CN111067354A - Water dispenser and moving method and device thereof - Google Patents
Water dispenser and moving method and device thereof Download PDFInfo
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- CN111067354A CN111067354A CN201811222284.3A CN201811222284A CN111067354A CN 111067354 A CN111067354 A CN 111067354A CN 201811222284 A CN201811222284 A CN 201811222284A CN 111067354 A CN111067354 A CN 111067354A
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- water dispenser
- water
- target
- controlling
- moving
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
Abstract
The application provides a water dispenser and a moving method and a device thereof, wherein the method comprises the following steps: detecting a voice moving instruction sent by a target, carrying out sound source positioning on the voice moving instruction, and acquiring azimuth information of the target; controlling the water dispenser to move to the direction of the target according to the direction information of the target; in the process that the water dispenser moves to the direction of the target, the water dispenser is controlled to collect images, and the water dispenser is controlled to stop moving after the target appears in the collected images, so that the water dispenser is effectively convenient for users to take water, the water taking time of the users is saved, and the intelligent degree of the water dispenser is improved.
Description
Technical Field
The invention relates to the technical field of water dispensers, in particular to a water dispenser and a moving method and device thereof.
Background
The water dispenser is a device which heats or cools barreled purified water (or mineral water and the like) and is convenient for people to drink, and at present, the water dispenser is widely applied in daily life of people, but the existing water dispenser only can stay at an initial placement position, and when a user is inconvenient to move, the operation of taking water is difficult.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the first objective of the present invention is to provide a moving method of a water dispenser, which controls the movement and stop of the water dispenser through voice moving instructions and image acquisition, so that the water dispenser can move according to the user's requirements.
The second purpose of the invention is to provide a moving device of the water dispenser.
The third purpose of the invention is to provide a water dispenser.
A fourth object of the invention is to propose an electronic device.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a moving method of a water dispenser, including the following steps: detecting a voice moving instruction sent by a target, carrying out sound source positioning on the voice moving instruction, and acquiring azimuth information of the target; controlling the water dispenser to move to the direction of the target according to the direction information of the target; and controlling the water dispenser to collect images in the process that the water dispenser moves to the direction of the target, and controlling the water dispenser to stop moving after the target appears in the collected images.
According to an embodiment of the present invention, the controlling the water dispenser to stop moving after the target appears in the collected image includes: recognizing the gesture of the target in the image, and controlling the water dispenser to stop moving if the gesture indicates that the target currently faces the water dispenser; and if the posture indicates that the target is back to the water dispenser currently, adjusting the running direction of the water dispenser, and controlling the water dispenser to continue running around the target until the target faces the water dispenser, controlling the water dispenser to stop moving.
According to one embodiment of the invention, the control of the water dispenser to stop moving comprises the following steps: and controlling the water dispenser to detect the distance between the water dispenser and the target, and controlling the water dispenser to stop moving if the distance reaches a preset distance threshold.
According to an embodiment of the invention, after controlling the water dispenser to stop moving, the method further comprises the following steps: acquiring an environment image of the environment where the target is located; identifying a blank area without obstacles from the environment image as an optimal drinking water position; controlling the water dispenser to move to the optimal drinking position again, and guiding the target to move along with the target in the moving process.
According to an embodiment of the invention, the method for moving the water dispenser further comprises the following steps: in the moving process of the water dispenser, controlling an obstacle detector on the water dispenser to detect obstacles, and if the obstacles are detected, controlling the water dispenser to carry out obstacle avoidance driving; and after the water dispenser avoids the obstacle, controlling the water dispenser to return to the driving route and the driving direction before the obstacle avoidance to move continuously.
According to an embodiment of the invention, the method for moving the water dispenser further comprises the following steps: receiving a wake-up instruction, and controlling at least one drinking water mode to be displayed on a display screen of the water dispenser; wherein the working modes comprise a customized drinking mode and at least one default drinking mode; receiving a first instruction for selecting a drinking mode, and controlling the water dispenser to enter a selected target drinking mode according to the first instruction; and controlling the water dispenser to execute the work flow of the target drinking mode.
According to an embodiment of the invention, the method for moving the water dispenser further comprises the following steps: and when the display screen displays, controlling the water dispenser to acquire the display form of the display screen according to the content to be displayed, and controlling the display screen to display according to the display form.
According to an embodiment of the present invention, when the target drinking water mode is the customized drinking water mode, the controlling the water dispenser to execute the workflow of the target drinking water mode includes: controlling a customizable drinking function to be displayed on a display screen of the water dispenser; and receiving a second instruction of selecting the drinking water function, and controlling the water dispenser to enter a work sub-process matched with the selected target drinking water function according to the second instruction.
According to an embodiment of the present invention, when the target drinking water function is a brewing type drinking water function, the controlling the water dispenser to enter a sub-process matched with the selected target drinking water function includes: displaying prompt information for adding the brewing object to a user; weighing and displaying the weight of the brewing object added by the user; receiving the concentration information of the beverage input by the user, and acquiring recommended water quantity according to the weight and the concentration information; and detecting a water outlet instruction input by the user, controlling water outlet according to the water outlet instruction, stopping water outlet after the water outlet amount reaches the recommended water amount, and displaying the optimal drinking time.
According to an embodiment of the present invention, when the target drinking water mode is the default drinking water mode, the controlling the water dispenser to execute the workflow of the target drinking water mode includes: and detecting a water outlet instruction input by the user, controlling water outlet according to the water outlet instruction, and controlling the water dispenser to stop water outlet after detecting the water outlet stopping instruction.
According to an embodiment of the invention, the method for moving the water dispenser further comprises the following steps: controlling to send out a prompt message of putting the cup and controlling an atmosphere lamp on the cup placing part to flicker; and/or; in the water outlet process, controlling an atmosphere lamp on the cup placing part to be turned on, and after the water outlet is finished, controlling the atmosphere lamp to be turned off or to flicker; controlling the cup to rise and sending out a prompt message for taking away the cup.
According to an embodiment of the invention, the method for moving the water dispenser further comprises the following steps: and when the cup is detected to be taken away, controlling the water dispenser to display an ending picture on the display screen.
According to the moving method of the water dispenser, the sound source is positioned through the voice command sent by the target, the azimuth information of the target is obtained, then the water dispenser is controlled to move to the azimuth of the target, the water dispenser is controlled to carry out image acquisition in the moving process of the water dispenser, and the water dispenser is controlled to stop moving according to the image information. Therefore, the method of the embodiment of the invention can combine the voice positioning function and the image acquisition function, so that the water dispenser can realize the functions of target searching, self-moving and automatic stopping, thereby effectively facilitating the user to take water, saving the water taking time of the user and improving the intelligent degree of the water dispenser.
In order to achieve the above object, a second embodiment of the present invention provides a moving device of a water dispenser, including: the method comprises the following steps: the sound source positioning module is used for detecting a voice moving instruction sent by a target, carrying out sound source positioning on the voice moving instruction and acquiring azimuth information of the target; the moving module is used for controlling the water dispenser to move to the direction of the target according to the direction information of the target; and the image control module is used for controlling the water dispenser to acquire images in the moving process of the water dispenser and controlling the water dispenser to stop moving after the target appears in the acquired images.
In order to achieve the above object, a third embodiment of the present invention provides a water dispenser, including: the moving device of the water dispenser.
To achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory so as to realize the moving method of the water dispenser.
In order to achieve the above object, a fifth embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program realizes the moving method of the water dispenser when being executed by a processor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a moving method of a water dispenser according to a first embodiment of the present invention;
fig. 2 is a flowchart of a moving method of a water dispenser according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for moving a water dispenser according to another embodiment of the present invention;
fig. 4 is a flow chart of a method for moving a water dispenser according to another embodiment of the invention;
fig. 5 is a flowchart of a moving method of a water dispenser according to still another embodiment of the present invention;
fig. 6 is a flowchart of a control method of a water dispenser according to a second embodiment of the present invention;
FIG. 7 is a flow chart of the control operation of the water dispenser in the second embodiment of the present invention;
FIG. 8 is a flow chart illustrating the operation of the water dispenser customization mode according to the second embodiment of the present invention;
FIG. 9 is a flow chart illustrating the operation of the default drinking mode of the water dispenser according to the second embodiment of the present invention;
FIG. 10 is a block diagram of a control device of the water dispenser in an embodiment of the present invention;
FIG. 11 is a block diagram of another control device for a water dispenser in accordance with an embodiment of the present invention;
fig. 12 is a block schematic diagram of a water dispenser in an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Example one
A water dispenser, a moving method thereof, and a device thereof according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a moving method of a water dispenser according to an embodiment of the present invention. As shown in fig. 1, the moving method of the water dispenser according to the embodiment of the present invention includes the following steps:
s101: and detecting a voice moving instruction sent by the target, carrying out sound source positioning on the voice moving instruction, and acquiring the azimuth information of the target.
It should be noted that a microphone array may be disposed on the water dispenser, wherein the microphone array includes a plurality of microphones, and further, the microphone array on the water dispenser may also be a plurality of microphones. The target can be a user who sends a voice movement instruction, that is, the user can send voice movement instructions such as "water dispenser", "drinking water", and the like, and after the water dispenser detects the voice movement instruction which is matched with the semantic library stored on the water dispenser, the water dispenser carries out sound source positioning on the voice movement instruction, so that the direction information of the target, that is, the positioning information of the target is obtained.
It should be understood that the direction information of the target should be updated in real time according to the sound source location during the process that the water dispenser moves towards the target.
Specifically, as shown in fig. 2, step S101 may specifically include the following steps:
s201: and acquiring a first moment of the voice movement instruction detected by each microphone, and taking the first moment of the reference microphone as a reference moment.
S202: and acquiring time delay between the first time of the rest microphones and the reference time, and determining the azimuth information of the target according to the time delay.
It should be understood that under the same environment, the transmission time of the sound is related to the distance, so that the current direction of the water dispenser can be determined according to the time delay of the plurality of microphones in the microphone array for receiving the voice movement instruction. For example, when the target is located at the east side of the water dispenser, the east side microphone in the microphone array receives the voice movement instruction earlier than the west side microphone, so the direction information of the target can be determined according to the time delay of the plurality of microphones in the microphone array.
Specifically, a reference microphone may be set in the microphone array, and preferably, a microphone at a center position of the microphone array may be selected as the reference microphone, an initial time at which each microphone in the microphone array detects the voice movement instruction is set as a first time at which each microphone detects the voice instruction, wherein the first time at which the reference microphone detects the voice instruction is set as the reference time, and then the azimuth information of the target is determined according to a time delay between the first time of each microphone and the reference time. It should be understood that the time delay may be a positive number or a negative number, for example, when the target is located at the east side of the microphone array and the reference microphone is located at the center of the microphone array, the first time instant acquired by the microphone at the east side of the microphone array is earlier than the reference time instant, at this time, the time delays of the first time instant of the part of the microphones and the reference time instant may be a negative time delay, and the time delays of the first time instant of the rest of the microphones and the reference time instant may be a positive time delay. Further, the bearing information of the target is determined by a time delay between the first time of each microphone of the array of microphones and the reference time.
S102: and controlling the water dispenser to move to the direction of the target according to the direction information of the target.
It should be noted that, in the process of controlling the water dispenser to move to the target position, the route planning, the obstacle detection and other operations can be performed on the moving process of the water dispenser, so that the water dispenser can correctly drive to the target position instead of blindly moving. Route planning, obstacle detection and the like are well applied to the field of unmanned driving, and only simple introduction is carried out on the obstacle detection of the water dispenser.
Specifically, as shown in fig. 3, step S102 may further include the steps of:
s301: and in the moving process of the water dispenser, controlling an obstacle detector on the water dispenser to detect obstacles, and if the obstacles are detected, controlling the water dispenser to carry out obstacle avoidance driving.
S302: and after the water dispenser avoids the obstacle, controlling the water dispenser to return to the driving route and the driving direction before the obstacle avoidance to move continuously.
Specifically, the water dispenser may further be provided with an obstacle detector for detecting obstacles, such as infrared rays. In the process of advancing the water dispenser, the obstacle detector detects obstacles on the advancing route of the water dispenser, and when the obstacles are detected on the advancing route of the water dispenser, the water dispenser is controlled to carry out obstacle avoidance driving, wherein the obstacle avoidance driving can be a driving process for replanning the advancing route or a driving process for only avoiding the current obstacles when the obstacles are detected to be small. After the water dispenser is controlled to carry out obstacle avoidance driving, the water dispenser can return to a driving route before obstacle avoidance and/or a driving route re-planned during obstacle avoidance, and the water dispenser continues to move according to the driving direction.
S103: and in the process that the water dispenser moves to the direction of the target, controlling the water dispenser to acquire images, and controlling the water dispenser to stop moving after the target appears in the acquired images.
Specifically, after the water dispenser carries out sound source positioning through a voice moving instruction, only the position point of the target can be identified, so that the image information in front of the water dispenser can be further acquired on the water dispenser through an image acquisition device, whether the target exists in the image information is judged, if the target appears in the image, the water dispenser is indicated to reach the position where the target can take water, and the water dispenser is controlled to stop moving.
Further, because the target needs to face the water dispenser when taking water through the water dispenser, the water dispenser can further determine the current posture information of the target according to the image acquisition device, so as to further adjust the position and the posture of the water dispenser according to the posture information, so that the water dispenser and the target can form a face-to-face posture, the target water taking operation is facilitated, and the user experience is improved.
Specifically, the method comprises the following steps: as shown in fig. 4, the following steps may be included:
s401: and recognizing the gesture of the target in the image, and controlling the water dispenser to stop moving if the gesture indicates that the target currently faces the water dispenser.
S402: and if the posture indicates that the target is back to the water dispenser currently, adjusting the running direction of the water dispenser, and controlling the water dispenser to continue running around the target until the target faces the water dispenser, and controlling the water dispenser to stop moving.
That is to say, when an object appears in an image acquired by the water dispenser, the gesture of the object in the image is further recognized, if the gesture indicates that the object currently faces the water dispenser, the water dispenser is controlled to stop moving so as to facilitate the operation of taking water from the object, and if the gesture indicates that the object faces away from the water dispenser, the running direction of the water dispenser is controlled and adjusted, the water dispenser is controlled to continue running around the object until the object faces the water dispenser, and the water dispenser is controlled to stop moving.
The target back-to-water dispenser can also comprise the condition that the target side face corresponds to the water dispenser, namely, the target back-to-water dispenser can be identified by the posture that the target does not face the water dispenser, and the position of the water dispenser is adjusted according to the current posture of the target.
It should be understood that voiceprint information and body characteristic information of a plurality of targets can be stored in the water dispenser, so that voiceprint recognition can be performed according to the voice movement instruction when the water dispenser receives the voice movement instruction, and then the body characteristic information of the targets is determined according to the correspondence between the voiceprint and the body characteristic information, so that after the images are collected, the images are recognized to determine whether the targets exist in the images.
Further, the water dispenser can be controlled to detect the distance between the water dispenser and the target, and the water dispenser is controlled to stop moving if the distance reaches a preset distance threshold value.
That is, the water dispenser can be further provided with a distance detection device for detecting the distance between the water dispenser and the target. Specifically, after the distance detection device obtains the distance between the water dispenser and the target, whether the distance reaches a preset distance threshold value is judged, if yes, the water dispenser is close enough to the target and can meet the requirement of target water taking operation, the water dispenser is controlled to stop moving, and if not, the water dispenser is controlled to move continuously to the target to enable the water dispenser to approach the target.
In the embodiment of the present invention, the preset distance threshold may be set to 30-100cm, and preferably, may be 40 cm.
Further, as shown in fig. 5, after controlling the water dispenser to stop moving, the method may further include:
s501: an environmental image of an environment in which the target is located is acquired.
S502: from the environment image, clear areas without obstacles are identified as the best drinking water positions.
S503: controlling the water dispenser to move to the optimal drinking position again, and guiding the target to move along with the water dispenser during the movement.
It should be understood that, because the water dispenser has a function of moving by itself, the phenomena of road occupation and traffic influence may occur in the moving process of the water dispenser, and particularly, when walking areas such as offices and the like are limited, the water dispenser is parked near a target, and the normal work and life of other people may be influenced. Therefore, the water dispenser can be controlled to search for an area suitable for staying in a nearby environment after the water dispenser finds a target, so that the requirement of target water taking is met, other users are facilitated, and the comprehensive capacity of the water dispenser is improved.
Specifically, the water dispenser can further acquire an environment image of the environment through the image acquisition device at a time such as after the target appears in the image information or after the water dispenser and the target are in a face-to-face posture, and then identify an unobstructed blank area as an optimal drinking position from the environment image, wherein the unobstructed blank area can be understood as an area such as a rest area which can accommodate the water dispenser and the target and does not belong to a traffic walking route, and then control the water dispenser to move to the optimal drinking position again, and guide the target to move along with the target in the moving process, wherein the guide target can inform the target to move along with the target in a display screen, voice and other modes along with the movement of the guide target, and the water dispenser is controlled to stop moving until the target enters the unobstructed blank area along with the water dispenser.
It should be understood that, the above-mentioned manner of controlling the moving process of the water dispenser may select one or more water dispensers to control when the water dispenser moves once, so as to meet the control requirement of the water dispenser moving to the target direction.
In summary, according to the moving method of the water dispenser of the embodiment of the invention, the sound source is positioned by the voice command sent by the target, the direction information of the target is obtained, then the water dispenser is controlled to move to the direction of the target, and the water dispenser is controlled to perform image acquisition in the moving process of the water dispenser, so that the water dispenser is controlled to stop moving according to the image information. Therefore, the method of the embodiment of the invention can combine the voice positioning function and the image acquisition function, so that the water dispenser can realize the functions of target searching, self-moving and automatic stopping, thereby effectively facilitating the user to take water, saving the water taking time of the user and improving the intelligent degree of the water dispenser.
Example two
As shown in fig. 6, the flow chart of the control method of the water dispenser according to the embodiment of the present invention includes the following steps:
s601: and acquiring a wake-up instruction, and controlling at least one drinking water mode to be displayed on a display screen of the water dispenser according to the wake-up instruction.
Wherein the drinking water modes include a customized drinking water mode and at least one default drinking water mode.
It should be noted that the water dispenser is provided with a human-computer interaction interface or a water drinking mode and other function selecting keys for a user to select the water drinking mode.
In some embodiments, the water dispenser further comprises a voice recognition system, the voice recognition system recognizes the voice of the user, and further, the water dispenser is controlled according to the voice instruction of the user, such as: when a user sends a voice instruction of 'MR-PRO (name of the water dispenser'), the voice recognition system receives the instruction and completes analysis processing, namely sends an awakening instruction to the water dispenser through the controller according to the instruction, at the moment, the water dispenser completes awakening action, and further, the controller controls a display screen of the water dispenser to display at least one drinking mode for the user to make further selection; in the present embodiment, the drinking water modes include a customized drinking water mode and at least one default drinking water mode.
The speech recognition system can adopt a scheme of off-line speech control recognition and/or on-line speech control recognition; the off-line voice control recognition can rapidly recognize fixed voice and realize command control; the online voice control recognition has a huge voice database and strong voice analysis and understanding capability, and can more accurately recognize the user instruction.
When the water dispenser completes the awakening action according to the voice instruction of the user and displays the drinking water mode on the display screen of the water dispenser, the user can select one drinking water mode according to the requirement of the user, if the customized drinking water mode needs to be selected, only the voice of the customized drinking water mode needs to be sent out, and after the voice recognition system completes recognition and sends the instruction to the controller, the controller controls the water dispenser to enter the customized drinking water mode. In addition, when the drinking water mode is displayed on the display screen of the water dispenser, the water dispenser can read out all the drinking water modes according to the built-in voice system so as to be convenient for a user to select.
In some embodiments, the user may also manually operate the water dispenser, manually click the wake-up button, and select a drinking mode built in the water dispenser, such as by sliding a click. In addition, the user can control the water dispenser through a remote controller.
In some embodiments, when the water dispenser completes the wake-up operation according to the wake-up instruction sent by the user, the controller controls the display screen of the water dispenser to display a wake-up picture, such as displaying a LOGO of a manufacturer, a name of the water dispenser set by the user, or welcoming the use of the water dispenser.
In some embodiments, when the drinking water modes set by the user include a plurality of drinking water modes, since the number of displays on the display screen of the water dispenser is limited (for example, a plurality of pages of displays are needed), a part of the drinking water modes cannot be displayed completely, and at this time, after the drinking water modes on the display screen are displayed for a preset time, the remaining drinking water modes are displayed; or the user manually selects page turning to operate, or the operation control is carried out through voice.
S602: and receiving a first instruction for selecting the drinking water mode, and controlling the water dispenser to enter the selected target drinking water mode according to the first instruction.
After the drinking water mode is displayed on the display screen of the water dispenser, a user can select the drinking water mode, and after the user sends a selected first instruction, the water dispenser controls the water dispenser to enter the target drinking water mode selected by the user according to the first instruction.
It should be understood that the first instruction sent by the user may be a voice instruction, or an instruction manually selected by the user or a remote control instruction sent by a remote controller or an associated smart phone; when the first instruction is a voice instruction, the voice recognition system in the water dispenser sends a control instruction to the controller in the water dispenser after recognition, and the water dispenser is controlled to enter a target drinking mode selected by a user.
S603: and controlling the water dispenser to execute the work flow of the target drinking mode.
When the water dispenser enters the target drinking water mode selected by the user, the controller controls the water dispenser to execute the working process of the target drinking water mode.
In some embodiments, when the target drinking mode is the customized drinking mode, the controller controls the display screen of the water dispenser to display the drinking function customized by the user, wherein the drinking function includes tea making, milk brewing and the like, and the specific user can set the drinking function by himself, which is not described herein any more.
After the drinking function is displayed on the display screen, the user can send a selected second instruction, such as one of tea making or milk making, the water dispenser receives the second instruction sent by the user, the instruction is identified, and further the water dispenser is controlled to enter a work sub-process matched with the target drinking function selected by the user according to the instruction. The following describes the sub-process of the brewing type drinking water function as an example of the target drinking water function.
When the user selects the brewing type drinking function, the controller controls the water dispenser to display prompt information of adding brewing objects, such as displaying tea, coffee, milk powder and the like, on the display screen for the user to select; after a user selects one of the brewing objects, the water dispenser sends a prompt to the user to add the selected brewing object (such as tea) to the user, further, the brewing object added by the user is weighed and the weight of the brewing object is displayed, and particularly, a gravity sensor or a pressure sensor and other components can be arranged on a cup placing part (tray) on the water dispenser to weigh the brewing object of the user; further, the water dispenser prompts a user to select or input the concentration information of the beverage (such as concentrated tea/original tea/clear tea), and displays the concentration information on the display screen in an active or static expression mode according to the concentration selected by the user; further, recommending water quantity to a user according to system preset information; furthermore, when the water dispenser detects a water outlet instruction (such as voice input or manual input) input by a user, water outlet is controlled according to the water outlet instruction, water outlet is stopped when the water outlet amount reaches the water outlet amount input by the user or the water amount recommended by the system, and the optimal drinking time is displayed on the display screen.
In some embodiments, when the target drinking water mode is the default drinking water mode, the controller controls the water dispenser to execute a work flow of the target drinking water mode, specifically, after the water dispenser detects a water outlet instruction input by a user, the water dispenser is controlled to discharge water according to the water outlet instruction, and after the water outlet stopping instruction is detected, the water dispenser is controlled to stop discharging water. In addition, the water dispenser can discharge water according to the water yield preset by a user, and the water dispenser stops discharging water after the water yield reaches the preset water yield.
It should be understood that the default drinking mode includes, but is not limited to, a normal temperature mode, an ice water mode, a hot water mode, etc. In addition, when the water dispenser is in a hot water drinking mode, the controller can also control the water dispenser to send out instruction information for avoiding scalding, and the information can be voice information or character information displayed on a display screen.
In some embodiments, after the user selects the drinking mode, the controller may further control the water dispenser to send a message prompting the user to place the cup, and further control the atmosphere lamp on the cup placing portion to flash, so as to further prompt the user to place the cup, and avoid the user from misplacing the cup. After a user puts a cup into the cup placing part or in the water outlet process of the water dispenser, the controller controls the atmosphere lamp on the cup placing part to be normally on, further controls the atmosphere lamp to be turned off or to flicker after water outlet is completed so as to remind the user that water outlet is finished, and further controls the cup placing part to lift the cup and send voice information or character information displayed on the display screen so as to remind the user to take the cup away. Further, when the cup is detected to be taken away, the controller controls the water dispenser to display an ending picture on the display screen. It should be understood that a pressure sensor may be provided on the cup placing portion for detecting whether a cup is placed.
In some embodiments, the controller may further control the water dispenser to obtain a display form of the display screen according to the content to be displayed, further control the display screen to display the expression animation according to the display form, for example, when the water dispenser discharges water, the animation of the discharge water may be displayed on the display screen, or when the user selects to brew tea, the animation or the picture of the type of tea (such as green tea, black tea, etc.) may be displayed on the display screen, or after the user completes a selection action, one expression animation may be displayed, and so on.
In some embodiments, the lower part of the water dispenser is also provided with a rolling wheel, after the water dispenser is awakened, a user can output a control instruction through voice, if the command is received, the water dispenser can determine the position of the user by using a sound source positioning technology, then the water dispenser is controlled to rotate in place according to the direction of the user, and when the water dispenser rotates to the direction of the user, the water dispenser is controlled to move towards the user. Further, the image acquisition device arranged in the water dispenser is used for scanning the human face, after the human face is scanned, the distance between the water dispenser and a user can be detected, and when the water dispenser moves to a preset distance away from the user, such as 40cm, the water dispenser can be controlled to stop moving to wait for the next operation of the user.
As shown in fig. 7, a user wakes up the water dispenser by means of voice or remote control, a startup picture is displayed on a display screen of the water dispenser, in this embodiment, the startup picture is displayed as the name of the water dispenser, "MR-PRO," and after waiting for a preset time (such as 2s or 3 s), the water dispenser enters a welcome interface, which can play an expression animation effect (such as a smiling face), and further enters a drinking water mode interface, in this embodiment, the drinking water mode includes a default drinking water mode and a customized drinking water mode, where the default drinking water mode includes a normal-temperature water drinking water mode, an ice-water drinking water mode, and a hot-water drinking water mode; at the moment, the user can select the drinking water mode through modes of voice, remote control or manual selection operation and the like; furthermore, a user selects a customized drinking mode, a 'professional drinking tea' interface set by the user or preset by the system is displayed on a display screen of the water dispenser, the interface comprises mother and infant brewing, sports allocation, health preserving and professional drinking tea, and the user can select the interface according to the self requirement; further, taking the example that the user selects professional tea drinking as an example, since the tea leaves are various, after the user selects the tea leaves, the types of the tea leaves, such as green tea, scented tea, black tea, etc., for the user to select may appear on the display screen interface of the water dispenser, further, after the user selects the black tea, the water dispenser enters a customized flow interface which is set by the user or preset by the system, specifically, the method includes: after a user puts the cup on a cup placing part on the water dispenser, the user is prompted to add tea leaves on a display screen or in a voice mode; furthermore, the water dispenser detects the weight change of the cup before and after tea leaves are placed through a gravity sensor or a pressure sensor on the cup placing part, the changed weight (such as 3g) is displayed on the interface of the water dispenser, after waiting for preset time or self-selection of a user, the next link is entered, the user is prompted to select the taste concentration of the tea, such as strong tea/moderate tea/clear tea, at the moment, the water dispenser can be defaulted to strong tea, it should be understood that different concentrations correspond to different expressions, when the user selects the concentration, the expressions corresponding to the concentration selected by the user are simultaneously displayed on the display screen of the water dispenser, after the user selects or waits for the preset time, the water dispenser recommends the water outlet amount according to the rules preset by the system, further, the user selects water outlet through voice or a remote control lamp mode, at the moment, the water dispenser performs water outlet action, and in the process, a picture of water flow is displayed on a display screen of the water dispenser; furthermore, after water is discharged, the user is advised to drink the water for the best time according to the preset rule of the system; after waiting for a preset time or detecting that the user takes the cup, an 'enjoy interface' is displayed on a display screen of the water dispenser, wherein the interface can be but is not limited to an expression animation display interface; so far, the whole drinking process is finished.
It should be appreciated that if the dispenser does not detect the insertion of a cup, it returns to the start interface after a preset time.
As shown in fig. 8, the following description will be given by taking an example that a user selects green tea in professional drinking tea in a customized mode, after the user selects the green tea displayed on the interface of the water dispenser, the ring light on the tray of the cup placing part of the water dispenser flashes, and the flashing of the ring light not only can indicate the correct position for the user to place the cup, but also can be used for prompting the user to place the cup; after the cup is detected to be put in, the ring light on the tray stops flashing, and at the moment, the ring light can be kept on normally or can be turned off; further, the user is prompted to add tea leaves, weigh, select a taste concentration, select a water yield, finish water yielding, suggest a best taste time, and the like, and the detailed process is described with reference to fig. 2, which is not repeated herein.
Further, when the water dispenser discharges water, the water dispenser can also send out a picture for prompting a user to scald hands carefully or displaying a picture for prompting the user to scald hands carefully on the display screen so as to remind the user of caution and avoid scalding. In addition, after the user takes the cup, the ring light on the tray of the cup placing part is turned off.
It should be understood that, other functional modes in the customized drinking water mode can refer to the above-mentioned process, and are not described in detail herein.
As shown in fig. 9, if the user selects the hot water drinking mode, it can finish taking water in two ways: the first mode is as follows: the water dispenser prompts a user to place a cup on a tray of a cup placing part, the tray can be lifted and extends outwards at the moment, when the cup is placed, the tray is controlled to be retracted, further, the water dispenser prompts the user to select a water outlet key to discharge water, in the water discharging process, ring lamps on the periphery of the tray can be designed to be all lighted, and meanwhile, the water dispenser prompts the user to scald hands carefully; furthermore, after water is discharged, the tray on the cup placing part can be lifted and extends outwards to prompt a user to take out the cup, and meanwhile, the ring lamps on the periphery of the tray can also remind the user of finishing water discharge in a flashing mode; further, the water dispenser enters an interface where water taking is finished; it should be understood that the water dispenser may be heated immediately or in a subsequent step after the user selects the water temperature. The second mode is as follows: the user can directly select the water amount, at this time, the water dispenser discharges water according to the preset water temperature, and performs subsequent operations, and the detailed subsequent operation flow refers to the first mode, which is not described in detail herein.
If the user selects the ice water drinking mode or the normal-temperature water drinking mode, the user can directly select a water outlet key on the water dispenser to control the water outlet of the water dispenser, or can select to control the water outlet of the water dispenser after the water outlet amount required by the selector, and specific subsequent steps can refer to the description of the user selecting the hot water mode, but the process of prompting the user to scald hands carefully is omitted in the steps.
It should be understood that, in the embodiments of the present invention, the control selection mode may be performed by a user through voice, remote control, or manual operation.
In summary, according to the control method of the water dispenser provided by the embodiment, the method enables the water dispenser to display the drinking water mode picture selected by the user on the display screen according to the instruction sent by the user, further, the water dispenser is controlled to enter the customized drinking water mode or the default drinking water mode according to the instruction sent by the user, and the water dispenser is controlled to execute the work flow of the target drinking water mode, so that the operation is simple, the intelligence is high, and the requirements of different users can be met.
In order to realize the embodiment, the invention further provides a moving device of the water dispenser.
Fig. 10 is a schematic block diagram of a mobile device of a water dispenser according to an embodiment of the present invention. As shown in fig. 10, the mobile device 100 of the water dispenser includes: a sound source localization module 10, a movement module 20, and an image control module 30.
The sound source positioning module 10 is configured to detect a voice movement instruction sent by a target, perform sound source positioning on the voice movement instruction, and acquire azimuth information of the target; the moving module 20 is used for controlling the water dispenser to move to the direction of the target according to the direction information of the target; the image control module 30 is used for controlling the water dispenser to perform image acquisition in the moving process of the water dispenser, and controlling the water dispenser to stop moving after a target appears in the acquired image.
Further, the moving module 20 is further configured to: recognizing the posture of the target in the image, and controlling the water dispenser to stop moving if the posture indicates that the target currently faces the water dispenser; and if the posture indicates that the target is back to the water dispenser currently, adjusting the running direction of the water dispenser, and controlling the water dispenser to continue running around the target until the target faces the water dispenser, and controlling the water dispenser to stop moving.
Further, the moving module 20 is further configured to: and controlling the water dispenser to detect the distance between the water dispenser and the target, and controlling the water dispenser to stop moving if the distance reaches a preset distance threshold.
Further, the image control module 30 is further configured to: acquiring an environment image of an environment where a target is located; identifying a blank area without obstacles from the environment image as an optimal drinking water position; the moving module 20 is further configured to: controlling the water dispenser to move to the optimal drinking position again, and guiding the target to move along with the water dispenser during the movement.
Furthermore, the moving device of the water dispenser can also comprise an obstacle detector, the obstacle detector on the water dispenser is controlled to detect obstacles in the moving process of the water dispenser, and if the obstacles are detected, the moving module 20 is also used for controlling the water dispenser to carry out obstacle avoidance driving; after the water dispenser avoids the obstacle, the moving module 20 is further configured to control the water dispenser to return to the driving route and the driving direction before the obstacle avoidance to continue moving.
It should be noted that the explanation of the embodiment of the moving method of the water dispenser is also applicable to the moving device of the water dispenser of the embodiment, and is not repeated herein.
As shown in fig. 11, the control device of the water dispenser may further include: the awakening module 201 is used for acquiring an awakening instruction and controlling at least one drinking water mode to be displayed on a display screen of the water dispenser according to the awakening instruction; wherein the drinking water modes comprise a customized drinking water mode and at least one default drinking water mode; the mode selection module 202 is used for receiving a first instruction for selecting a drinking water mode, and controlling the water dispenser to enter a selected target drinking water mode according to the first instruction; and the control module 203 is used for controlling the water dispenser to execute the work flow of the target drinking mode.
In some embodiments, the control module 203 is further configured to: and when the display screen displays the content, controlling the water dispenser to acquire the display form of the display screen according to the content to be displayed, and controlling the display screen to display according to the display form.
In some embodiments, the control module 203 is further configured to: when the target drinking water mode is the customized drinking water mode, controlling the display screen of the water dispenser to display a customized drinking water function; and receiving a second instruction for selecting the drinking function, and controlling the water dispenser to enter a workflow matched with the selected target drinking function according to the second instruction.
In some embodiments, the control module 203 is further configured to: when the target drinking water function is the brewing type drinking water function and the water dispenser is controlled to enter a work sub-process matched with the selected target drinking water function, prompt information of adding a brewing object is displayed for a user; weighing and displaying the weight of the brewing object added by the user; receiving the concentration information of the beverage input by a user, and acquiring recommended water quantity according to the weight and the concentration information; and detecting a water outlet instruction input by a user, controlling water outlet according to the water outlet instruction, stopping water outlet after the water outlet amount reaches the recommended water amount, and displaying the optimal drinking time.
In some embodiments, the control module 203 is further configured to: when the target drinking water mode is the default drinking water mode, the water dispenser is controlled to execute the working process of the target drinking water mode, a water outlet instruction input by a user is detected, water is controlled to be discharged according to the water outlet instruction, and the water dispenser is controlled to stop discharging water after the water outlet stopping instruction is detected.
In some embodiments, the control module 203 is further configured to: and when the default drinking mode is the drinking hot water mode, controlling the water dispenser to send out an instruction message for avoiding scalding.
In some embodiments, the control module 203 is further configured to: and controlling to send out a prompt message for putting the cup, and controlling the atmosphere lamp on the cup placing part to flicker.
In some embodiments, the control module 203 is further configured to: in the water outlet process, controlling the atmosphere lamp on the cup placing part to be turned on, and after the water outlet is finished, controlling the atmosphere lamp to be turned off or to flicker; controlling the cup to rise and sending out a prompt message for reminding the user to take the cup away.
In some embodiments, the control module 203 is further configured to: and when the cup is detected to be taken away, controlling the water dispenser to display an ending picture on the display screen.
In some embodiments, the control module 203 is further configured to: and controlling the water dispenser to display a startup picture on the display screen when the water dispenser is started.
In some embodiments, the control module 203 is further configured to: when controlling to display at least one drinking water mode on a display screen of the water dispenser:
controlling the preset number of drinking water modes to be displayed on the display screen; when the preset number is smaller than the number of the drinking modes, after the currently displayed working mode displays the preset duration or the instruction of replacing the display mode, the remaining drinking modes are controlled to be continuously displayed according to the display sequence of the drinking modes.
It should be understood that the above-mentioned apparatus is used for executing the method in the above-mentioned embodiments, and the implementation principle and technical effect of the apparatus are similar to those described in the above-mentioned method, and the working process of the apparatus may refer to the corresponding process in the above-mentioned method, and is not described herein again.
In order to implement the above embodiment, the present invention further provides a water dispenser, as shown in fig. 12, the water dispenser 200 includes a mobile device 100 of the water dispenser.
In order to implement the above embodiments, the present invention further provides an electronic device, which includes a memory and a processor; the processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to realize the moving method of the water dispenser.
In order to implement the above embodiments, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the foregoing moving method of the water dispenser.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (16)
1. A moving method of a water dispenser is characterized by comprising the following steps:
detecting a voice moving instruction sent by a target, carrying out sound source positioning on the voice moving instruction, and acquiring azimuth information of the target;
controlling the water dispenser to move to the direction of the target according to the direction information of the target;
and controlling the water dispenser to collect images in the process that the water dispenser moves to the direction of the target, and controlling the water dispenser to stop moving after the target appears in the collected images.
2. The moving method of the water dispenser according to claim 1, wherein the controlling the water dispenser to stop moving after the target appears in the collected image comprises:
recognizing the gesture of the target in the image, and controlling the water dispenser to stop moving if the gesture indicates that the target currently faces the water dispenser;
and if the posture indicates that the target is back to the water dispenser currently, adjusting the running direction of the water dispenser, and controlling the water dispenser to continue running around the target until the target faces the water dispenser, controlling the water dispenser to stop moving.
3. The moving method of the water dispenser according to claim 1 or 2, wherein the controlling of the water dispenser to stop moving comprises:
and controlling the water dispenser to detect the distance between the water dispenser and the target, and controlling the water dispenser to stop moving if the distance reaches a preset distance threshold.
4. The moving method of the water dispenser according to claim 1 or 2, characterized in that after the controlling the water dispenser to stop moving, the method further comprises the following steps:
acquiring an environment image of the environment where the target is located;
identifying a blank area without obstacles from the environment image as an optimal drinking water position;
controlling the water dispenser to move to the optimal drinking position again, and guiding the target to move along with the target in the moving process.
5. The moving method of the water dispenser according to claim 1 or 2, characterized by further comprising:
in the moving process of the water dispenser, controlling an obstacle detector on the water dispenser to detect obstacles, and if the obstacles are detected, controlling the water dispenser to carry out obstacle avoidance driving;
and after the water dispenser avoids the obstacle, controlling the water dispenser to return to the driving route and the driving direction before the obstacle avoidance to move continuously.
6. The method for moving the water dispenser according to claim 1, further comprising:
receiving a wake-up instruction, and controlling at least one drinking water mode to be displayed on a display screen of the water dispenser; wherein the working modes comprise a customized drinking mode and at least one default drinking mode;
receiving a first instruction for selecting a drinking mode, and controlling the water dispenser to enter a selected target drinking mode according to the first instruction;
and controlling the water dispenser to execute the work flow of the target drinking mode.
7. The method for moving the water dispenser according to claim 6, further comprising:
and when the display screen displays, controlling the water dispenser to acquire the display form of the display screen according to the content to be displayed, and controlling the display screen to display according to the display form.
8. The method for moving the water dispenser according to claim 7, wherein when the target drinking water mode is the customized drinking water mode, the controlling the water dispenser to execute the workflow of the target drinking water mode comprises:
controlling a customizable drinking function to be displayed on a display screen of the water dispenser;
and receiving a second instruction of selecting the drinking water function, and controlling the water dispenser to enter a work sub-process matched with the selected target drinking water function according to the second instruction.
9. The moving method of the water dispenser according to claim 8, wherein when the target drinking function is a brewing type drinking function, the controlling the water dispenser to enter a workflow matched with the selected target drinking function comprises:
displaying prompt information for adding the brewing object to a user;
weighing and displaying the weight of the brewing object added by the user;
receiving the concentration information of the beverage input by the user, and acquiring recommended water quantity according to the weight and the concentration information;
and detecting a water outlet instruction input by the user, controlling water outlet according to the water outlet instruction, stopping water outlet after the water outlet amount reaches the recommended water amount, and displaying the optimal drinking time.
10. The method for moving the water dispenser according to claim 8, wherein when the target drinking water mode is the default drinking water mode, the controlling the water dispenser to execute the workflow of the target drinking water mode comprises:
and detecting a water outlet instruction input by the user, controlling water outlet according to the water outlet instruction, and controlling the water dispenser to stop water outlet after detecting the water outlet stopping instruction.
11. The moving method of the water dispenser according to claim 9 or 10, further comprising:
controlling to send out a prompt message of putting the cup and controlling an atmosphere lamp on the cup placing part to flicker; and/or;
in the water outlet process, controlling an atmosphere lamp on the cup placing part to be turned on, and after the water outlet is finished, controlling the atmosphere lamp to be turned off or to flicker;
controlling the cup to rise and sending out a prompt message for taking away the cup.
12. The method of moving a water dispenser according to claim 11, further comprising:
and when the cup is detected to be taken away, controlling the water dispenser to display an ending picture on the display screen.
13. A mobile device of a water dispenser is characterized by comprising:
the sound source positioning module is used for detecting a voice moving instruction sent by a target, carrying out sound source positioning on the voice moving instruction and acquiring azimuth information of the target;
the moving module is used for controlling the water dispenser to move to the direction of the target according to the direction information of the target;
and the image control module is used for controlling the water dispenser to acquire images in the moving process of the water dispenser and controlling the water dispenser to stop moving after the target appears in the acquired images.
14. A water dispenser, characterized in that it comprises: the mobile device of the water dispenser of claim 13.
15. An electronic device comprising a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method for moving the water dispenser according to any one of claims 1 to 12.
16. A non-transitory computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a method of moving a water dispenser according to any one of claims 1-12.
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| CN111067354B (en) | 2022-06-07 |
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