CN109093633A - A kind of detachable robot and its control method - Google Patents
A kind of detachable robot and its control method Download PDFInfo
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- CN109093633A CN109093633A CN201811300965.7A CN201811300965A CN109093633A CN 109093633 A CN109093633 A CN 109093633A CN 201811300965 A CN201811300965 A CN 201811300965A CN 109093633 A CN109093633 A CN 109093633A
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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
- B25J13/00—Controls for manipulators
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The invention discloses a kind of detachable robot and its control method, main part is a small scale robot, has vision, the functions such as interactive voice and certain limbs mechanical action function, but is not directly provided with the mobile function of walking.Matched is a mobile base, though pedestal does not have powerful computing unit and complicated calculations function, itself is equipped with infrared, the sensors such as ultrasound, it can detect the environment such as various obstacles, edge, can independently carry out the function of automatic obstacle-avoiding walking and planning memory route.After robot body and pedestal are combined together, the two shared information, in conjunction with computer vision information and sensor signal, the walking task of complicated intelligence can be completed, the small and exquisite of small-sized household robot is taken into account, it convenient for desktop use, and can achieve the function for the automated intelligent walking that the medium-and-large-sized machine talent has, robot made to have certain ability to act, reinforce function and usage experience, more scenes convenient for moving use.
Description
Technical field
The invention belongs to field in intelligent robotics, and in particular to a kind of detachable robot and its control method.
Background technique
The development of robot technology is scientific technological advance common one comprehensive as a result, for socio-economic development
Produce significant impact.Robot is the Mechatronic device with similar people's function, and typical classification has industrial robot, household
Robot, business machine people etc..Domestic robot, and it can be subdivided into housework robot (carrying, sweep the floor), robot of accompanying and attending to,
Amusement robot etc..It wherein accompanies and attends to, the robot of amusement type more focuses on the interaction of robot and people, so general with imitative
The shape of the mankind has voice, vision, the interactive means such as limb action.
Household small-size robot currently on the market, for the company learning robot of child's design, specific form is
Story machine, intelligent sound box, children education robot etc. are typically designed to desktop type, do not have the mobile ability of walking.This is
Because being limited to lesser outer dimension, and the scene mainly used in desktop, there are also the factors such as manufacturing cost.There is a small portion
The Functional Design for dividing high-end product to have head rotation.Once having walking ability (mostly wheeled rolling), then robot
60 centimetres are mostly breached, price is also upper rapidly to be visited to 5,000 yuan or more sections, the range beyond conventional household.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of detachable robot and its control method, solve
The big or immovable problem of domestic robot volume in the prior art.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of detachable robot, including intelligent robot terminal and mobile base, intelligent robot terminal and mobile base
It can work independently or group is combined into cooperation；Wherein,
Intelligent robot terminal has data acquisition module, identification module and the matched terminal interface of mobile base；Data
Acquisition module acquires vision, voice messaging；Identification module carries out human body, face according to the information of data collecting module collected
Identification；It include data communication interface and power interface with the matched terminal interface of mobile base, data communication interface is used
In carrying out data interchange with mobile base, power interface is used for the power supply of intelligent robot；
Mobile base has automatic identification module, locating module, hoofing part module, matched with intelligent robot terminal interface
Pedestal interface；Automatic identification module obstacle, marginal information for identification；Locating module is for where acquisition mobile base in real time
Position；Hoofing part module is walked according to the order-driven mobile base received；Pedestal interface includes data communication interface, fills
The data communication interface of electrical interface, data communication interface and intelligent robot connects, and realizes that data interchange, charging interface are intelligence
Robot provides power supply and charges.
Intelligent robot terminal includes robot body and control assembly, and robot body is gable structure, have head,
Body, head being capable of relative body rotations；Control assembly include the data acquisition device that head is set, intelligent display device,
The switching on and shutting down button of touch screen input unit and setting physically.
Data acquisition device includes ultrasonic sensor, camera, infrared sensor, microphone, loudspeaker；Intelligent display dress
It is set to the display screen that head front end is set；Touch screen input unit includes entree singly-bound, return key.
The body bottom of robot body has bayonet, data communication interface and the power interface being inwardly recessed.
Mobile base includes base body, the mobile device that base body bottom is arranged in, is arranged on base body top
Interface and the detection device of mobile base side is set.
The interface on base body top includes pedestal bayonet, data communication interface and the charging interface to raise upward, upwards
The pedestal bayonet of protrusion is for fixing intelligent robot terminal, and data communication interface is for realizing the number with intelligent robot terminal
According to intercommunication, charging interface provides power supply for intelligent robot terminal.
A kind of control method of detachable robot, includes the following steps:
Step 1 combines intelligent robot terminal and mobile base, carries out Initialize installation；
Step 2, intelligent robot terminal obtain voice, video information, after handling the information of acquisition, send out to mobile base
Movement instruction and driving instruction out；
Step 3, mobile base according to the movement instruction and driving instruction received, when intelligent robot terminal or mobile base not
When encountering obstacle, advance according to scheduled path to target point；
When step 4, mobile base encounter obstacle, planning path reaches target point again.
The Initialize installation includes the following steps:
Step 1-1, intelligent robot terminal saves current status information, and is stored；
Step 1-2, mobile base obtains the initial environment information of present position, and is stored；
Step 1-3, enter standby mode after the completion of the storage of step 1-1,1-2 information.
The specific implementation procedure of the step 3 is as follows:
It drives mobile base to advance towards target point, the real-time range of mobile base distance objective point is judged, when real-time range is small
When preset first distance threshold value, linearly slow down the speed of mobile base；When real-time range reaches preset second distance threshold
When value, mobile base stops.
The specific implementation procedure of the step 4 is as follows:
When mobile base encounters obstacle, avoidance process is executed, rerouting is close to target point, if it exceeds the number of setting
The path close to target point is still not found, then alert.
Compared with prior art, the invention has the following advantages:
1, split-type design proposed by the present invention has taken into account the small and exquisite of small-sized household robot, use convenient for desktop, Yi Jiyu
Child's interaction, and can achieve the function for the automated intelligent walking that the medium-and-large-sized machine talent has currently on the market, make robot
There is certain ability to act, reinforce function and usage experience, more scenes convenient for moving use.
2, when robot independently uses, child can easily take robot in one's arms, place it in desktop, on bed,
It is used on plate.Robot captures the orientation of user, expression, movement and user's interaction by camera, the equipment such as sound pick-up.
3, when pedestal independently uses, have automatic obstacle-avoiding walking function, encounter wall, the obstacles such as steep cliff can turn
It avoids.When low battery, the position of cradle and the charging of automatically moving over can be remembered.It being capable of intelligent planning route and memory
Route.
4, when both robot and pedestal combine, it is only necessary to as soon as by robot toward gently putting on pedestal, the two at
Function combines.Assembly has the visual information from robot camera at this time, the complaint message from pedestal sensor, by this
A little information carry out comprehensive processing operation, and in conjunction with the voice of user, cell phone application etc. controls information, abundant make may be implemented
With scene, such as " following me ".
5, Robot Design makes it have beautiful appearance and more friendly human-computer interaction function at gable structure.
Detailed description of the invention
Fig. 1 is the structure of the robot body of intelligent robot terminal of the present invention.
Fig. 2 is the structure of mobile base of the present invention.
Fig. 3 is that the present invention can seperated platform automatic obstacle-avoiding travelling control flow chart when combining.
Wherein, the mark in figure are as follows: 1- ultrasonic sensor；2- camera；3- boombox；4- infrared sensor；
5- microphone array；6- display screen；7- entree singly-bound；8- return key；9- machine shaft；10- switching on and shutting down button；11- driving wheel；
12- pedestal bayonet；13- data communication interface；14-USB Type-C charge port；The hanging detector of 15-；16- obstacle detector.
Specific embodiment
Structure and the course of work of the invention are described further with reference to the accompanying drawing.
The invention proposes a kind of novel detachable domestic robot plateform systems, and main part is a minicomputer
Device people has vision, the functions such as interactive voice and certain limbs mechanical action function, but is not directly provided with walking movement
Function.Matched is a mobile base, though pedestal does not have powerful computing unit and complicated calculations function, from
For body equipped with infrared, the sensors such as ultrasound can detect the environment such as various obstacles, edge, can independently carry out automatic obstacle-avoiding walking and
The function of planning memory route.After robot body and pedestal are combined together, the two shared information is regarded in conjunction with computer
Feel information and sensor signal, the walking task of complicated intelligence can be completed, for example, specific people's automatically walk is followed, from
Dynamic avoidance etc..
A kind of detachable robot, including intelligent robot terminal and mobile base, intelligent robot terminal and movement
Pedestal can work independently or group is combined into cooperation；Wherein,
Intelligent robot terminal has information acquisition module, identification module and the matched terminal interface of mobile base；Information
Acquisition module acquires vision, voice messaging；Identification module carries out human body, face according to the information that information acquisition module acquires
Identification；It include data communication interface and power interface with the matched terminal interface of mobile base, data communication interface is used
In carrying out data interchange with mobile base, power interface is used for the power supply of intelligent robot；
Mobile base has automatic identification module, locating module, hoofing part module, matched with intelligent robot terminal interface
Pedestal interface；Automatic identification module obstacle, marginal information for identification；Locating module is for where acquisition mobile base in real time
Position；Hoofing part module is walked according to the order-driven mobile base received；Pedestal interface includes data communication interface, fills
The data communication interface of electrical interface, data communication interface and intelligent robot connects, and realizes that data interchange, charging interface are intelligence
Robot provides power supply and charges.
Be discussed in detail below according to attached drawing this programme can seperated robot specific structure, specific embodiment, as Fig. 1,
Shown in Fig. 2,
A kind of detachable robot, including intelligent robot terminal and mobile base, intelligent robot terminal and mobile base
It can work independently or group is combined into cooperation；Wherein,
Intelligent robot terminal includes robot body and control assembly, and robot body is gable structure, has head, body
Body, head being capable of relative body rotations；Control assembly includes the data acquisition device, intelligent display device, touching that head is arranged in
Touch the switching on and shutting down button of screen input unit and setting physically.Data acquisition device include ultrasonic sensor 1, camera 2,
The loudspeaker of infrared sensor 4, microphone, loudspeaker, the embodiment uses boombox 3, is separately positioned on robot
The two sides of forehead, for playing corresponding sound；Microphone uses microphone array 5, is uniformly arranged under robot mouth
Side, for acquiring the voice messaging of external human body；The top of robot forehead is arranged in camera 2, for acquiring external ring
Border information；Intelligent display device is the display screen 6 that head front end is arranged in, and the middle part of robot forehead is arranged in display screen 6
Position；Touch screen input unit includes entree singly-bound 7 and return key 8, and infrared sensor 4, entree singly-bound 7 and return key 8 are set side by side
It sets at the mouth of robot；The neck part of robot is divided into machine shaft 9；Switching on and shutting down button is set in front of the body of robot
10；The body bottom of robot body has bayonet, data communication interface and the power interface being inwardly recessed.Data communication interface
For carrying out data interchange with mobile base, power interface is used for the power supply of intelligent robot.
Mobile base includes base body, the mobile device that base body bottom is arranged in, is arranged on base body top
Interface and the detection device of mobile base side is set, the interface includes that the pedestal bayonet 12 to raise upward, data are logical
Believe that charging is gone back while being had the function of to interface 13 and charging interface, data communication interface 13, is a versatile interface, charging interface
For USB Type-C charge port 14；The pedestal bayonet to raise upward is used for fixing intelligent robot terminal, data communication interface
In the data interchange of realization and intelligent robot terminal, charging interface provides power supply for intelligent robot terminal.
The detection device includes hanging detector 15 and obstacle detector 16.
The mobile device is the driving wheel 11 for being evenly distributed on base body bottom.The driving wheel 11 of the embodiment includes
Two power driving wheels and an auxiliary universal wheel.
Technical essential according to the present invention specifically includes that
1, applied to the sound in robot, the positioning of voice, detection and identification technology: by microphone array, orienting people
The orientation of sound.The voice and other ambient sounds of detection and identification people, identify the identity etc. of people.
2, applied to the computer vision technique on domestic robot: on mobile computing platform/embedding assembly platform
It realizes detection face, identifies the identity of people, detect human body, detect limb action, follow human body, identify place scene, wait calculating
Function.
3, applied to the mobile base platform of domestic robot, certain ability to act is needed to have, bear a heavy burden power, and has
Standby ultrasonic sensing, distance measurement, avoidance.Indoor positioning, route memory, the functions such as automatic path planning.
4, the mutual control and signal transmission between robot and mobile base.
5, the integration of user interaction functionality in robot computing platform: speech recognition, phonetic order, voice-enabled chat, audio-video point
It broadcasts, audio-video real time phone call and monitoring, the amusement towards children, educates, contents and the function such as habit culture.
6, the function that robot and mobile phone A pp pass through internet interactive.User parent can control machine by mobile phone
Amusement learning functionality etc. is called in people's walking, monitoring.
Central inventive point is as follows:
1) human body/face identification of visual information and voice messaging is combined in robot.(pass through sound preliminary judgement first
The azimuth-range of people, in conjunction with visual information to human body, face is identified, is accurately positioned).
2) the detachable robot platform of the automatic obstacle-avoiding based on robot base and intelligent path planning algorithm is whole
Body cooperation, the mutual phase control of robot and pedestal, in conjunction with visual information, the automatically walk of acoustic information and sensor signal is comprehensive
Algorithm and application.
3) robot system of split-type design: robot body has independent function, and pedestal also has standalone feature, group
There are more extension functions after closing, for example, user is followed to complete the phonetic orders such as amusement always.
In order to be further described this can seperated domestic robot concrete principle and application process, system control block figure is as schemed
Shown in 3, citing is illustrated below.
The detachable robot platform that the present invention is told about, is made of, two robot body and mobile base two large divisions
Person can be independently operated, and have respective function.When combined, can shared information, mutually control, realize complicated intelligence
Usage scenario.
Intelligent robot terminal:
For robot interior using an intelligent embedded system, which includes CPU, memory, network
Communication unit, very color touch display screen, camera, loudspeaker, microphone, GPS, the modules such as battery.
Robot has Face datection tracking technique, the specific implementation process is as follows:
When human-computer dialogue, the head of robot is controlled always towards user.According to the sound of microphone acquisition and take the photograph
The image information obtained as head identifies user's identity, gives personalized response and different people's interactions according to different identity
Have different modes, since robot has huge background data base system, and people, especially with child interaction
When, these functions of robot show personification and the intelligent characteristic of height.
Robot has sound, speech detection positioning function.Robotic equipment has the microphone that can detect sound source direction
Array is passed to the time difference of microphone array different units by sound, in conjunction with physical orientation, calculates the orientation of source of sound, together
When calculating analysis can be carried out to the type of sound, distinguish people's acoustic vocal and other ambient sounds, help discriminates whether that someone exists
Near robot.
Robot has natural-sounding interactive function.By robot built-in or cloud computing function, known by voice
Not, semantic understanding, speech synthesis, robot receive the phonetic order (such as " playing nursery rhymes ", " turning over ") of user, carry out
Voice-enabled chat and question and answer (such as " several points now " " why to wash one's hands before meals "), robot believes according to problem called data library
Breath, makes corresponding answer.
Robot has security monitoring function, is opened by monitoring personnel by mobile phone remote, or the ring as locating for robot
The certain condition triggerings in border are opened, to background service and the collected video/audio information of the real-time distribution of machine people of monitoring personnel mobile phone
With position location information.
Robot has intelligence and early teaches function, and the parent end software being fitted on smart phone passes through interconnection
Net background service is completed to cooperate.Parent arranges learning tasks, child and robot interactive to child by smart phone, complete
At learning tasks, parent can receive feedback information, check the Task Progress of child at any time, send table to child by this system
It raises and incentive message.Parent can also inquire the study situation of child's entirety, the data such as statistical analysis.Pass through this system, parent
The early education of child can more easily be participated in.Even if parent not child at one's side, can also be long-range and child's interaction,
Solution study situation, encourages child.For parent, early education becomes more efficiently, more interesting.
Robot is equipped with a set of happy interactive delight system.Robot and smart phone are communicated, exchange and interdynamic.Packet
Include real-time phonetic, picture, word message.Real-time voice-frequency telephony and video calling.
As adult has the equipment such as smart phone, children, which should also be as possessing, is specific to oneself, is suitble to the intelligence of oneself
Robot allows their happy interaction and parents together with parent to enjoy internet bring convenience and good life together.
Mobile base:
Mobile base is a disk moulding on the whole.There are two power driving wheel and an auxiliary universal wheels for tool.Pass through two
The identical or different rotation direction cooperation of driving wheel, to realize forward-reverse, turning rotates in place and waits move modes.
Mechanical pressure sensitivity detector, ultrasound distance probe is distributed in mobile base outer circumference.Bottom in the outer part, have
Hanging detector.When pedestal is when level ground or desktop mobile toward preset destination direction, if encountering metope,
Seat, the barriers such as human body, then can suspend, while scanning surrounding enviroment, find the least direction turning of most open barrier.
When bottom detector discovery ground has hanging, pause is moved, speed is reduced, detection periphery is attempted with a low-angle
Route, the hanging boundary in discovery ground, then adjust the angle and move on.
Mobile base can receive the control instruction of following classification: advancing, retreat, turning left, turning right, stopping is mobile, stops
Rotation.It moves forward and backward and is subdivided into support and fast forwards through/retreat and forward/backward at a slow speed.
When with the combination of robot host, robot can inquire the following status information of mobile base: current electric quantity is
It is no to charge, whether moving, moving speed speed, whether rotating, current operation angle.When mobile base trigger with
When lower event, also event notice actively will be issued to robot host: encounter obstacle, encounter hanging, plug-in, power-off, low battery
Automatic pathfinding is triggered to go back to charge；And some obstacle event of failure.
It is separated in mobile base with robot, pedestal independent operating state, pedestal relies on sensor itself, is accomplished that one
A relatively simple automatic obstacle-avoiding pathfinding runs into obstacle (or hanging) and just turns the small distance of certain angle walking one (generally
No more than machine local width), lasting walking until run into obstacle, and recycle again.And work as mobile base and robot body
In conjunction with when, cooperate more heat transfer agents such as camera in robot, can be run more by more powerful CPU operational capability
The algorithm of strength is simulated the form of thinking of National People's Congress's brain, is assisted mutually, by the data summarization of acquisition to robot arithmetic element, structure
Map between building, is positioned in real time, realizes more intelligent automatically walk and usage experience.
Mobile base is equipped with a cradle, is usually placed in some indoor fixation position.Mobile base, which can sense, fills
The orientation of electric seat, it is independently mobile towards the direction of cradle when self electric quantity deficiency, it, will in the process such as barrier
Avoidance is carried out using above-mentioned strategy.After cradle is arrived in success, moreover it is possible to the route of last, to be returned in next same place
Route planning speed is improved when charging.
The assembled state of robot and mobile base:
The bottom of robot and the top of mobile base, are provided with the magnetic-type contact to match, the bottom of robot have to
Interior recessed bayonet, the top of mobile base have the bayonet outwardly protruded, and two bayonets, which cooperate, to be connected, magnetic-type contact
It is arranged in bayonet.Robot only need to be gently placed on to mobile base surface, the two completes connection.
When the two is in bonding state, if robot electric quantity is lower than 80% and pedestal electricity is higher than 30%, mobile base will
For robot charging.If mobile base is sitting at by cradle in charged state, mobile base also will be for machine thereon
People's charging.
If you need to cancel the bonding state of the two, only robot need to gently be removed from mobile base.
Under bonding state, master control is robot.The signal of distance measurement sensor acquisition in mobile base will be real-time
Be transmitted to robot, auxiliary robot carries out autonomous.The visual signal of the camera acquisition of robot synthesis itself, and
The distance measurement signal that mobile base transmits, is calculated, and converts activity control signal (turning to, speed etc.) for result
And it is real-time transmitted to mobile base, and two driving wheels of pedestal are controlled, completes away, stops, the movement such as steering.
A kind of control method of detachable robot, intelligent robot terminal and mobile base are in assembled state, tool
Body controlling means include the following steps:
Step 1 combines intelligent robot terminal and mobile base, carries out Initialize installation；
Step 2, intelligent robot terminal obtain voice, video information, after handling the information of acquisition, send out to mobile base
Movement instruction and driving instruction out；
Step 3, mobile base according to the movement instruction and driving instruction received, when intelligent robot terminal or mobile base not
When encountering obstacle, advance according to scheduled path to target point；
When step 4, mobile base encounter obstacle, planning path reaches target point again.
With a typical intelligence action scene citing, the concrete operations of the control method are further described, for example,
Phonetic order " following me " is issued to robot, specific operating procedure is as follows:
Step 1 combines intelligent robot terminal and mobile base, carries out Initialize installation, wherein Initialize installation
Include:
Step 1-1, intelligent robot terminal saves current status information, and is stored；
Step 1-2, mobile base obtains the initial environment information of present position, and is stored；
Step 1-3, enter standby mode after the completion of the storage of step 1-1,1-2 information.
Step 2, intelligent robot terminal obtain voice, video information, after handling the information of acquisition, to mobile bottom
Seat issues movement instruction and driving instruction；
Step 2-1, phonetic order " following me " is issued to robot；
Step 2-2, intelligent robot terminal obtains " following me " phonetic order, and starting voice wake-up module parsing phonetic order is asked
It asks, and opens sound pick-up outfit and the voice messaging of " following me " is stored；
Step 2-3, intelligent robot terminal carries out speech recognition, semantic understanding to the voice messaging of storage, confirmation instruction for " with
With human body advance and automatic obstacle-avoiding "；
Step 2-4, intelligent robot terminal drives mobile base to rotate in place according to the orientation of sound location determination sounding, will
The orientation that robot head aligned instructions issue, and open camera；
Step 2-5, camera obtains the image information in the visual field, extracts the human body information in image, and judge size of human body, moves
The distance of distance measurement range detection sensor human body on dynamic pedestal；
Step 2-6, driving mobile base is advanced towards human body direction, and mobile base obtains ambient condition information, intelligent machine in real time
After device people terminal handles the information of acquisition, movement instruction and driving instruction are issued to mobile base；
Step 3, mobile base according to the movement instruction and driving instruction received, when intelligent robot terminal or mobile base not
When encountering obstacle, advance according to scheduled path to target point, the real-time range of real-time judge mobile base distance objective point, when
When real-time range is less than preset first distance threshold value, linearly slow down the speed of mobile base；When real-time range reaches preset
When second distance threshold value, mobile base stops；
When step 4, mobile base encounter obstacle, avoidance process is executed, rerouting is close to target point, if it exceeds setting
Number the path close to target point is still not found, then alert.
The first distance threshold value of the embodiment is set as apart from 50 centimetres of human body, and second distance threshold value is set as apart from human body
20 centimetres.
During advance, robot camera fails cognitive disorders object, but mobile base detects obstacle, such as stair
The hanging situation in the ground such as edge, can also trigger avoid-obstacle behavior.If repeatedly detection can not continue action and human body is also separate,
Robot will issue prompting message, and user, which can return, to be helped robot to surmount obstacles to be further continued for moving ahead.
Connection relationship, treating method between structure mounting means of the invention, component are merely possible to an example
Illustrate, must not believe that and only protect the scheme, it is all to split type robot application in the case where can be referring to this programme
Methods do various differentiation.
Those skilled in the art can make various modifications to described specific embodiment
Or supplement or be substituted in a similar manner, however, it does not deviate from the spirit of the invention or surmounts the appended claims determines
The range of justice.
Claims (10)
1. a kind of detachable robot, it is characterised in that: including intelligent robot terminal and mobile base, intelligent robot is whole
End and mobile base can work independently or group is combined into cooperation；Wherein,
Intelligent robot terminal has data acquisition module, identification module and the matched terminal interface of mobile base；Data
Acquisition module acquires vision, voice messaging；Identification module carries out human body, face according to the information of data collecting module collected
Identification；It include data communication interface and power interface with the matched terminal interface of mobile base, data communication interface is used
In carrying out data interchange with mobile base, power interface is used for the power supply of intelligent robot；
Mobile base has automatic identification module, locating module, hoofing part module, matched with intelligent robot terminal interface
Pedestal interface；Automatic identification module obstacle, marginal information for identification；Locating module is for where acquisition mobile base in real time
Position；Hoofing part module is walked according to the order-driven mobile base received；Pedestal interface includes data communication interface, fills
The data communication interface of electrical interface, data communication interface and intelligent robot connects, and realizes that data interchange, charging interface are intelligence
Robot provides power supply and charges.
2. detachable robot according to claim 1, it is characterised in that: intelligent robot terminal includes robot sheet
Body and control assembly, robot body are gable structure, have head, body, and head being capable of relative body rotation；Control assembly
Including the data acquisition device on head, intelligent display device, touch screen input unit and setting opening physically is arranged in
Power-off button.
3. detachable robot according to claim 2, it is characterised in that: data acquisition device includes ultrasonic sensing
Device, camera, infrared sensor, microphone, loudspeaker；Intelligent display device is the display screen that head front end is arranged in；It touches
Shielding input unit includes entree singly-bound, return key.
4. detachable robot according to claim 2, it is characterised in that: the body bottom of robot body have to
Interior recessed bayonet, data communication interface and power interface.
5. detachable robot according to claim 1, it is characterised in that: mobile base includes base body, setting
Base body bottom mobile device, the interface on base body top is set and mobile base side is set detection dress
It sets.
6. detachable robot according to claim 5, it is characterised in that: the interface on base body top includes upward
Pedestal bayonet, data communication interface and the charging interface of protrusion, the pedestal bayonet to raise upward is for fixing intelligent robot end
End, for data communication interface for realizing the data interchange with intelligent robot terminal, charging interface is that intelligent robot terminal mentions
Power supply source.
7. a kind of control method of detachable robot, it is characterised in that: including described in any one of claims 1 to 6
Intelligent robot terminal and mobile base, specific control method include the following steps:
Step 1 combines intelligent robot terminal and mobile base, carries out Initialize installation；
Step 2, intelligent robot terminal obtain voice, video information, after handling the information of acquisition, send out to mobile base
Movement instruction and driving instruction out；
Step 3, mobile base according to the movement instruction and driving instruction received, when intelligent robot terminal or mobile base not
When encountering obstacle, advance according to scheduled path to target point；
When step 4, mobile base encounter obstacle, planning path reaches target point again.
8. the control method of detachable robot according to claim 7, it is characterised in that: the Initialize installation packet
Include following steps:
Step 1-1, intelligent robot terminal saves current status information, and is stored；
Step 1-2, mobile base obtains the initial environment information of present position, and is stored；
Step 1-3, enter standby mode after the completion of the storage of step 1-1,1-2 information.
9. the control method of detachable robot according to claim 7, it is characterised in that: the step 3 it is specific
Implementation procedure is as follows:
It drives mobile base to advance towards target point, the real-time range of mobile base distance objective point is judged, when real-time range is small
When preset first distance threshold value, linearly slow down the speed of mobile base；When real-time range reaches preset second distance threshold
When value, mobile base stops.
10. the control method of detachable robot according to claim 7, it is characterised in that: the step 4 it is specific
Implementation procedure is as follows:
When mobile base encounters obstacle, avoidance process is executed, rerouting is close to target point, if it exceeds the number of setting
The path close to target point is still not found, then alert.
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Application publication date: 20181228 |