CN109129501A - A kind of company formula Intelligent household central control robot - Google Patents
A kind of company formula Intelligent household central control robot Download PDFInfo
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- CN109129501A CN109129501A CN201810989969.4A CN201810989969A CN109129501A CN 109129501 A CN109129501 A CN 109129501A CN 201810989969 A CN201810989969 A CN 201810989969A CN 109129501 A CN109129501 A CN 109129501A
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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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
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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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- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention discloses a kind of company formula Intelligent household central control robots, including body construction, control system, kinematic system and cloud platform, have expression interaction, interactive voice, home wiring control, four big functions of taking the initiative in offering a hand.Body construction is designed using multiple degrees of freedom as target, using independent mechanization component, the power traction of conveniently accessible steering engine；The realization of expression interaction issues instructions to Arduino by raspberry pie master control borad, and Arduino controls each mechanical component Union Movement of 15 steering engine pulling face portion, is combined into the natural expression such as pleasure, anger, sorrow, happiness；Raspberry pie master control borad and Arduino's is used cooperatively, and solves the problems, such as that master control borad communication interface is limited；Interactive voice is divided to natural-sounding dialogue and instruction voice to talk with two classes to realize by raspberry pie master control borad, it is ensured that the sensitivity of the former vividness and the latter.The present invention realizes company formula house keeper and active service function, solves limitation and deficiency of the existing Intelligent household central control product in interactive mode, function and cost.
Description
Technical field
The invention belongs to the multi-crossed disciplines such as artificial intelligence, robot, smart home, Internet of Things, big data, cloud computing
A kind of research frontier, and in particular to company formula Intelligent household central control robot.
Background technique
The internet of today is strided forward from " everybody is connected " to " object object is connected ", i.e., is connected by all things on earth, is penetrated into
Each industry, industry internet is ready to appear, also implies that all trades and professions such as manufacture, medical treatment, agricultural, traffic, transport, education all
Networking will be interconnected within 20 years in future, the efficiency of industry, agricultural and service trade will be greatly improved in this, pulls the growth of GDP.All things on earth
Being connected is realized by internet and sensor, and three main trend of microminiaturization, mobile and consumerization is just being presented in the development of hardware,
Various sensing equipments can not only be made very small, very cheap, can also be with oneself with walking, these small equipment can be provided to
On the various objects in the whole world, including machine, electric appliance, human body, animal, plant etc., they collect the status number of these targets
According to, then data are exchanged with each other by wireless network and other objects, form the generation of one " all things on earth is all networked, do not calculated nowhere "
Boundary.
And in all things on earth Internet age, smart home is the key that the following Internet of Things growth, and all things on earth is led to interconnect the new era
Arrival.Statistical data shows that global smart home market scale was at 2017 up to 64,000,000,000 dollars, it is contemplated that annual at present to maintain
About 8,000,000,000 dollars of speedup, world market scale is up to 71,000,000,000 dollars within 2018.Chinese smart home market scale 2017 reaches
14800000000 dollars, it is contemplated that explosive growth is presented in the coming years, and speedup is up to 225 up to 50% or so, 2018 year market scale
Hundred million dollars, the year two thousand twenty is up to 180,000,000,000 dollars.Chinese smart home market is increasingly becoming global smart home market and increases center of gravity,
Global smart home specific gravity is accounted for be expected to promote 31% by 2018 from 11% in 2014.With more adding for technology of Internet of things
The raising that kind and universal and people require quality of the life, it is contemplated that the coming years, China's smart home industry market scale are in
What is revealed is the trend of rapid growth.The year two thousand twenty is expected, Chinese smart home industry market scale will be more than 357,600,000,000 yuan.
Smart home field is always maintained at good development momentum, especially currently with artificial intelligence, robot, big number
It is combined according to technical fields such as, cloud computings, implies that the whole world and domestic smart home industry will have bigger market in future and advise
Mould.
Wherein, Intelligent household central control product is the hinge connect, manage, controlling each intelligent appliance and owner's life, is intelligence
The core of energy household ecological chain.Existing Intelligent household central control product substantially experienced three generations's development course.First generation mid-product
Using cell phone application or wechat public platform as representative, operating software is needed in use process, interactive mode is needed using mobile phone as medium,
It is inconvenient not lively, it is difficult to realize the company of old user group；Second generation mid-product belongs to list using intelligent sound box as representative
Pure interactive voice mode, without lively naturally expression interaction, and its voice is also based only on fixed dictionary keyword
The dialogue matched, it is more inflexible to exchange；Third generation mid-product is artificially represented with house keeper's machine, and most of house keeper robot is using electricity
The interactive mode that son screen and voice combine, but price and its valuableness, also without the mankind the same natural expression and movement, only
It is an ice-cold machine carrier, interaction is not still insufficient lively.
In conclusion existing Intelligent household central control product has one in interactive mode, function and compatibility on the market
Fixed deficiency.Control need to be by mobile phone in APP type, and control lacks lively naturally expression interaction in intelligent sound box, in robotic
Control price and its valuableness.Therefore, studying a kind of company formula Intelligent household central control robot with nature expression has important meaning
Justice.
Summary of the invention
It is an object of the invention to Intelligent household central control product on the market at present there are aiming at the problem that, provide one kind
Company formula Intelligent household central control robot, may be implemented company formula house keeper and active service function, solve existing on the market
Limitation and deficiency of the Intelligent household central control product in interactive mode, function and cost.
What the present invention is realised by adopting the following technical scheme:
A kind of company formula Intelligent household central control robot, including body construction, control system and kinematic system；Body construction
Using independent mechanization component, conveniently accessible power traction, including be installed together according to humanoid pedestal, neck, under
Bar, lip, nose, eyes, eyebrow, face and hindbrain；Control system includes raspberry pie master control borad and Arduino；Kinematic system
Including 15 steering engines；Wherein,
Pedestal is using horizontal " T " shape structure extremely, including pedestal front panel, with pedestal front panel pedestal left side connected vertically
Plate and pedestal right side plate, are arranged in the impact faces plate at top, and are provided with the connecting hole of impact faces plate；
Neck includes neck pedestal, left double leval jib, right double leval jib, and with neck pedestal neck left support connected vertically
With neck right support；Connecting hole runs through neck pedestal, and neck is connected with pedestal by connecting hole, and is equipped with the in connection hole
Nine steering engines simulate head shaking movement for controlling the rotation of neck horizontal direction；Left double leval jib one end and neck left support are hinged,
The other end is hinged with face, and right double leval jib one end and neck right support are hinged, and the other end is hinged with face, by neck left support
7th steering engine is installed, is driven by left double leval jib；The 8th steering engine is installed in neck right support symmetric position, is connected by the right side four
Bar transmission, the 7th steering engine and the 8th steering engine are used to control the rotation of neck vertical direction, simulate nodding action；
Chin is connected with neck by rivet, and the 5th steering engine and the 6th steering engine are separately installed at left and right sides of chin, is led to
The rotation for crossing the 5th steering engine and the 6th steering engine controls the folding of lip；
Lip is connected with chin by rivet, and the 14th steering engine and the 15th rudder are separately installed at left and right sides of lip
Machine controls the shape of the mouth as one speaks that lip realizes a variety of patterns by the rotation of the 14th steering engine and the 15th steering engine；
Nose is connected by rivet with face, is in four prism type outstanding；
Eyes are presented by the upper recessing of face, include left eye ball, right eye ball, left lower lid,eye, upper left eyelid, bottom right eye
Eyelid and right upper eyelid；Utilize the rotation of third steering engine and the 13rd steering engine control left eye ball upper and lower, left and right four direction；
Utilize the rotation of the 4th steering engine and the 12nd steering engine control right eye ball upper and lower, left and right four direction；It is controlled using the second steering engine
Left lower lid,eye, the folding of upper left eyelid；Right lower lid,eye, the folding of right upper eyelid are controlled using the first steering engine；
Eyebrow is connected by rivet with face, controls the movement of both sides eyebrow with the tenth steering engine and the 11st steering engine respectively,
Eyebrow is driven to rotate together by the rotation of the tenth steering engine and the 11st steering engine；
Face passes through glued Nian Jie with hindbrain.
A further improvement of the present invention lies in that the length of pedestal and wide respectively 360mm and 200mm.
A further improvement of the present invention lies in that being issued instructions to when carrying out expression interaction by raspberry pie master control borad
It is executed on Arduino, Arduino controls each mechanical component Union Movement of 15 steering engine pulling face portion, is combined into pleasure, anger, sorrow, happiness
Natural expression.
A further improvement of the present invention lies in that dividing interactive voice to natural-sounding dialogue and function by raspberry pie master control borad
Two class of voice dialogue is realized, it is ensured that the sensitivity of the former vividness and the latter；Wherein, natural-sounding conversation portion: access
Turing machine device people API makes robot identify chat-type keyword from the speech of owner, and then by scheming clever chat robots
Lively speech exchange and emotion is carried out to accompany；Instruction voice part: access Baidu AI open platform makes robot from owner's
Command type keyword is identified in speech, is used for home wiring control.
A further improvement of the present invention lies in that after robot recognizes command type keyword, being sent when carrying out home wiring control
To cloud topic, household electrical appliances monitor the variation of current topic for instruction；If the data after variation are to realize specified opening/closing instruction,
Then execute corresponding operating.
A further improvement of the present invention lies in that further including cloud platform, collected by cloud platform, analysis, fusion owner's body
After state and living habit, household electrical appliances working condition much information, predicted, and then active push service.
The present invention has following beneficial technical effect:
A kind of company formula Intelligent household central control robot provided by the invention, proposes company formula house keeper and active service
New concept defines following 10 years Intelligent household central control products.Wherein, mechanical structure body design is using multiple degrees of freedom as mesh
Pedestal, neck, chin, lip, nose, eyes, eyebrow are designed to mechanization structure by mark, conveniently accessible power traction, simultaneously
Using customization aspect.The design of pedestal can reduce volume while guaranteeing to stablize, keep beautiful.Raspberry pie master control borad and
Arduino's is used cooperatively, and solves the problems, such as that master control borad communication interface is limited.The realization of natural expression passes through raspberry pie master control
Plate issues instructions to Arduino, and Arduino controls each mechanical component Union Movement of 15 steering engine pulling face portion, be combined into happiness,
The abundant lively natural expression such as anger, sorrow, pleasure, realizes emotion and company in life.Raspberry pie master control borad and Arduino's matches
It closes and uses, solve the problems, such as that master control borad communication interface is limited.
Further, it is divided to two classes to realize interactive voice by raspberry pie master control borad, it is ensured that natural-sounding exchanges lively
The sensitivity of property and function speech exchange.Wherein, natural-sounding conversation portion: access Turing machine device people API makes robot from master
Chat-type keyword is identified in the speech of people, and then is carried out lively speech exchange by the clever chat robots of figure and accompanied with emotion
Companion.Command type phonological component: access Baidu AI open platform makes robot identify command type key from the speech of owner
Word is used for home wiring control.
Further, when carrying out home wiring control, after robot recognizes command type keyword, cloud topic is sent a command to,
Household electrical appliances monitor the variation of current topic.If the data after variation are to realize specified opening/closing instruction, corresponding operating is executed.
Further, a variety of by cloud platform collection, analysis, fusion owner's physical condition, household electrical appliances situation and living habit etc.
It after information, can be predicted, do active service push, be allowed to really intelligence.
In conclusion the present invention, which not only has, enriches lively natural expression, also the speech recognition with high-accuracy and
Dialogue, the Intelligent housing scheme with efficient and sensible.Moreover, the present invention can gradually grasp owner's living habit, quasi-
Really needed for prediction owner life, active service push is done, there is intelligence truly, human lives can not only be assisted,
Emotion is also able to achieve to accompany and care about.The present invention solve on the market existing Intelligent household central control product in interactive mode, function
It can be with the limitation and deficiency in cost.
Detailed description of the invention
Fig. 1 is the left side Facad structure figure of company formula Intelligent household central control robot of the present invention；
Fig. 2 is the right side Facad structure figure of company formula Intelligent household central control robot of the present invention；
Fig. 3 is the left side backside structure figure of company formula Intelligent household central control robot of the present invention；
Fig. 4 is the right side backside structure figure of company formula Intelligent household central control robot of the present invention.
In figure: 1, pedestal, 2, neck, 3, lip, 4, chin, 5, nose, 6, eyes, 7, eyebrow, 8, face, 9, hindbrain,
A, raspberry pie master control borad, B, Arduino, C, cloud platform；101, pedestal front panel, 102, pedestal left plate, 103, pedestal right side
Plate, 104, impact faces plate, 105, connecting hole, 201, neck pedestal, 202, neck left support, 203, neck right support, 204,
Left double leval jib, 205, right double leval jib, 601, left eye ball, 602, right eye ball, 603, left lower lid,eye, 604, upper left eyelid, 605, the right side
Palpebra inferior, 606, right upper eyelid, D1-D15 are respectively the first steering engine to the 15th steering engine.
Specific embodiment
To keep the purpose of the present invention, technical solution and advantage more clear, with reference to the accompanying drawing to structure of the invention,
Principle, experimentation and result are described further.
As shown in Figures 1 to 4, a kind of company formula Intelligent household central control robot provided by the invention, including basic machine
Structure, control system, kinematic system and cloud platform C.Wherein, basic machine structure include pedestal 1, neck 2, chin 3, lip 4,
Nose 5, eyes 6, eyebrow 7, face 8 and hindbrain 9；Control system includes raspberry pie master control borad A, ArduinoB；Kinematic system packet
Include the first steering engine D1 to the 15th steering engine D15.
Wherein, pedestal 1 uses horizontal "T"-shaped, long and wide respectively 360mm and 200mm extremely.Pedestal 1 includes before pedestal
The pedestal at top is arranged in the pedestal left plate 102 connected vertically of pedestal front panel 101 and pedestal right side plate 103 in plate 101
Top panel 104, and it is provided with the connecting hole 105 of impact faces plate 104.The design of pedestal 1 can be while guaranteeing to stablize
It reduces volume, keep beautiful；
Neck 2 includes neck pedestal 201, left double leval jib 204, right double leval jib 205, and vertical with neck pedestal 201 is connected
The neck left support 202 and neck right support 203 connect；Connecting hole 105 runs through neck pedestal 201, and neck 2 and pedestal 1 pass through company
It connects hole 105 to be connected, and the 9th steering engine D9 is installed at connecting hole 105, for controlling the rotation of 2 horizontal direction of neck, simulation is shaken
Head movement；7th steering engine D7 is installed by neck left support 202, is driven by left double leval jib 204；It is right in neck right support 203
Claim position that the 8th steering engine D8 is installed, is driven by right double leval jib 205.7th steering engine D7 and the 8th steering engine D8 control neck 2 is vertical
Nodding action is simulated in the rotation in direction.
Chin 3 is connected with neck 2 by rivet, and the 5th steering engine D5 and the 6th steering engine are installed in the left and right sides of chin 3 respectively
D6 controls the folding of lip 4 by the rotation of the 5th steering engine D5 and the 6th steering engine D6.
Lip 4 is connected with chin 3 by rivet, and the 14th steering engine D14 and the 15th is installed in the left and right sides of lip 4 respectively
Steering engine D15 controls the shape of the mouth as one speaks that lip 4 realizes a variety of patterns by the rotation of the 14th steering engine D14 and the 15th steering engine D15.
Nose 5 is connected by rivet with face 8, is in four prism type outstanding.
Eyes 6 are presented by recessing on face 8, contain left eye ball 601, right eye ball 602, left lower lid,eye 603, upper left
Eyelid 604, right lower lid,eye 605, right upper eyelid 606.Using third steering engine D3 and the 13rd steering engine D13 control left eye ball 601 on,
Under, the rotation of left and right four direction；602 upper and lower, left and right of right eye ball are controlled using the 4th steering engine D4 and the 12nd steering engine D12
The rotation of four direction；Left lower lid,eye 603, the folding of upper left eyelid 604 are controlled using the second steering engine D2；Utilize the first steering engine D1
Control right lower lid,eye 605, the folding of right upper eyelid 606.
Eyebrow 7 is connected by rivet with face 8, controls both sides eyebrow with the tenth steering engine D10 and the 11st steering engine D11 respectively
7 movement drives eyebrow to rotate together by the rotation of the tenth steering engine D10 and the 11st steering engine D11；Face 8 is logical with hindbrain 9
Cross glued bonding.
In order to realize company formula house keeper and active service, a kind of company formula Intelligent household central control machine provided by the invention
People has expression interaction, interactive voice, home wiring control and four big functions of taking the initiative in offering a hand.
The realization of expression interaction issues instructions to ArduinoB by raspberry pie master control borad A, and ArduinoB controls 15 rudders
Each mechanical component Union Movement of machine travel face is combined into the natural expression such as pleasure, anger, sorrow, happiness.Raspberry pie master control borad A and
ArduinoB's is used cooperatively, and solves the problems, such as that master control borad communication interface is limited.
Interactive voice is divided to natural-sounding dialogue and instruction voice to talk with the realization of two classes by raspberry pie master control borad A, it is ensured that
The sensitivity of the former vividness and the latter.Wherein, natural-sounding conversation portion: access Turing machine device people API, make robot from
Chat-type keyword is identified in the speech of owner, and then carries out lively speech exchange and emotion by scheming clever chat robots
It accompanies.Instruction voice part: access Baidu AI open platform makes robot identify command type key from the speech of owner
Word is used for home wiring control.
Home wiring control part is realized by cloud communications protocol, after robot recognizes command type keyword, sends instruction
To cloud topic, household electrical appliances monitor the variation of current topic.If the data after variation are to realize specified opening/closing instruction, hold
Row corresponding operating.
Function of taking the initiative in offering a hand collects dependent on cloud platform C, analysis, merges owner's physical condition and living habit, family electrician
Make the much informations such as situation, and then predicted, do active Push Service, really intelligence is got up.
Specific implementation method of the invention is described in conjunction with attached drawing above, but these explanations cannot be understood to limit
The scope of the present invention, protection scope of the present invention are limited by appended claims, any in the claims in the present invention base
Change on plinth is all protection scope of the present invention.
Claims (6)
1. a kind of company formula Intelligent household central control robot, which is characterized in that including body construction, control system and kinetic system
System；Body construction uses independent mechanization component, conveniently accessible power traction, including the base being installed together according to humanoid
Seat (1), neck (2), chin (3), lip (4), nose (5), eyes (6), eyebrow (7), facial (8) and hindbrain (9)；Control system
System includes raspberry pie master control borad (A) and Arduino (B)；Kinematic system includes 15 steering engines；Wherein,
Pedestal (1) is vertical with pedestal front panel (101) to connect using horizontal " T " shape structure extremely, including pedestal front panel (101)
Pedestal left plate (102) and pedestal right side plate (103), the impact faces plate (104) at top is set, and is provided with pedestal
The connecting hole (105) of top panel (104)；
Neck (2) includes neck pedestal (201), left double leval jib (204), right double leval jib (205), and with neck pedestal (201)
Neck left support (202) connected vertically and neck right support (203)；Connecting hole (105) runs through neck pedestal (201), neck
(2) it is connected with pedestal (1) by connecting hole (105), and the 9th steering engine (D9) is installed at connecting hole (105), for controls
Head shaking movement is simulated in the rotation of neck (2) horizontal direction；Left double leval jib (204) one end and neck left support (202) hingedly, separately
One end and facial (8) hingedly, right double leval jib (205) one end and neck right support (203) hingedly, the other end and facial (8) hingedly,
The 7th steering engine (D7) is installed by neck left support (202), is driven by left double leval jib (204)；In neck right support (203)
Symmetric position is equipped with the 8th steering engine (D8), is driven by right double leval jib (205), and the 7th steering engine (D7) and the 8th steering engine (D8) are used
In the rotation of control neck (2) vertical direction, nodding action is simulated；
Chin (3) is connected with neck (2) by rivet, and the 5th steering engine (D5) and are separately installed at left and right sides of chin (3)
Six steering engines (D6) control the folding of lip (4) by the rotation of the 5th steering engine (D5) and the 6th steering engine (D6)；
Lip (4) is connected with chin (3) by rivet, be separately installed at left and right sides of lip (4) the 14th steering engine (D14) and
It is more to control lip (4) realization by the rotation of the 14th steering engine (D14) and the 15th steering engine (D15) for 15th steering engine (D15)
The shape of the mouth as one speaks of kind pattern；
Nose (5) is connected by rivet with facial (8), is in four prism type outstanding；
Eyes (6) pass through recessing on facial (8) and present, and include left eye ball (601), right eye ball (602), left lower lid,eye (603),
Upper left eyelid (604), right lower lid,eye (605) and right upper eyelid (606)；Utilize third steering engine (D3) and the 13rd steering engine
(D13) rotation of left eye ball (601) upper and lower, left and right four direction is controlled；Utilize the 4th steering engine (D4) and the 12nd steering engine
(D12) rotation of right eye ball (602) upper and lower, left and right four direction is controlled；Left lower lid,eye is controlled using the second steering engine (D2)
(603), the folding of upper left eyelid (604)；Right lower lid,eye (605) are controlled using the first steering engine (D1), right upper eyelid (606) are opened
It closes；
Eyebrow (7) is connected by rivet with facial (8), controls both sides with the tenth steering engine (D10) and the 11st steering engine (D11) respectively
The movement of eyebrow (7) drives eyebrow to rotate together by the rotation of the tenth steering engine (D10) and the 11st steering engine (D11)；
Facial (8) pass through glued Nian Jie with hindbrain (9).
2. a kind of company formula Intelligent household central control robot according to claim 1, which is characterized in that the length of pedestal (1)
It is respectively 360mm and 200mm with width.
3. a kind of company formula Intelligent household central control robot according to claim 1, which is characterized in that carrying out expression friendship
It when mutual, issued instructions on Arduino (B) and is executed by raspberry pie master control borad (A), Arduino (B) controls 15 steering engine tractions
Each mechanical component Union Movement of face, is combined into the natural expression of pleasure, anger, sorrow, happiness.
4. a kind of company formula Intelligent household central control robot according to claim 1, which is characterized in that pass through raspberry pie master
Interactive voice is divided to natural-sounding dialogue and two class of function voice dialogue to realize by control plate (A), it is ensured that the former vividness is with after
The sensitivity of person；Wherein, natural-sounding conversation portion: access Turing machine device people API identifies robot from the speech of owner
Chat-type keyword out, and then lively speech exchange and emotion company are carried out by scheming clever chat robots；Instruction voice portion
Point: access Baidu AI open platform makes robot identify command type keyword from the speech of owner, is used for home wiring control.
5. a kind of company formula Intelligent household central control robot according to claim 4, which is characterized in that carry out home wiring control
When, after robot recognizes command type keyword, cloud topic is sent a command to, household electrical appliances monitor the variation of current topic；If
Data after variation are to realize specified opening/closing instruction, then execute corresponding operating.
6. a kind of company formula Intelligent household central control robot according to claim 5, which is characterized in that further include cloud platform
(C), it is collected by cloud platform (C), after analysis, fusion owner's physical condition and living habit, household electrical appliances working condition much information,
It is predicted, and then active push service.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110680686A (en) * | 2019-11-06 | 2020-01-14 | 青岛港湾职业技术学院 | Intelligent voice blind guiding system based on AI open platform and use method |
| WO2020155619A1 (en) * | 2019-01-28 | 2020-08-06 | 平安科技（深圳）有限公司 | Method and apparatus for chatting with machine with sentiment, computer device and storage medium |
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| CN106041963A (en) * | 2016-08-12 | 2016-10-26 | 欢乐飞（上海）机器人有限责任公司 | Intelligent robot head system and operation method thereof |
| CN206946267U (en) * | 2017-07-31 | 2018-01-30 | 天津农学院 | Intelligent mirror man-machine interactive system based on artificial intelligence |
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| WO2020155619A1 (en) * | 2019-01-28 | 2020-08-06 | 平安科技（深圳）有限公司 | Method and apparatus for chatting with machine with sentiment, computer device and storage medium |
| CN110680686A (en) * | 2019-11-06 | 2020-01-14 | 青岛港湾职业技术学院 | Intelligent voice blind guiding system based on AI open platform and use method |
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