CN110281245A - A kind of desktop small scale robot and its control method based on movable pedestal - Google Patents
A kind of desktop small scale robot and its control method based on movable pedestal Download PDFInfo
- Publication number
- CN110281245A CN110281245A CN201910440174.2A CN201910440174A CN110281245A CN 110281245 A CN110281245 A CN 110281245A CN 201910440174 A CN201910440174 A CN 201910440174A CN 110281245 A CN110281245 A CN 110281245A
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- China
- Prior art keywords
- robot
- instruction
- small scale
- desktop
- desktop small
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention belongs to field of artificial intelligence, disclose a kind of desktop small scale robot and its control method based on movable pedestal, robot is received to be instructed from extraneous phonetic order, the end APP, the instruction received is transformed into the bottom instruction that chassis machine idler wheel can identify, control robot advances, retreats and turns to；Robot is parsed by the infrared induction module that robot, periphery, chassis is installed in advance, retrogressing, steering procedure and identifies whether robot travel route is in desktop edge；Robot travel route is controlled by voice, long-range app.The present invention is able to drive camera and obtains visual angle of finding a view in wider scope, it realizes and mobile control is carried out to desktop machine people by phonetic order and APP instruction, it has been lower than tens times of market mobile robot of price, realize partial movement function, it makes table-top machine people more lively, user is made to be easier to receive.
Description
Technical field
The invention belongs to field of artificial intelligence more particularly to a kind of desktop small scale robots based on movable pedestal
And its control method.
Background technique
Currently, the immediate prior art in the industry:
Small table robot is many kinds of on the market, is mostly used for the fields such as educating, seek advice from before platform, part supports camera to turn
It is dynamic, but most of desktop machine people can not move.
In order to effectively improve finding a view for robot, the method for much all taking camera to rotate is taken the photograph by rotation
As head improves robot viewfinder range.
Rotating camera rotational steps suffer from technical restriction, and the place for there is barrier to block, Wu Fayou
Effect is found a view.
In the prior art, the angular field of view checked by robot is limited.Although current most of desktop machine people camera shootings
Head is all rotatable, or even 360 degree rotation is supported still to fix for fear of position, can not be obtained in wider scope by camera
Visual angle.
For supporting also to be only capable of room where being limited to robot by the robot of infrared control household electrical appliance, control range
Electric appliance.It is fixed on the table for education humanoid robot, in prolonged situation, the attention of child can not be attracted.
In conclusion problem of the existing technology is:
(1) the rotating camera rotational steps of existing small table robot suffer from technical restriction, and for there is barrier
Hinder the place that object blocks, can not effectively find a view.
(2) by infrared control household electrical appliance, control range is also only capable of the electric appliance in room where being limited to robot, controls model
It encloses small.
Solve the difficulty of above-mentioned technical problem:
Although current most of desktop machine people cameras are all rotatable, or even support 360 degree rotation, it is solid for fear of position
It is fixed, the visual angle in wider scope can not be obtained by camera.
Solve the meaning of above-mentioned technical problem:
Only make desktop machine people that there is moveable function, camera could be driven to obtain the view of finding a view in wider scope
Angle could allow table-top machine people more lively, and user is made to be easier to receive.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of desktop small scale robot based on movable pedestal
And its control method.
The invention is realized in this way a kind of control method of the desktop small scale robot based on movable pedestal, described
The control method of desktop small scale robot based on movable pedestal includes:
Robot is received to be instructed from extraneous phonetic order, the end APP, and the instruction received is transformed into chassis machine idler wheel energy
The bottom instruction enough identified, control robot advance, retreat and turn to；
Robot parses and knows in advance, retrogressing, steering procedure, through the infrared induction module that robot, periphery, chassis is installed
Whether other robot travel route is in desktop edge；
Robot travel route is controlled by voice, long-range app.
Further, the electrical equipment of infrared induction module includes infrared remote control sensor and indoor support infrared induction without
Line connection, controls robot travel route.
Further, instruction conversion.
(1) phonetic order is converted:
After built-in microphone receives phonetic order, audio-frequency information is transported to audio-frequency information conversion module, passes through audio-frequency information
Plug-in unit is converted, audio is converted, text information is converted into.
According to the text information of conversion, the relevant instruction of fuzzy matching into instruction database chooses instruction configuration degree most
High.After the completion of configuration, the instruction that calculating center can identify is formed.
(2) long-range APP instruction conversion.
Long-range APP instruction conversion, according to the network transmission protocol (http), is received and is set from outside by network module
Standby request, and parsing module is called to parse external request, the instruction that the result after parsing is led in instruction database is carried out
It compares, selects the consistent instruction of comparison result.
(3) mobile (advance, retreat, left/right rotation):
Robot drives idler wheel to realize movement by two groups of motor positive and inverses of inside chassis.Four groups in total of ro-bot movement instruction
(advance, retreat, turning left, turning right).According to the executable instruction of receiving and two groups of motors, secondary parsing is carried out to instruction.
Another object of the present invention is to provide the desktop small scale robots described in a kind of implementation based on movable pedestal
The control system of the desktop small scale robot based on movable pedestal of control method, the desktop based on movable pedestal are small
The control system of humanoid robot includes:
Instruction identification control module is received for robot and is instructed from extraneous phonetic order, the end APP, the finger that will be received
It enables and is transformed into the bottom instruction that chassis machine idler wheel can identify, control robot advances, retreats and turns to；
Infrared induction module is installed red for robot in advance, retrogressing, steering procedure by robot, periphery, chassis
Outer induction module parses and identifies whether robot travel route is in desktop edge；
Speech recognition module receives long-range app instruction for connecting by voice with long-range app.
The Internet module, for instruction identification control module, infrared induction module, speech recognition module with long-range app
Carry out instruction transmission.
Another object of the present invention is to provide a kind of desktop small scale robot based on movable pedestal, is provided with
Shell；
The housing bottom is screwed there are two mobile base, and two mobile base Basolaterals are embedded with a drive
Driving wheel, each driving wheel passes through shaft respectively and two driving motors of enclosure interior connect, embedding on the inside of mobile base bottom end
There are two support wheels for dress；
Shell front lower end is embedded with touch display screen, is embedded with camera on the upside of touch display screen, enclosure interior passes through
Screw is fixed with wifi signal transmission device, battery and single-chip microcontroller；
Hull outside is embedded with microphone and infrared signal transmitter, and microphone and infrared signal transmitter are and single-chip microcontroller
Electrical connection.
Further, housing bottom periphery is embedded with multiple infrared sensors, infrared sensor and monolithic mechatronics.
Further, shell front is embedded with multiple function buttons, multiple function buttons and monolithic mechatronics.
Order test result:
In conclusion advantages of the present invention and good effect are as follows:
The present invention has added mobile chassis and infrared remote control sensor on the basis of existing desktop machine people, so that tabletop machine
Device people has moveable function, is able to drive camera and obtains visual angle of finding a view in wider scope, realizes and referred to by voice
It enables and APP instruction carries out mobile control to desktop machine people, be lower than tens times of market mobile robot of price, realized portion
Divide locomotive function, make table-top machine people more lively, user is made to be easier to receive.
The present invention can judge whether to have been moved to desktop edge when moving by the infrared sensor of bottom, anti-to stop dropping
Fall damage.
By function button control can be adjusted to the various functions of robot in the present invention.
The present invention is applied to the short-distance movement of desktop small scale robot, steering, the judgement of desktop edge, obstacle recognition.
Detailed description of the invention
Fig. 1 is the desktop small scale robot structural schematic diagram provided in an embodiment of the present invention based on movable pedestal；
In figure: 1, shell；2, mobile base；3, touch display screen；4, driving wheel；5, support wheel；6, camera；7, function is pressed
Key.
Fig. 2 is the control method process of the desktop small scale robot provided in an embodiment of the present invention based on movable pedestal
Figure.
Fig. 3 is instruction transfer principle figure provided in an embodiment of the present invention.
Fig. 4 is long-range APP instruction transition diagram provided in an embodiment of the present invention.
Fig. 5 is advancement commands schematic diagram provided in an embodiment of the present invention.
Fig. 6 is retrogressing instruction schematic diagram provided in an embodiment of the present invention.
Fig. 7 is right-hand rotation instruction schematic diagram provided in an embodiment of the present invention.
Fig. 8 is single chip circuit figure provided in an embodiment of the present invention.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
The rotating camera rotational steps of existing small table robot suffer from technical restriction, and for there is barrier
Hinder the place that object blocks, can not effectively find a view.By infrared control household electrical appliance, control range is also only capable of being limited to where robot
The electric appliance in room, control range are small.
To solve the above problems, tying specific attached drawing below, the present invention is described in detail.
As shown in Figure 1, the desktop small scale robot provided in an embodiment of the present invention based on movable pedestal include: shell 1,
Mobile base 2, touch display screen 3, driving wheel 4, support wheel 5, camera 6, function button 7.
1 bottom end of shell is screwed there are two mobile base 2, and two 2 Basolaterals of mobile base are embedded with one
A driving wheel 4, each driving wheel 4 are connect by shaft with two driving motors inside shell 1 respectively, 2 bottom end of mobile base
Inside is embedded, and there are two support wheels 5；The positive lower end of shell 1 is embedded with touch display screen 3, is embedded on the upside of touch display screen 3
Camera 6 has been screwed wifi signal transmission device, battery and single-chip microcontroller inside shell 1.Hull outside is embedded with wheat
Gram wind and infrared signal transmitter, microphone and infrared signal transmitter with monolithic mechatronics.
Preferably, 1 bottom periphery of shell is embedded with multiple infrared sensors, infrared sensor and monolithic mechatronics.
Preferably, 1 front of shell is embedded with multiple function buttons 7, multiple function buttons and monolithic mechatronics, function
Key includes: SOS button, volume-down keys, volume increase key, record key.
As shown in Fig. 2, the control method of the desktop small scale robot provided in an embodiment of the present invention based on movable pedestal
Include:
S101, robot is received to be instructed from extraneous phonetic order, the end APP, and the instruction received is transformed into chassis machine
The bottom instruction that idler wheel can identify, control robot advance, retreat and turn to.
S102, robot pass through the infrared induction mould of robot, periphery, chassis installation in advance, retrogressing, steering procedure
Block parses and identifies whether robot travel route is in desktop edge.
S103 controls robot travel route by voice, long-range app.
The electrical equipment of infrared remote control sensor and indoor support infrared induction that infrared induction module includes is wirelessly connected,
Robot travel route is controlled.
The control system that the present invention provides a kind of desktop small scale robot based on movable pedestal includes:
Instruction identification control module is received for robot and is instructed from extraneous phonetic order, the end APP, the finger that will be received
It enables and is transformed into the bottom instruction that chassis machine idler wheel can identify, control robot advances, retreats and turns to；
Infrared induction module is installed red for robot in advance, retrogressing, steering procedure by robot, periphery, chassis
Outer induction module parses and identifies whether robot travel route is in desktop edge；
Speech recognition module receives long-range app instruction for connecting by voice with long-range app.
The Internet module, for instruction identification control module, infrared induction module, speech recognition module with long-range app
Carry out instruction transmission.
In embodiments of the present invention, the movement of robot is only used for support machine mainly by two wheels in left and right, other idler wheels
The balance of device people.
It moves forward: the two groups of idler wheel motors in left and right being called to rotate in the forward direction simultaneously.
It moves backward: calling the counter-rotating simultaneously of two groups of left and right idler wheel motor.
Turn left: left side idler wheel being called to reverse, right-hand roller rotates in the forward direction.
It turns right: right-hand roller being called to reverse, left side idler wheel rotates in the forward direction.
In embodiments of the present invention, by by intelligence desktop robot combination mechanical rollers, periphery infrared induction module into
Row combines, and by the identification and network savvy of robot voice, realizes and controls robot short distance by voice, long-range app
It is mobile.The product has added mobile chassis and infrared remote control sensor on the basis of existing desktop machine people.APP can be passed through
Remote control robot is moved, and is closed and is opened each room in family and support infrared electrical equipment.
In embodiments of the present invention, instruction conversion: such as Fig. 3.It specifically includes:
(1) phonetic order is converted:
After built-in microphone receives phonetic order, audio-frequency information is transported to audio-frequency information conversion module, passes through audio-frequency information
Plug-in unit is converted, audio is converted, text information is converted into.
According to the text information of conversion, the relevant instruction of fuzzy matching into instruction database chooses instruction configuration degree most
High.After the completion of configuration, the instruction that calculating center can identify is formed.
(2) long-range APP instruction conversion, as shown in Figure 4.
Long-range APP instruction conversion, according to the network transmission protocol (http), is received and is set from outside by network module
Standby request, and parsing module is called to parse external request, the instruction that the result after parsing is led in instruction database is carried out
It compares, selects the consistent instruction of comparison result.
(3) mobile (advance, retreat, left/right rotation).
Robot drives idler wheel to realize movement by two groups of motor positive and inverses of inside chassis.Ro-bot movement instruction in total four
Group (advances, retreats, turning left, turning right).According to the executable instruction of receiving and two groups of motors, secondary parsing is carried out to instruction.
Advancement commands: as shown in Figure 5.
Instruction is retreated, as shown in Figure 6.
It turns right and instructs, as shown in Figure 7.
Single chip circuit figure: as shown in Figure 8.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (6)
1. a kind of control method of the desktop small scale robot based on movable pedestal, which is characterized in that described based on removable
The control method of the desktop small scale robot of pedestal includes:
Robot is received to be instructed from extraneous phonetic order, the end APP, and the instruction received is transformed into chassis machine idler wheel energy
The bottom instruction enough identified, control robot advance, retreat and turn to；
Robot parses and knows in advance, retrogressing, steering procedure, through the infrared induction module that robot, periphery, chassis is installed
Whether other robot travel route is in desktop edge；
Robot travel route is controlled by voice, long-range app.
2. the control method of the desktop small scale robot based on movable pedestal as described in claim 1, which is characterized in that infrared
The electrical equipment of infrared remote control sensor and indoor support infrared induction that induction module includes is wirelessly connected, and is travelled to robot
Route is controlled.
3. it is a kind of implement claim 1 described in the desktop small scale robot based on movable pedestal control method based on removable
The control system of the desktop small scale robot of dynamic pedestal, which is characterized in that the desktop small machines based on movable pedestal
The control system of people includes:
Instruction identification control module is received for robot and is instructed from extraneous phonetic order, the end APP, the finger that will be received
It enables and is transformed into the bottom instruction that chassis machine idler wheel can identify, control robot advances, retreats and turns to；
Infrared induction module is installed red for robot in advance, retrogressing, steering procedure by robot, periphery, chassis
Outer induction module parses and identifies whether robot travel route is in desktop edge；
Speech recognition module receives long-range app instruction for connecting by voice with long-range app；
The Internet module is carried out with long-range app for instruction identification control module, infrared induction module, speech recognition module
Instruction transmission.
4. it is a kind of implement claim 1 described in the desktop small scale robot based on movable pedestal control method based on removable
The desktop small scale robot of dynamic pedestal, which is characterized in that the desktop small scale robot based on movable pedestal is provided with
Shell；
The housing bottom is screwed there are two mobile base, and two mobile base Basolaterals are embedded with a drive
Driving wheel, each driving wheel passes through shaft respectively and two driving motors of enclosure interior connect, embedding on the inside of mobile base bottom end
There are two support wheels for dress；
Shell front lower end is embedded with touch display screen, is embedded with camera on the upside of touch display screen, enclosure interior passes through
Screw is fixed with wifi signal transmission device, battery and single-chip microcontroller；
Hull outside is embedded with microphone and infrared signal transmitter, and microphone and infrared signal transmitter are and single-chip microcontroller
Electrical connection.
5. the desktop small scale robot based on movable pedestal as claimed in claim 4, which is characterized in that housing bottom periphery
Embedded with multiple infrared sensors, infrared sensor and monolithic mechatronics.
6. the desktop small scale robot based on movable pedestal as claimed in claim 4, which is characterized in that shell front is embedded in
There are multiple function buttons, multiple function buttons and monolithic mechatronics.
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| CN201910440174.2A CN110281245A (en) | 2019-05-24 | 2019-05-24 | A kind of desktop small scale robot and its control method based on movable pedestal |
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| CN201910440174.2A CN110281245A (en) | 2019-05-24 | 2019-05-24 | A kind of desktop small scale robot and its control method based on movable pedestal |
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| CN110281245A true CN110281245A (en) | 2019-09-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024041151A1 (en) * | 2022-08-20 | 2024-02-29 | 腾讯科技（深圳）有限公司 | Movement control method for mobile robot, and mobile robot |
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