is installed on component end of waving backward
End, label model are worn in old man's left hand wrist.Base station module is by receiving the wireless signal ranging and meter that label model issues
Angle is calculated, label model transmits signals to base station.
Base station module size: 76 × 42 × 3mm
Label model size: 12 × 29 × 2mm
Power supply: DC5V
Operating temperature: -20 degree are to 80 degree
Communication distance: 20 meters
Orientation angle: 120 degree
Accuracy: in unobstructed situation, 5 degree of angular error, range error 20cm.
Relativeness between old man and robot:
Component of waving backward is located at robot right arm position, and label model is worn in old man's left hand wrist.Old man's left hand
In swing process, distance is rendered as wavy curve between label model and machine station module, and peaks and troughs correspond to arms swing
Forward swing is put to preceding point and afterwards to rear point；Wavy curve, following provisions label mould is presented in distance between label model and machine station module
Present range between label model when distance is machine station module and arms swing forward swing to preceding between block and machine station module；When old
When human arm not swing, distance is rendered as broken line line segment between label model and machine station module.
(1) shoulder to shoulder walking, robot is on right side: as shown in Figure 3a, on spacious road, between old man and robot can or
Left or right is shoulder to shoulder.
(2) as shown in Figure 3b, robot walks on the right side of old man with old man shoulder to shoulder, the spacing of machine station module and label model
From in 70cm, between 110cm, machine station module and label model Angles Projections are 135 degree, 5 degree of deviation under rectangular system.
(3) walk shoulder to shoulder, robot is in left side: as shown in Figure 3c, robot walks on the left of old man with old man shoulder to shoulder, machine
Standing between module and label model, distance is in 70cm between 110cm, and machine station module and label model Angles Projections are in rectangular system
It is down 90 degree or so, 5 degree of deviation.
(4) front and back walking, old man are preceding, and robot is rear: as shown in Figure 3d, old man is preceding, and robot is in rear, Lao Renyu
Front and back walking between robot, distance is being greater than between 120cm between machine station module and label model, machine station module and label mould
Block Angles Projections are being 5 degree of deviation between 45 degree to 135 degree under rectangular system.
Two, obstacle is avoided
At wheeled vehicle bottom, cuboid upper side lays one according to 15 degree of intervals along leading flank, trailing flank, left side, right side
Branch IR evading obstacle sensors, robot lay 24 switching mode IR evading obstacle sensors, and IR evading obstacle sensors vision area range is
Along the sector of 15 degree of IR evading obstacle sensors center line left and right sides, 2 meters of radius；Within the scope of vision area it is unobstructed output be low level,
Block output high level；
Infrared obstacle avoidance module is made of 24 switching mode IR evading obstacle sensors and infrared main module forms, infrared main module
It is connect by serial data line with main control unit；
24 switching mode IR evading obstacle sensors data transmitting message coding rules are as follows: wheeled vehicle bottom cuboid is along front side
Face, right side, trailing flank, left side arranged clockwise, 0 number is leading flank IR evading obstacle sensors placed in the middle.
During old man leads robot ambulation, old man is blocked in one vision area range formation of IR evading obstacle sensors,
When walking robot at right side, block vision area and appear in wheeled vehicle bottom cuboid left side and front left by old man shoulder to shoulder
Side；
When walking robot at left side, block vision area and appear in wheeled vehicle bottom cuboid right side and front right by old man shoulder to shoulder
Side；
When blocking except vision area occur old man and block in IR evading obstacle sensors, front and back walking is switched to from walking shoulder to shoulder.
There is right lateral road as shown in Figure 3b to block；
There is left lateral road as shown in Figure 3c to block；
Occur left lateral and right lateral road as shown in Figure 3d while blocking.
Such as Fig. 3 a and Fig. 3 e, only there is old man and block vision area in IR evading obstacle sensors.
Three, robot ambulation
As shown in Fig. 2, robot main control unit is robot core component.
Main control unit is industrial control computer, and configuration WIFI module, 4G module, multiloop be serial and USB interface, is supported
TCP IP communication；
Machine station module is connect by serial data line with main control unit, and infrared main module is by passing through serial data line and master
Unit connection is controlled, wheeled vehicle bottom motor driver is connect by serial data line with main control unit.
The wearing that main control unit harvester station module uploads calculates mark in the label model data of old man's left hand wrist in real time
Sign the distance between module and base station module and angle；
Main control unit acquires the state for 24 switching mode IR evading obstacle sensors that infrared main module uploads, and forms robot
Wheeled vehicle bottom surrounding obstacle real time information；
Main control unit assigns instruction to wheeled vehicle bottom motor driver by serial data line, manipulates wheeled vehicle bottom omnidirectional tune
Whole angle and walking rhythm.
It is old because unsurmountable obstacle always appears on street as shown in Fig. 3 a, 3b, 3c, 3d, 3e
People and the robot mutual alignment relation in the walking process of street are continually changing.
As shown in figure 4, main control unit is as follows according to following measures Manipulation of the machine people's wheeled vehicle bottom:
(1) acquisition infrared obstacle avoidance left side, front, right side (240 degree of arcs) obstacle real-time status；
(2) when being walked shoulder to shoulder when without any obstacle between robot and old man, continuation is walked shoulder to shoulder；
(3) when obstacle occurs in walking shoulder to shoulder between robot and old man, front and back walking is switched to from walking shoulder to shoulder；
(4) on the left of street in the walking process of front and back, when positive, right side is accessible；From front and back, walking is switched back into goes shoulder to shoulder
It walks；
In handoff procedure, if last walking shoulder to shoulder be robot the right side of old man shoulder to shoulder, be preferably switched to machine
People the left side of old man shoulder to shoulder；
If last walking shoulder to shoulder be robot the left side of old man shoulder to shoulder, be preferably switched to robot on the right side of old man
Shoulder to shoulder；
(5) in walking process shoulder to shoulder, on the left of street, when front, right side are accessible, keep at a distance and angle it is constant with after
Continuation of insurance is held walks shoulder to shoulder；
The distance refers to distance between label model and machine station module, and range is in 70cm between 120cm；
The angle is label model and machine station module position relationship projects under OXY rectangular coordinate system the angle between OX axis,
Robot on the right side of old man shoulder to shoulder when, which is 145 degree, error be 5 degree；Robot on the left of old man shoulder to shoulder when, the angle
It is 90 degree, error is 5 degree；
(6) in the walking process of front and back, street continue present obstacle when, keep at a distance and angular range it is constant under conditions of
Obstacle is avoided to continue to move ahead to follow old man；The holding angular range is constant to refer to that label model and machine station module position relationship are thrown
Angle is mapped under OXY rectangular coordinate system between OX axis between 30 degree to 160 degree.
(7) when label model shuts down, robot is resident to be stopped；
(8) position projects to OXY rectangular coordinate system between label model and machine station module, when the negative axis of label model and mark
When distance is less than 10cm between label module and machine station module, robot is resident to be stopped.
Four, robot manipulates storage box
Storage tank be long 30cm between 40cm, wide 30cm between 40cm, high 40cm between 50cm in six faces cube
Body；Wherein five facades are to close installation, and upper vertical face sides edge is contacted between with six face cubes as laying electromagnetism item；Storage tank
Four angles of lower facade are fixedly mounted on wheeled vehicle bottom cuboid upper side.
Main control unit output loop is connect with electromagnetism electric power loop；Main control unit output loop high level then connects electromagnetism
Electric power loop makes vertical face sides mutually attracted to be laid with electromagnetism item between along contact with six face cubes, reaches locking and stores up
Object case effect；Main control unit output loop low level then cuts off electromagnetism electric power loop and makes vertical face sides edge and six face cubes
Contact discharges mutually between to be laid with electromagnetism item, manually arbitrarily pulls open or closes facade on storage tank, reach placement object
Product are taken article effect to storage tank or from storage tank.
When label model shutdown, robot main control unit output loop exports high level；When label model and machine station mould
When block distance is less than 10cm, robot main control unit output loop exports low level.
Five, it chats between speech cloud AI server support old man and robot
Domestic and international renowned company such as Microsoft, Google, Baidu, Iflytek provide third party's speech cloud AI platform, such is flat
Platform includes at least two major functions: one is carrying out identification in real time to the voice document that client uploads to form text file；
The second is setting question and answer, answer, chat resources bank, constantly accumulate client's information and utilize comprehensive resources library, return dialogic voice
File is to client.
As shown in figure 5, robot main control unit of the present invention is wireless by WIFI module, 4G module and speech cloud AI server
Data connection.
Robot, in registration speech cloud AI server registration, becomes speech cloud AI server clients by main control unit.
During robot ambulation, robot passes through main control unit automated log on speech cloud AI server and keeps online chain
It connects；
Main control unit is arranged dedicated thread and uploads from microphone module real-time recording file to speech cloud AI server,
Main control unit is arranged another line and plays the dialogic voice that port plays the passback of speech cloud AI server by voice
File.
Seven, robot is resident, waits, walking flow path switch figure
Start and close key is arranged in label model.
As shown in figure 4, when label model shutdown, no matter robot be in where, robot is immediately switched to resident stops
By state.
When robot returns at home, when zebra stripes road is crossed by robot, when old man does shopping into shop, fringe tree bark closes label
Module.
Robot is in during resident resting state, and main control unit locks storage box, closing and speech cloud AI server
Wireless data connection.
When fringe tree bark leads robot to go out, old man wears label model and opens label model starting key.
When old man crosses zebra stripes road, old man first press label model shutdown key, old man then alone one run to
Intermediate buffering region directly runs to road opposite side；Old man presses label model starting key again, and robot draws in label model
It leads down and voluntarily passes through zebra stripes road；
When old man's preparation is done shopping into supermarket shop food market, in solution space old man by label model shutdown key, machine
Device people, which is then resident, stops the place until detecting label model data；When old man's wrist label model directly contacts machine station module
Label model starting key is opened, at this point, main control unit discharges storage box electromagnetism item, but main control unit continues to keep resident stop
State, to allow old man to place article to storage box.
Although preferred implementation of the invention is described above in conjunction with attached drawing, the invention is not limited to above-mentioned
Specific embodiment, above-mentioned specific embodiment be only illustrate, be not restrictive, the ordinary skill of this field
Personnel are under inspiration of the invention, without breaking away from the scope protected by the purposes and claims of the present invention, can also do
Many forms out, these all fall within the protection scope of the present invention.
Claims (8)
1. a kind of robot for accompanying the walking of the elderly open air, including
Fuselage, for total height in 155cm between 165cm, head, portion of handing in hand is fixedly mounted in four support frames respectively from top to down
Part, component of waving backward, storage tank, wheeled vehicle bottom；
Head is made ellipsoid for plastic foam material, and speech microphone module is fixedly mounted inside ellipsoid；
It hands in hand component, to be turned under curved fixed arm, handing in hand component in conjunction with supporting fuselage skeleton；
Wave backward component, be length 40cm between 50cm, radius 3cm between 5cm between supporting fuselage frame
90 degree of light plastic foam object column members vertically combined are fixed in formation backward, and component ends of waving backward installation is one-to-one to be led
The machine station module of model plane block；
Storage tank, for long 30cm between 40cm, wide 30cm between 40cm, high 40cm between 50cm in six face cubes；
Wherein five facades are to close installation, and upper vertical face sides edge is contacted between with six face cubes as laying electromagnetism item；
Wheeled vehicle bottom is made of four Mecanum wheels, motor driver, car bodies；Car body is length and width 40cm between 50cm, high
20cm is to cuboid between 30cm, and car body inner circumferential configures 4 fixed holes so that storage box is fixedly mounted, and surrounding configures outside car body
4 fixed holes are to be fixedly mounted four support frames of fuselage；
Speech cloud AI server is third party AI platform, receives the voice document of client's upload, identify and returned to language in time
Sound file is to client；
It is characterized in that, it further include one-to-one navigation module, it is component ends of waving backward, wheeled vehicle bottom motor driver, red
Outer obstacle avoidance module, main control unit, speech microphone module,
A pair of navigation module is made of machine station module with label model, and machine station module is installed on the component of waving backward
End, label model are worn in the elderly's left finesse；
The wheeled vehicle bottom motor drive outputs mouth is connect with Mecanum wheel, and wheeled vehicle bottom motor driver passes through
Serial data line is connect with the main control unit；
Machine station module is connect by serial data line with the main control unit；
The speech microphone module is made of microphone acquisition module and speech player, and the speech microphone module is fixed
It is installed on the head,
The microphone acquisition module is connect by serial data line with the main control unit；
The infrared obstacle avoidance module is made of 24 switching mode IR evading obstacle sensors and infrared main module；
The IR evading obstacle sensors are fixedly installed in the car body surrounding upper edge at the wheeled vehicle bottom；The infrared main module is logical
It crosses and is connect by serial data line with the main control unit；
The main control unit is industrial control computer, and configuration WIFI module, 4G module, multiloop be serial and USB interface, is supported
TCP IP communication；
The main control unit and speech cloud AI server are wirelessly connected；
The main control unit output loop is connect with the storage box electromagnetism circuit；
The main control unit voice plays port and connect with the speech player of speech microphone module；
The main control unit is configured to perform the following operations:
After completing speech cloud AI server registration, acquisition microphone module voice document is uploaded to speech cloud AI server,
The dialogic voice file that port plays the passback of speech cloud AI server is played by voice；
The distance between label model and base station module and angle are calculated in real time, are acquired infrared main module upload data in real time and are formed
Robot wheeled vehicle bottom surrounding obstacle real-time status passes through serial number according to the distance and angle, surrounding obstacle real-time status
It assigns and is instructed to wheeled vehicle bottom motor driver according to line, manipulate wheeled vehicle bottom between walking shoulder to shoulder, front and back walking, resident stop
Switching.
2. accompanying the robot of old man open air walking according to claim 1, it is characterised in that: 24 switching modes are infrared
Obstacle avoidance sensor is according to 15 degree of interval layouts at wheeled vehicle bottom cuboid upper side edge.
3. according to claim 1 accompany the walking of old man open air robot, it is characterised in that: it is described shoulder to shoulder walking measure be
Keep the distance and angle constant, which refers to distance between label model and machine station module, and range is in 70cm to 120cm
Between；The angle is label model and machine station module position relationship projects under OXY rectangular coordinate system angle, machine between OX axis
Device people on the right side of old man shoulder to shoulder when, which is 145 degree, error be 5 degree；Robot on the left of old man shoulder to shoulder when, which is
90 degree, error is 5 degree.
4. accompanying the robot of old man open air walking according to claim 1, it is characterised in that: front and back walking measure is
It keeps at a distance and angular range is constant, which refers to distance between label model and machine station module, and range is in 130cm or more；
The angle refers to that label model and machine station module position relationship project under OXY rectangular coordinate system angle, the angle between OX axis
It spends range to refer between 30 degree to 160 degree, 5 degree of error.
5. accompanying the robot of old man open air walking according to claim 1, it is characterised in that: the wheeled vehicle bottom is shoulder to shoulder
Walking, front and back walk, switch measure between resident stop are as follows:
(1) when being walked shoulder to shoulder when without any obstacle between robot and old man, continuation is walked shoulder to shoulder；
(2) when obstacle occurs in walking shoulder to shoulder between robot and old man, front and back walking is switched to from walking shoulder to shoulder；
(3) on the left of street in the walking process of front and back, when positive, right side is accessible；From front and back, walking is switched back into walks shoulder to shoulder；
(4) as 10cm between label model shutdown and label model and machine station module, robot is resident to be stopped.
6. accompanying the robot of old man open air walking according to claim 1, it is characterised in that: the label model configuration is opened
Organ's machine key.
7. accompanying the robot of old man open air walking according to claim 1, it is characterised in that: the main control unit exports back
Road high level then connects electromagnetism electric power loop；Main control unit output loop low level then cuts off electromagnetism electric power loop.
8. according to claim 1 or 6 or 7 robots for accompanying the walking of old man open air, it is characterised in that: the robot master
Unit output loop is controlled when label model shuts down, exports high level；It is less than 10cm in label model and machine station module distance
When, export low level.
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