CN111319045B - Multifunctional robot and control method - Google Patents
Multifunctional robot and control method Download PDFInfo
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- CN111319045B CN111319045B CN201811520374.0A CN201811520374A CN111319045B CN 111319045 B CN111319045 B CN 111319045B CN 201811520374 A CN201811520374 A CN 201811520374A CN 111319045 B CN111319045 B CN 111319045B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention discloses a multifunctional robot and a control method, wherein the multifunctional robot comprises a head part, a body part, an air purifier, a sweeping machine cabin, a sweeping machine, a right-hand sound box and a left-hand aromatherapy; the invention can simultaneously realize the functions of air purification, floor cleaning, stereo surrounding sound, air aromatherapy, laser video and audio, video on demand, cable television live broadcast, atmosphere light, children education, online music, bluetooth games, mobile phone screen throwing, home communication, LOT internet of things, video security and old people accompany; the invention is a multifunctional robot which brings convenience to families.
Description
Technical Field
The present invention relates to robotics, and more particularly, to a multifunctional robot and other control methods.
Background
In the prior art, home robots have been popular. For example, the application number 201810501009.9, the Chinese patent application entitled "household robot", discloses the following technical scheme:
the upper end of the robot body is provided with two cameras, the upper part of the rear end of the robot body is provided with an audio output element, the middle part of the front end of the robot body is provided with an intelligent control component, a heat sensor is arranged on the left outer wall of the left mechanical moving base, a humidity sensor is arranged on the left outer wall of the right mechanical moving base, and a smoke sensor and a gas sensor are respectively arranged below the front end of the robot body; according to the invention, the command issued by the customer is heard through the man-machine voice module, the conditions in the house are detected through the heat sensor, the smoke sensor, the gas sensor and the humidity sensor and transmitted to the control chip, the control chip integrates data, is connected with the mobile client of the customer through the wireless module and feeds back to the mobile client of the customer, and the customer can know the conditions in the house in real time through the camera to see the picture in the house, so that the customer can be served more efficiently and intelligently.
Analysis shows that the patent is biased to detect and alarm air in home, and has monotonous function.
Furthermore, the application number 201810625766.7 is a Chinese patent application entitled "household intelligent robot", which discloses the following technical scheme:
the household intelligent robot comprises a robot head, a robot body and a robot leg. The robot head is arranged at the top position of the robot body, and the robot foot is arranged at the bottom position of the robot body; the robot body comprises a body and a bin gate, wherein the body is of a hollow bin body structure, the body is provided with an opening end, and the bin gate is arranged at the opening end of the body; the household intelligent robot further comprises a rotating device, and the robot head is rotatably arranged at the top position of the robot body through the rotating device; and a tablet personal computer is arranged on the head of the robot. According to the household intelligent robot, the robot head, the robot body and the robot legs are arranged, and the structures of all the components are optimally designed, so that the angle of a tablet personal computer arranged on the robot is adjustable, and the overall comprehensive performance of the robot is improved.
It can be seen from the analysis that the patent is biased to mechanical driving and transmission of the limb movements of the robot, and the function of the robot is simpler.
In view of the above, in the current life, a multifunctional robot capable of simultaneously realizing functions of air purification, floor cleaning, stereo surround sound, air aromatherapy, laser video and audio, video on demand, cable television live broadcast, atmosphere light, child education, online music, bluetooth games, mobile phone screen throwing, home communication, LOT internet of things, video security and old people companion is expected, and in the prior art, no robot technology integrating a plurality of functions is found, and related documents are not disclosed.
Disclosure of Invention
The invention aims at solving the defect that the prior art robot has monotonous functions, and can simultaneously realize the functions of air purification, floor sweeping cleaning, stereo surround sound, air aromatherapy, laser video and audio, video on demand, cable television live broadcast, atmosphere light, children education, online music, bluetooth games, mobile phone screen throwing, family communication, LOT (line of things) internet, video security and old people accompanying, and designs and manufactures a multifunctional robot and a control method.
The invention is realized by adopting the following technical scheme.
A control method for a multifunctional robot is implemented, comprising the following steps:
the method comprises the steps that a main circuit board is arranged in the head of a robot, a first microcomputer is arranged on the main circuit board, a program memory is arranged in the first microcomputer, a camera program module, an LCD (liquid crystal display) driver program module, a touch screen program module, a microphone array program module, a human body light sensation protection program module, a WIFI program module, a four-way infrared program module, a voice recognition program module, a decoding program module, a main USB interface program module, a device USB interface program module, a keyboard operation program module, an SD card program module, a Bluetooth sound program module, a power amplifier program module, a power management program module, a communication program module with a second microcomputer, an MIPI-RGB (micro-panel display) program module, a projection driver program module and a depth D camera program module are loaded in the first microcomputer, and instructions of the program modules are suitable for being loaded and executed by a processor;
step two, after a power switch of the robot is turned on, a power management program module operates, and all circuit units are powered on; at this time, any one unit of the touch screen unit, the microphone array unit and the WIFI unit is selected to input an operation instruction;
when the touch screen unit is used for transmitting instructions to the first microcomputer through the decoding unit, the touch screen program module, the decoding program module and the LCD driver module work, the LCD unit displays a user graphical interface through the LCD driver module, and an operation key on the user graphical interface points to the next operation;
when the microphone array unit is used for transmitting instructions to the first microcomputer through the voice recognition unit, the microphone array program module, the voice recognition program module and the LCD driver module work, the LCD unit displays a user graphical interface, and an operation key on the user graphical interface points to the next operation;
when the mobile terminal is used for transmitting instructions to the first microcomputer through the WIFI unit, the WIFI program module and the LCD driver module work, the LCD unit displays a main user graphical interface, and an operation key on the main user graphical interface points to the next operation;
thirdly, if the air purifier is started at the moment, clicking an air purifier operation key of a main user graphical interface on the LCD unit, operating with the second microcomputer communication program module and the first microcomputer communication program module, entering the air purifier user graphical interface, operating the air purifier program module, and performing the next operation;
if the sweeper is started, clicking a sweeper operation key on the LCD unit, operating with the second microcomputer communication program module and the first microcomputer communication program module, entering a user graphical interface of the sweeper, operating with the sweeper communication program module, and performing the next operation;
if the four-channel infrared unit is started at this time, clicking an infrared remote control operation key on the LCD unit, operating the four-channel infrared program module, operating the four-channel infrared remote control operation key with the second microcomputer communication program module and the first microcomputer communication program module, entering an infrared remote control user graphical interface, operating the wireless remote control program module, and performing the next operation;
if the dialogue module is started, clicking a dialogue operation key on the LCD unit, entering a dialogue user graphical interface, and running the microphone array unit, the voice recognition unit, the microphone array program module and the voice recognition program module to perform the next operation;
if the left-hand aromatherapy operation is started, clicking an aromatherapy operation key on the LCD unit, entering an aromatherapy user graphical interface, running with the second microcomputer communication program module and the first microcomputer communication program module, running the aromatherapy instruction sending program module, and performing the next operation;
if the color lamp band setting is started, clicking a color lamp band operation key on the LCD unit, operating with the second microcomputer communication program module and the first microcomputer communication program module, entering a color lamp band user graphical interface, operating the color lamp band driving program module, and performing the next operation;
if the projector is started, clicking a projector operation key on the LCD unit, running a projection driver module, an MIPI-to-RGB program module and a human light sensation protection program module, entering a projector user graphical interface, and performing the next operation;
if the depth D camera is started, clicking a depth D camera operation key on the LCD unit, entering a depth D camera user graphical interface, and running a depth D camera program module to perform the next operation;
if the camera is started, clicking a camera operation key on the LCD unit, entering a camera user graphical interface, and running a camera program module to perform the next operation;
if the network module formed by the WIFI program module is started at this time, clicking a network operation key on the LCD unit, entering a network user graphical interface, and carrying out the next operation;
if the audio power amplifier is started, clicking an audio power amplifier operation key on the LCD unit, entering an audio power amplifier user graphical interface, and performing the next operation;
pressing a return key on the head to return to the main user graphical interface when any one of an audio power amplifier graphical interface, a camera graphical interface, a depth D camera graphical interface, a projector graphical interface, a color lamp belt graphical interface, a fragrance user graphical interface, a sweeper graphical interface and an air purifier graphical interface is used;
fourthly, when entering the audio power amplifier user graphical interface to perform the next operation, the keyboard operation program module and the power amplifier program module work, the volume on the trunk part is pressed + the button is pressed to increase the volume, and the volume is pressed-the button is pressed to decrease the volume;
if the right-hand sound device is taken down from the trunk part, the Bluetooth communication system and the Bluetooth sound program module between the right-hand sound device and the robot work, so that the right-hand sound device continuously plays the original audio, or a button on the right-hand sound device is operated, and the right-hand sound device runs autonomously;
if the left-hand aromatherapy is taken down from the trunk part, the left-hand aromatherapy continues to operate the left-hand aromatherapy according to the original setting, or a button on the left-hand aromatherapy is operated, so that the left-hand aromatherapy operates autonomously;
fifthly, when the application of the robot is finished, a power switch is pressed down, a power supply is turned off, the work of the robot is finished, or a soft shutdown button on a trunk part is pressed down, so that the LCD unit returns to a main user graphical interface, and then the power supply is turned off; the air purifier stops running, the colored lamp strip is extinguished, the floor sweeper stops running, the projector stops running, the depth D camera stops running, the sound power amplifier stops running, the camera stops running, the left-hand aromatherapy stops running, and the four-channel infrared unit stops running.
And step three, after entering the infrared remote control user graphical interface, the four-channel infrared program module operates, and is provided with buttons for starting/stopping the set top box, the television, the air conditioner, the DVD and the audio amplifier, and the on/off buttons of corresponding equipment are selected for operation.
And step three, after entering the color lamp belt user graphical interface, a button for switching on/off the color lamp belt operation mode and a button for modifying the color brightness are arranged, and a color lamp belt driver module operates and selects the corresponding button for operation.
After entering the dialogue user graphical interface, the user interface has buttons for children education, family rings and old people accompanies, and corresponding buttons are selected for operation; after entering the network user graphic interface, the mobile phone screen, the LOT internet of things and the video/security buttons are arranged, and the corresponding buttons are selected for operation. .
The trunk part is provided with: the SD card socket is driven to run by an SD card program module; the main USB interface is driven to run by a main USB interface program module; and the device USB interface is driven to run by a device USB interface program module.
The multifunctional robot capable of realizing the functions is characterized in that a main circuit board is arranged in the head of the robot, a first microcomputer is arranged on the main circuit board, and the first microcomputer is connected with a second microcomputer;
the first microcomputer is internally provided with a program memory, and a camera program module, an LCD driver program module, a touch screen program module, a microphone array program module, a human body light sensation protection program module, a WIFI program module, a four-way infrared program module, a voice recognition program module, a decoding program module, a main USB interface program module, a device USB interface program module, a keyboard operation program module, an SD card program module, a Bluetooth sound program module, a power amplifier program module, a power management program module, a communication program module with a second microcomputer, an MIPI-RGB program module, a projection driver program module and a depth D camera program module are loaded in the first microcomputer, and instructions of the program modules are suitable for being loaded and executed by a processor;
the head part is connected with the body part, and an air purifier is arranged in the head part; the bottom of the trunk part is provided with a sweeping machine bin, and the sweeping machine bin is internally provided with a sweeping machine; right-hand sound is arranged on the right side of the trunk part, and left-hand aromatherapy is arranged on the left side.
The head is provided with an LCD panel, an LCD unit is arranged in the LCD panel, and a second infrared ray, a third infrared ray, a main menu key and a return key are arranged on the frame of the LCD panel; the upper edge of the LCD screen is provided with a first infrared ray and a camera lens, and the rear part of the head is provided with a fourth infrared ray; setting a depth D camera at the lower edge of the LCD screen; a microphone array unit is provided on the head.
The microphone array unit is connected with the voice recognition unit circuit board in the head part; the bottom of the head is provided with a colored lamp strip which is driven by the control of a second microcomputer.
The head is internally provided with a projector towards the rear part, the lens cover of the projector is embedded on the shell of the head, one side of the lens cover of the projector is provided with a projector radiating hole, the projector circuit board is arranged on the side edge of the projector, and the side edge of the lens cover of the projector is provided with a human body induction sensor; the projector circuit board is driven by the first microcomputer control.
The second microcomputer is connected with a wireless remote control unit arranged at the bottom of the trunk part, and the wireless remote control unit is in wireless communication with the sweeper to control the sweeper to run;
the second microcomputer is connected with the aromatherapy/air purifier control unit,
the aromatherapy/air purifier control unit is respectively connected with the air purifier and the left-hand aromatherapy for controlling the air purifier and the left-hand aromatherapy;
the trunk top sets up soft shutdown button, volume + button, volume-button, SD card socket, USB socket and miniUSB socket.
The invention has the advantages that the invention is provided with the head, the trunk, the air purifier, the sweeper bin, the sweeper, the right-hand sound and the left-hand aromatherapy, and adopts the high-performance microprocessor chip, so that the invention can simultaneously realize the functions of air purification, sweeping, stereo surrounding sound, air aromatherapy, laser video and audio, video on demand, cable television live broadcast, atmosphere light, children education, online music, bluetooth games, mobile phone screen throwing, family communication, LOT internet of things, video security and old man accompany; the invention relates to a multifunctional robot.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention.
FIG. 1 is a schematic diagram of a multifunctional robot of the present invention showing a right-hand sound;
FIG. 2 is a schematic diagram of a multifunctional robot of the present invention showing left hand aromatherapy;
fig. 3 is a schematic structural view of a body part of the multifunctional robot of the present invention;
FIG. 4 is a schematic view of the arrangement of the various components on the head of the multi-function robot of the present invention;
FIG. 5 is a schematic view of the arrangement of the various units inside the head of the multi-function robot of the present invention;
FIG. 6 is a schematic block diagram of the control system of the multifunctional robot and the control method according to the present invention, in which a power supply 118 provides power of different levels of voltage to the entire robot, and a power management unit 116 controls when the battery 117 is put into operation and manages charging of the battery 117;
fig. 7 is a schematic diagram of program modules stored in the first microcomputer 91 in the multi-functional robot and the control method of the present invention;
fig. 8 is a schematic diagram of program modules stored in the second microcomputer 92 in the multi-function robot and the control method of the present invention.
Detailed Description
The invention will be described with reference to specific embodiments.
As shown in fig. 1 to 8, a control method of a multifunctional robot is implemented, including:
firstly, a main circuit board 130 is arranged in the head 12 of the robot 1, a first microcomputer 91 is arranged on the main circuit board 130, a program memory 911 is arranged in the first microcomputer 91, and a camera program module 1011, an LCD driver program module 1021, a touch screen program module 1031, a microphone array program module 1041, a human light sensation protection program module 1051, a WIFI program module 1061, a four-channel infrared program module 1071, a voice recognition program module 1081, a decoding program module 1091, a main USB interface program module 1101, a device USB interface program module 1111, a keyboard operation program module 1121, an SD card program module 1131, a bluetooth sound program module 1141, a power amplifier program module 1151, a power management program module 1161, a communication program module 1001 with a second microcomputer, an MIPI to RGB program module 1181, a projection driver module 1191 and a depth 3D camera program module 1201 are loaded and executed by the processor 914;
secondly, after the power switch 1102 of the robot 1 is turned on, the power management program module 1161 operates, and all circuit units are powered on; at this time, any one of the touch screen unit 103, the microphone array unit 104, and the WIFI unit 106 is selected to input an operation instruction;
when an instruction is transmitted to the first microcomputer 91 through the decoding unit 109 with the touch screen unit 103, the touch screen program module 1031, the decoding program module 1091, and the LCD driver module 1021 are operated, and the LCD unit 102 displays a user graphic interface through the LCD driver module 1021 with the operation keys thereon pointing to the next operation;
when an instruction is transmitted to the first microcomputer 91 through the voice recognition unit 108 with the microphone array unit 104, the microphone array program module 1041, the voice recognition program module 1081, and the LCD driver module 1021 are operated, and the LCD unit 102 displays a user graphic interface on which an operation key points to the next operation;
when a command is transmitted to the first microcomputer 91 by the mobile terminal through the WIFI unit 106, the WIFI program module 1061 and the LCD driver module 1021 operate, and the LCD unit 102 displays a main user graphic interface with operation keys pointing to the next operation;
third, if the air purifier 16 is started at this time, clicking an air purifier operation key of the main user graphical interface on the LCD unit 102, running with the second microcomputer communication program module 1001 and the first microcomputer communication program module 2001, entering the air purifier user graphical interface, running with the air purifier program module 2012, and performing the next operation;
at this time, if the sweeper 15 is started, clicking the sweeper operation key on the LCD unit 102, running with the second microcomputer communication program module 1001 and with the first microcomputer communication program module 2001, entering the user graphical interface of the sweeper, running the sweeper communication program module 2021, and performing the next operation;
at this time, if the four-channel infrared unit 107 is started, the infrared remote control operation key on the LCD unit 102 is clicked, the four-channel infrared program module 1071 runs, the second microcomputer communication program module 1001 and the first microcomputer communication program module 2001 run, the infrared remote control user graphical interface is entered, the wireless remote control program module 2031 runs, and the next operation is performed;
at this time, if the dialogue module is started, clicking a dialogue operation key on the LCD unit 102 to enter a dialogue user graphical interface, and running the microphone array unit 104 and the speech recognition unit 108, and the microphone array program module 1041 and the speech recognition program module 1081, so as to perform the next operation;
if the left-hand aromatherapy 13 is started at this time, clicking an aromatherapy operation key on the LCD unit 102, entering an aromatherapy user graphical interface, running with the second microcomputer communication program module 1001 and the first microcomputer communication program module 2001, running with the aromatherapy instruction sending program module 2011, and performing the next operation;
at this time, if the color lamp 205 is started to be set, clicking the color lamp operation key on the LCD unit 102, running with the second microcomputer communication program module 1001 and the first microcomputer communication program module 2001, entering the color lamp user graphical interface, running with the color lamp driver module 2051, and performing the next operation;
at this time, if the projector 119 is started, the projector operation key on the LCD unit 102 is clicked, the projection driver module 1191, the MIPI to RGB program module 1181, and the human light sensation protection program module 1051 run, and enter the projector user graphical interface to perform the next operation;
if the depth 3D camera 120 is started at this time, clicking a depth 3D camera operation key on the LCD unit 102, entering a depth 3D camera user graphical interface, and running the depth 3D camera program module 1201 to perform the next operation;
if the camera 101 is started, clicking a camera operation key on the LCD unit 102 to enter a camera user graphical interface, and running the camera program module 1011 to perform the next operation;
if the network module formed by the WIFI program module 1061 is started at this time, clicking a network operation key on the LCD unit 102 to enter a network user graphical interface for performing the next operation;
if the audio power amplifier 115 is started at this time, clicking an audio power amplifier operation key on the LCD unit 102, entering an audio power amplifier user graphical interface, and performing the next operation;
pressing a return key 1122 on the head 12 to return to the main user graphical interface when any one of an audio power amplifier graphical interface, a camera graphical interface, a depth 3D camera graphical interface, a projector graphical interface, a color light ribbon graphical interface, a fragrance user graphical interface, a sweeper graphical interface, and an air purifier graphical interface is used;
fourth, when entering the audio power amplifier user graphic interface to perform the next operation, the keyboard operation program module 1121 and the power amplifier program module 1151 work, press the volume +button 114 on the body 11 to increase the volume, and press the volume-button 115 to decrease the volume;
when the right-hand sound device 14 is removed from the trunk portion 11, the bluetooth communication system and the bluetooth sound program module 1141 between the right-hand sound device 14 and the robot 1 operate to enable the right-hand sound device 14 to continue playing the original audio or to operate a button on the right-hand sound device 14 to enable the right-hand sound device 14 to operate autonomously;
if the left-hand aromatherapy 13 is removed from the trunk part 11, the left-hand aromatherapy 13 continues to operate the left-hand aromatherapy 13 according to the original setting, or a button on the left-hand aromatherapy 13 is operated, so that the left-hand aromatherapy 13 operates autonomously;
fifth, when finishing the robot application, pressing the power switch 1102, turning off the power, finishing the operation of the robot 1, or pressing the soft-off button 113 on the trunk 11, returning the LCD unit 102 to the main user graphical interface, and then extinguishing; the air purifier 16 stops running, the colored lamp strip 205 is extinguished, the sweeper 15 stops running, the projector 119 stops running, the depth 3D camera 120 stops running, the sound power amplifier 115 stops running, the camera 101 stops running, the left-hand aromatherapy 13 stops running, and the four-way infrared unit 107 stops running.
And step three, after entering the infrared remote control user graphical interface, the four-channel infrared program module 1071 operates, and is provided with buttons for starting/stopping the set top box, the television, the air conditioner, the DVD and the audio amplifier, and the starting/stopping buttons of corresponding equipment are selected for operation.
And step three, after entering the color lamp strip user graphic interface, a button for turning on/off the color lamp strip operation mode and a button for modifying the color brightness are arranged, and the color lamp strip driver module 2051 operates and selects the corresponding button for operation.
After entering the dialogue user graphical interface, the user interface has buttons for children education, family rings and old people accompanies, and corresponding buttons are selected for operation; after entering the network user graphic interface, the mobile phone screen, the LOT internet of things and the video/security buttons are arranged, and the corresponding buttons are selected for operation.
The body 11 described in the fourth step is provided with: SD card socket 112, driven by SD card program module 1131; a main USB interface 110 driven by the main USB interface program module 1101; the device USB interface 111 is driven to run by the device USB interface program module 1111.
A multifunctional robot for realizing the functions, wherein a main circuit board 130 is arranged in the head 12 of the robot 1, a first microcomputer 91 is arranged on the main circuit board 130, and the first microcomputer 91 is connected with a second microcomputer 92;
the first microcomputer 91 is internally provided with a program memory 911 and is loaded with instructions comprising a camera program module 1011, an LCD driver program module 1021, a touch screen program module 1031, a microphone array program module 1041, a human light protection program module 1051, a WIFI program module 1061, a four-way infrared program module 1071, a voice recognition program module 1081, a decoding program module 1091, a main USB interface program module 1101, a device USB interface program module 1111, a keyboard operation program module 1121, an SD card program module 1131, a bluetooth sound program module 1141, a power amplifier program module 1151, a power management program module 1161, a second microcomputer communication program module 1001, an MIPI-to-RGB program module 1181, a projection driver module 1191, and a depth 3D camera program module 1201, which are adapted to be loaded and executed by the processor 914;
the head 12 is connected with the body 11, and an air purifier 16 is arranged inside the head; the bottom of the trunk part 11 is provided with a sweeper bin 17, and a sweeper 15 is arranged in the sweeper bin 17; right-hand sound 14 is provided on the right side of the body 11, and left-hand aromatherapy 13 is provided on the left side.
The head 12 is provided with an LCD panel 127, the LCD panel 127 is internally provided with an LCD unit 102, and the second infrared 1072, the third infrared 1073, and the main menu key 1121 and the return key 1122 are provided on the frame of the LCD panel 127; a first infrared 1071 and a camera lens 101 are disposed at the upper edge of the LCD panel 127, and a fourth infrared 1074 is disposed at the rear of the head 12; at the lower edge of LCD panel 127, depth 3D camera 120 is set; a microphone array unit 104 is provided on the head 12.
In the head 12, the microphone array unit 104 is connected with a circuit board of the voice recognition unit 108; a colored light strip 205 is provided at the bottom of the head 12, and the colored light strip 205 is driven under the control of the second microcomputer 92.
The projector 119 is arranged in the head 12 towards the rear, the projector lens cover 1191 is embedded on the shell of the head 12, the projector radiating holes 1192 are arranged on one side of the projector lens cover 1191, the projector circuit board 1193 is arranged on the side of the projector 119, the human body induction sensor 105 is arranged on the side of the projector lens cover 1191, and when a minor enters a projector highlight region, the projector lens cover 1191 is closed to protect the glasses of the user from injury; the projector circuit board 1193 is driven under the control of the first microcomputer 91.
The second microcomputer 92 is connected with a wireless remote control unit 203 arranged at the bottom of the trunk part 11, and the wireless remote control unit 203 is in wireless communication with the sweeper 15 to control the operation of the sweeper 15;
the second microcomputer 92 is connected to the fragrance/air cleaner control unit 201,
the aromatherapy/air purifier control unit 201 is respectively connected with the air purifier 16 and the left-hand aromatherapy 13 to control the two;
the top of the trunk 11 is provided with a soft-off button 113, a volume + button 114, a volume-button 115, an SD card socket 112, a USB socket 110 and a miniUSB socket 111.
As shown in fig. 1, the robot according to the present invention is configured such that a head 12 is seated on a trunk 11, and the left and right arms are respectively provided with sound and fragrance, and can be independently operated.
In one embodiment of the present invention, the performance index of the air purifier is: particulate CADR 800M; formaldehyde CADR > 400M 2M 2/h; particulate CCM P4mg > 12000mg; formaldehyde CCM F4mg > 15000mg; acoustic power level noise 33-61;3M filter cloth; TSI laser sensing: PM 2.5/Fischer VOC/formaldehyde/temperature and humidity.
The performance indexes of the sweeper are as follows: LDS laser navigation, laser mapping and automatic path planning;
the sweeping and dragging are integrated, and the fine sweeping and dragging are performed, so that the cleaning is more thorough; map memory, custom cleaning and APP free setting; suction of 2000 Pa; 3cm obstacle surmounting capability; automatically recharging the 4000mAh lithium battery, and continuing to sweep at a breakpoint;
dry-wet dual mode.
The performance indexes of the sound equipment are as follows: 360 degree surround (binaural); support mobile technologies such as bluetooth, air Pay and DLNA; integrating three major main stream music copyright platforms in the whole country; 1 3/4 inch treble unit, 2 inch midrange units; 15 1/4 inch bass unit.
The performance indexes of aromatherapy are as follows: the 6 smell tastes are selectable: lavender, fructus Citri sinensis, relay, flos Rosae Rugosae, flos Jasmini sambac, and fructus Mali Pumilae.
The performance indexes of the projector are as follows: a maximum projected dimension of 150 inches; the red light proportion is 18%; NTSC color gamut, four colors; the native contrast ratio is 3000:1; resolution ratio: 1920 x 1080 (HDR); relative lumens 1600, absolute lumens 300; projection brightness: 15-18 FL; light source life: 3 ten thousand+; a direct-view protection; electric focusing.
The performance indexes of the mobile phone screen are as follows: sharing instant content; remote interactive entertainment; a multi-person interactive conversation. The old companion is equipped with an intelligent chat database.
The lower part of the body part 11 is a nest-sweeping machine bin 17 of the sweeping machine 15, and the sweeping machine is provided with a battery, can start from the nest, clean the ground at home, automatically return to the nest for charging after completing tasks, and wait for the next start to execute the tasks.
As shown in fig. 2, the aromatherapy 13 can work by attaching to the trunk part 11, or can be taken down to other places to work continuously, a battery is arranged in the aromatherapy, and a control key is arranged on the panel for control.
As shown in fig. 3, the microphone array 104 is disposed on top of the head 12, and one embodiment of the present invention provides 6 microphones, although the number of microphones may be increased or decreased.
As shown in fig. 4, the LCD panel 127 is a square LCD102 inside, the LCD panel 127 is a transparent window, and in the inside, some photoelectric devices, such as a first infrared 1071, a camera 101 and a depth 3D camera 120, are disposed around the periphery of the LCD102, and four first infrared to fourth infrared are disposed around the head in all directions for remote control of home appliances in different directions.
As shown in fig. 5, the head 12 integrates a plurality of components, which realizes a plurality of functions of the present invention, and since the heat generated by the projector 119 is large, a special projector heat dissipation hole 1192 dissipates heat; a heat dissipating window 124 is also provided on both sides of the head 12 to dissipate heat from the head cavity.
As shown in fig. 6, the first microcomputer 91 provided on the main circuit board 130 adopts an a63 chip, the a63 chip adopts a four-core CPU architecture, shares 512KB cache, matches with a MaliT760 GPU, supports OpenGL ES 3.2 specifications, is compatible with DDR3/LPDDR3/eMMC and other multiple storage formats, provides rich audio/video interfaces and universal interfaces, has powerful processing capabilities such as h.265/VP9 4K, h.264 4k@30fps video decoding and the like, has external display resolution reaching 2560×1600, and has an overall package size of only 15×15mm; the A63 chip supports a multi-microphone array, supports multi-channel analog voice signal input and stereo ADC and DAC, and improves the voice preprocessing process; and software algorithms such as voice recognition, voice control and the like which are researched together with ecological partners are added, so that the A63 chip perfectly supports intelligent voice application.
As shown in fig. 7 and 8, the first microcomputer 91 and the second microcomputer 92 are internally provided with a program memory in which the main program modules of the present invention are stored.
The foregoing is merely illustrative of the preferred embodiments of the present invention, and no limitation thereof should be construed as being implied by the specification or limitations of the invention to the extent possible, which modifications are suggested to one of ordinary skill in the art upon which this invention pertains.
Claims (10)
1. A control method of a multifunctional robot, the control method comprising the steps of:
firstly, a main circuit board (130) is arranged in a head (12) of a robot (1), a first microcomputer (91) is arranged on the main circuit board (130), a program memory (911) is arranged in the first microcomputer (91), a camera program module (1011), an LCD driver program module (1021), a touch screen program module (1031), a microphone array program module (1041), a human body light sensation protection program module (1051), a WIFI program module (1061), a four-way infrared program module, a voice recognition program module (1081), a decoding program module (1091), a main USB interface program module (1101), a device USB interface program module (1111), a keyboard operation program module, an SD card program module (1131), a Bluetooth sound program module (1141), a power amplifier program module (1151), a power management program module (1161), a second microcomputer communication program module (1001), a MIPI 1181), a projection driver program module and a depth 3D head program module (1201) are loaded in the first microcomputer, and the instructions of the respective program modules are suitable for being loaded by a processor (914) and executed;
secondly, after a power switch (1102) of the robot (1) is turned on, a power management program module (1161) operates, and all circuit units are powered on; at this time, any one of the touch screen unit (103), the microphone array unit (104) and the WIFI unit (106) is selected to input an operation instruction;
when an instruction is transmitted to the first microcomputer (91) through the decoding unit (109) by the touch screen unit (103), the touch screen program module (1031), the decoding program module (1091) and the LCD driver module (1021) are operated, and the LCD unit (102) displays a user graphic interface through the LCD driver module (1021) with an operation key directed to the next operation;
when an instruction is transmitted to the first microcomputer (91) through the voice recognition unit (108) by the microphone array unit (104), the microphone array program module (1041), the voice recognition program module (1081) and the LCD driver module (1021) operate, and the LCD unit (102) displays a user graphic interface on which an operation key points to the next operation;
when a mobile terminal is used for transmitting instructions to a first microcomputer (91) through a WIFI unit (106), the WIFI program module (1061) and the LCD driver module (1021) work, the LCD unit (102) displays a main user graphical interface, and an operation key on the main user graphical interface points to the next operation;
thirdly, if the air purifier (16) is started at the moment, clicking an air purifier operation key of a main user graphical interface on the LCD unit (102), operating with the second microcomputer communication program module (1001) and the first microcomputer communication program module (2001), entering the air purifier user graphical interface, operating the air purification program module (2012), and performing the next operation;
at this time, if the sweeper (15) is started, clicking a sweeper operation key on the LCD unit (102), running with the second microcomputer communication program module (1001) and the first microcomputer communication program module (2001), entering a sweeper user graphical interface, running with the sweeper communication program module (2021), and performing the next operation;
at this time, if the four-channel infrared unit (107) is started, clicking an infrared remote control operation key on the LCD unit (102), operating the four-channel infrared program module, the second microcomputer communication program module (1001) and the first microcomputer communication program module (2001), entering an infrared remote control user graphical interface, and operating the wireless remote control program module (2031) to perform the next operation;
if the dialogue module is started, clicking a dialogue operation key on the LCD unit (102), entering a dialogue user graphical interface, and running a microphone array unit (104) and a voice recognition unit (108) as well as a microphone array program module (1041) and a voice recognition program module (1081) to perform the next operation;
at this time, if the left-hand aromatherapy (13) is started to work, clicking an aromatherapy operation key on the LCD unit (102), entering an aromatherapy user graphical interface, running with the second microcomputer communication program module (1001) and the first microcomputer communication program module (2001), running with the aromatherapy instruction sending program module (2011), and performing the next operation;
at this time, if the color lamp band (205) is started to be set, clicking a color lamp band operation key on the LCD unit (102), running with the second microcomputer communication program module (1001) and the first microcomputer communication program module (2001), entering a color lamp band user graphical interface, running the color lamp band driver module (2051), and performing the next operation;
at this time, if the projector (119) is started, a projector operation key on the LCD unit (102) is clicked, and a projection driver module, an MIPI-to-RGB program module (1181) and a human light sensation protection program module (1051) run to enter a projector user graphical interface to perform the next operation;
if the depth 3D camera (120) is started at this time, clicking a depth 3D camera operation key on the LCD unit (102), entering a depth 3D camera user graphical interface, and running a depth 3D camera program module (1201) to perform the next operation;
if the camera (101) is started, clicking a camera operation key on the LCD unit (102), entering a camera user graphical interface, and running a camera program module (1011) to perform the next operation;
if the network module formed by the WIFI program module (1061) is started at this time, clicking a network operation key on the LCD unit (102), entering a network user graphical interface, and performing the next operation;
if the audio power amplifier is started, clicking an audio power amplifier operation key on the LCD unit (102), entering an audio power amplifier user graphical interface, and performing the next operation;
pressing a return key (1122) on the head (12) to return to the main user graphical interface when any of an audio power amplifier graphical interface, a camera graphical interface, a depth 3D camera graphical interface, a projector graphical interface, a color light band graphical interface, a fragrance user graphical interface, a sweeper graphical interface, and an air purifier graphical interface is used;
fourth, when entering the audio power amplifier user graphic interface to perform the next operation, the keyboard operation program module and the power amplifier program module (1151) work, the volume + button (114) on the body part (11) is pressed to increase the volume, and the volume-button is pressed to decrease the volume;
if the right-hand sound equipment (14) is removed from the trunk part (11), a Bluetooth communication system and a Bluetooth sound equipment program module (1141) between the right-hand sound equipment (14) and the robot (1) work, so that the right-hand sound equipment (14) continues to play the original audio, or a button on the right-hand sound equipment (14) is operated, so that the right-hand sound equipment (14) runs autonomously;
if the left-hand aromatherapy (13) is taken down from the trunk part (11), the left-hand aromatherapy (13) continues to operate the left-hand aromatherapy (13) according to the original setting, or a button on the left-hand aromatherapy (13) is operated, so that the left-hand aromatherapy (13) operates autonomously;
fifthly, when the robot application is finished, a power switch (1102) is pressed, the power is turned off, the work of the robot (1) is finished, or a soft shutdown button (113) on a trunk part (11) is pressed, so that the LCD unit (102) returns to a main user graphical interface, and then is extinguished; the air purifier (16) stops running, the colored lamp strip (205) is extinguished, the sweeper (15) stops running, the projector (119) stops running, the depth 3D camera (120) stops running, the sound power amplifier stops running, the camera (101) stops running, the left-hand aromatherapy (13) stops running, and the four-channel infrared unit (107) stops running.
2. The control method of a multifunctional robot according to claim 1, characterized in that:
and step three, after entering the infrared remote control user graphical interface, the four-channel infrared program module operates, and is provided with buttons for starting/stopping the set top box, the television, the air conditioner, the DVD and the audio amplifier, and the on/off buttons of corresponding equipment are selected for operation.
3. The control method of a multifunctional robot according to claim 1, characterized in that:
and step three, after entering the color lamp strip user graphic interface, a button for turning on/off the color lamp strip operation mode and a button for modifying the color brightness are arranged, and a color lamp strip driver module (2051) operates and selects the corresponding button for operation.
4. The control method of a multifunctional robot according to claim 1, characterized in that:
after entering the dialogue user graphical interface, the user interface has buttons for children education, family rings and old people accompanies, and corresponding buttons are selected for operation; after entering the network user graphic interface, the mobile phone screen, the LOT internet of things and the video/security buttons are arranged, and the corresponding buttons are selected for operation.
5. The control method of a multifunctional robot according to claim 1, characterized in that:
the body part (11) in the fourth step is provided with: an SD card socket (112) driven by an SD card program module (1131) to run; a main USB interface (110) driven by the main USB interface program module (1101); a device USB interface (111) driven by a device USB interface program module (1111).
6. A multi-function robot that performs the control method of the multi-function robot according to claim 1, characterized in that: a main circuit board (130) is arranged in the head (12) of the robot (1), a first microcomputer (91) is arranged on the main circuit board (130), and the first microcomputer (91) is connected with a second microcomputer (92);
the first microcomputer (91) is internally provided with a program memory (911) and is loaded with instructions comprising a camera program module (1011), an LCD driver program module (1021), a touch screen program module (1031), a microphone array program module (1041), a human light protection program module (1051), a WIFI program module (1061), a four-way infrared program module (1071), a voice recognition program module (1081), a decoding program module (1091), a main USB interface program module (1101), a device USB interface program module (1111), a keyboard operation program module (1121), an SD card program module (1131), a bluetooth sound program module (1141), a power amplifier program module (1151), a power management program module (1161), a communication program module (1001) with a second microcomputer, an MIPI to RGB program module (1181), a projection driver program module (1191) and a depth 3D camera program module (1201), wherein the instructions of the respective program modules are adapted to be loaded and executed by the processor (914);
the head (12) is connected with the body part (11), and an air purifier (16) is arranged inside the head; a sweeper bin (17) is arranged at the bottom of the trunk part (11), and a sweeper (15) is arranged in the sweeper bin (17); right-hand sound equipment (14) is arranged on the right side of the trunk part (11), and left-hand aromatherapy (13) is arranged on the left side.
7. The multi-function robot of claim 6, wherein: an LCD screen (127) is arranged on the head (12), an LCD unit (102) is arranged inside the LCD screen (127), and a second infrared ray (1072), a third infrared ray (1073), a main menu key (1121) and a return key (1122) are arranged on the frame of the LCD screen (127); a first infrared ray and a camera lens are arranged at the upper edge of the LCD panel (127), and a fourth infrared ray (1074) is arranged at the rear part of the head part (12); setting a depth 3D camera (120) at the lower edge of the LCD panel (127); a microphone array unit (104) is provided on the head (12).
8. The multi-function robot of claim 7, wherein: the microphone array unit (104) is connected with the voice recognition unit (108) circuit board in the head part (12); a colored lamp strip (205) is arranged at the bottom of the head part (12), and the colored lamp strip (205) is controlled and driven by the second microcomputer (92).
9. The multi-function robot of claim 6, wherein: a projector (119) is arranged in the head (12) towards the rear, a projector lens cover is embedded on a shell of the head (12), a projector radiating hole (1192) is formed in one side of the projector lens cover, a projector circuit board (1193) is arranged on the side of the projector (119), a human body induction sensor (105) is arranged on the side of the projector lens cover, and when a minor enters a projector highlight region, the projector lens cover is closed to protect glasses of the user from injury; the projector circuit board 1193 is driven under the control of the first microcomputer 91.
10. The multi-function robot of claim 6, wherein: the second microcomputer (92) is connected with a wireless remote control unit (203) arranged at the bottom of the trunk part (11), and the wireless remote control unit (203) is in wireless communication with the sweeper (15) to control the sweeper (15) to run;
the second microcomputer (92) is connected with a fragrance/air purifier control unit (201),
the aromatherapy/air purifier control unit (201) is respectively connected with the air purifier (16) and the left-hand aromatherapy (13) to control the air purifier and the left-hand aromatherapy;
the soft shutdown button (113), the volume + button (114), the volume-button, the SD card socket (112), the main USB interface (110) and the equipment USB interface (111) are arranged at the top of the trunk part (11).
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| CN201811520374.0A CN111319045B (en) | 2018-12-13 | 2018-12-13 | Multifunctional robot and control method |
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| CN112443922B (en) * | 2020-11-29 | 2022-07-29 | 深圳市至为芯科技有限公司 | Intelligent household air purification aromatherapy machine control system and method |
| CN113341851A (en) * | 2021-08-04 | 2021-09-03 | 深圳康易世佳科技有限公司 | AI voice interaction and visual positioning recharging sweeper control circuit |
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| CN105034002A (en) * | 2015-08-04 | 2015-11-11 | 北京进化者机器人科技有限公司 | Multifunctional home service robot |
| WO2018117616A1 (en) * | 2016-12-23 | 2018-06-28 | 엘지전자 주식회사 | Mobile robot |
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