CN115755937A - Intelligent household robot system, control method, equipment and medium - Google Patents
Intelligent household robot system, control method, equipment and medium Download PDFInfo
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Abstract
The application discloses intelligence house robot system relates to the robotechnology field, includes: the system comprises a vision module, a power supply obstacle avoidance module, a voice module and a main control module, wherein the vision module comprises a monitoring system constructed based on a dual-light imaging system and a radar system used for constructing a 3D space model of a surrounding environment; the power supply obstacle avoidance module is used for detecting non-sound source obstacles in the surrounding environment to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module, and charging the robot system; the voice module is used for detecting sound source obstacles in the surrounding environment to obtain second obstacle data and sending the second obstacle data to the main control module; and the master control module is used for generating an obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module. The robot integrates obstacle avoidance power supply, double-light fusion, 3D modeling and the like into a limited space, and functions of intelligent interaction, old people and children monitoring and the like of the robot are achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent household robot system, a control method, equipment and a medium.
Background
The continuous development and maturity of the artificial intelligence technology and the robot technology enable the intelligent home robot to be widely applied, and different from other types of intelligent robots, the use requirements of a family on the intelligent home robot are not limited to functions such as voice broadcasting and entertainment interaction, but in the market, various functions are fused together to meet the requirements of the family, and few or basically no intelligent robots exist.
Therefore, how to perfect the functions of the household robot to solve the fundamental needs of the family is a problem to be solved urgently in the field.
Disclosure of Invention
In view of the above, the present invention provides an intelligent home robot system, a control method, a device and a medium, which can improve the functions of a home robot to solve the fundamental needs of a family, and the specific scheme is as follows:
in a first aspect, the application discloses intelligent home robot system, includes: a vision module, a power supply and obstacle avoidance module, a voice module and a main control module, wherein,
the visual module comprises a real-time monitoring system constructed based on a visible light imaging system and an infrared light imaging system and a radar system used for constructing a 3D space model of the surrounding environment;
the power supply obstacle avoidance module is used for detecting non-sound source obstacles in the surrounding environment through a sensor system to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module to complete corresponding obstacle avoidance operation, and providing charging service for the intelligent home robot system through a battery management system;
the voice module is used for detecting sound source barriers in the surrounding environment through the annular microphone to obtain second barrier data and sending the second barrier data to the main control module;
the master control module is used for generating the obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module.
Optionally, the visual module further includes:
and the steering engine system is used for controlling the change of the pitching angle of the vision module to realize the expansion of the monitoring range and the 3D space model construction range.
Optionally, the power supply obstacle avoidance module further includes:
and the charging pile alignment system is used for automatically searching a target charging pile through an infrared receiving tube and aligning the target charging pile so as to realize automatic charging of the intelligent household robot.
Optionally, the master control module further includes:
the gas detection system is used for detecting various gas indexes in the surrounding environment to obtain gas detection data;
and the Bluetooth WIFI system is used for uploading the gas detection data to a cloud end so as to monitor the current gas environment in real time through the cloud end.
Optionally, the smart home robot further includes:
and the navigation module is used for storing modeling data of a 3D space model, the first obstacle data, the second obstacle data and the gas detection data.
Optionally, the master control module further includes:
and the asynchronous motor control system is used for controlling the lifting rod to ascend or descend so as to realize the ascending or descending of the vision module positioned above the lifting rod.
Optionally, the master control module further includes:
and the intelligent voice system is used for realizing man-machine voice interaction through the left sound channel loudspeaker and the right sound channel loudspeaker.
In a second aspect, the present application discloses a method for controlling an intelligent home robot, which is applied to an intelligent home robot system, the intelligent home robot system comprising: the system comprises a vision module, a power supply obstacle avoidance module, a voice module and a main control module, wherein the method comprises the following steps:
acquiring a double-light monitoring image based on a visible light imaging system and an infrared light imaging system in the vision module, and constructing a 3D space model of the surrounding environment based on a radar system in the vision module;
detecting non-sound source obstacles in the surrounding environment through a sensor system in the power supply obstacle avoidance module to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module to complete corresponding obstacle avoidance operation, and providing charging service for the intelligent home robot system through a battery management system in the power supply obstacle avoidance module;
detecting a sound source obstacle in the surrounding environment through a ring microphone in the voice module to obtain second obstacle data, and sending the second obstacle data to the main control module;
generating the obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module.
In a third aspect, the present application discloses an electronic device, comprising:
a memory for storing a computer program;
and the processor is used for executing the computer program to realize the intelligent household robot control method disclosed in the foregoing.
In a fourth aspect, the present application discloses a computer readable storage medium for storing a computer program; and when being executed by a processor, the computer program realizes the intelligent household robot control method.
It is thus clear that this application discloses intelligent house robot system, includes: the system comprises a vision module, a power supply obstacle avoidance module, a voice module and a main control module, wherein the vision module comprises a real-time monitoring system constructed based on a visible light imaging system and an infrared light imaging system and a radar system used for constructing a 3D space model of the surrounding environment; the power supply obstacle avoidance module is used for detecting non-sound source obstacles in the surrounding environment through a sensor system to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module to complete corresponding obstacle avoidance operation, and providing charging service for the intelligent home robot system through a battery management system; the voice module is used for detecting sound source barriers in the surrounding environment through an annular microphone to obtain second barrier data and sending the second barrier data to the main control module; the master control module is used for generating the obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module. In summary, the robot integrates obstacle avoidance power supply, double-light fusion, 3D modeling and the like into a limited space, and functions of intelligent human-computer interaction, old people and children monitoring and the like of the robot are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent home robot system disclosed in the present application;
fig. 2 is a schematic structural diagram of a specific smart home robot system disclosed in the present application;
fig. 3 is a schematic structural diagram of a specific smart home robot system disclosed in the present application;
fig. 4 is a schematic structural diagram of a power supply obstacle avoidance module disclosed in the present application;
fig. 5 is a schematic structural diagram of a main control module disclosed in the present application;
FIG. 6 is a schematic view of a structure of a vision module according to the present disclosure;
FIG. 7 is a schematic structural diagram of a voice module according to the present disclosure;
fig. 8 is a flowchart of a method for controlling an intelligent home robot disclosed in the present application;
fig. 9 is a block diagram of an electronic device disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The continuous development and maturity of the artificial intelligence technology and the robot technology enable the intelligent home robot to be widely applied, and different from other types of intelligent robots, the use requirements of a family on the intelligent home robot are not limited to functions such as voice broadcasting and entertainment interaction, but in the market, various functions are fused together to meet the requirements of the family, and few or basically no intelligent robots exist.
Therefore, the embodiment of the application provides an intelligent household robot scheme, which can perfect the functions of a household robot so as to meet the fundamental requirements of families.
The embodiment of the application discloses intelligent house robot system includes: a vision module, a power supply and obstacle avoidance module, a voice module and a main control module, as shown in FIG. 1,
the vision module 11 includes a real-time monitoring system 111 constructed based on a visible light imaging system and an infrared light imaging system, and a radar system 112 for constructing a 3D spatial model of the surrounding environment.
In this embodiment, the real-time monitoring system 111 is a system constructed based on a visible light imaging system and an infrared light imaging system, and it is noted that a visible image can provide texture details with high spatial resolution and definition in a manner conforming to a human visual system, and an infrared image can distinguish a target from a background thereof according to a radiation difference, so that the intelligent home robot can work well under all day/night conditions, and therefore, after the two imaging modes are combined, the intelligent home robot can sense richer scene information, and thus, a family can be monitored more comprehensively in real time. For example, since infrared imaging can work normally in a dark night environment, even at night, it is possible to monitor whether theft, intrusion, etc. occur in a room, thereby ensuring the security of a home all day long.
A3D space model of the surrounding environment is constructed through the radar system 112, and a 3D map is drawn, so that the intelligent household robot can better complete the functions of obstacle avoidance, interaction and the like.
It should be noted that the vision module further comprises: and the steering engine system is used for controlling the change of the pitching angle of the vision module to realize the expansion of the monitoring range and the 3D space model construction range. Therefore, the intelligent household robot in the application can flexibly adjust the range of the environment entering the visual field according to the actual situation. For example, the robot can instantly know whether the roof has water leakage caused by water pipe aging by enlarging the monitoring range.
The power supply obstacle avoidance module 12 is configured to detect a non-sound source obstacle in a surrounding environment through the sensor system 121 to obtain first obstacle data, send the first obstacle data to the main control module, execute an obstacle avoidance instruction issued by the main control module to complete a corresponding obstacle avoidance operation, and provide a charging service for the smart home robot system through the battery management system 122.
In this embodiment, when a sensor detects a non-sound source obstacle in a surrounding environment, first obstacle data is generated and sent to the main control module, the main control module issues a corresponding obstacle avoidance instruction according to the first obstacle data, and the power supply obstacle avoidance module executes the obstacle avoidance instruction to complete a corresponding obstacle avoidance operation after receiving the obstacle avoidance instruction. Including but not limited to a collision edge sensor, a bottom mounted fall protection sensor, a side impact sensor, etc. Therefore, the robot can avoid and process obstacle risks at different angles, and can timely sense unstable road sections, so that the safety of the robot is guaranteed while the robot works normally. For example, when a child is in an alarm state, the child does not pay attention to and avoid the robot in time, at the moment, the robot generates first obstacle data, and plans an obstacle avoidance route in time according to the first obstacle data so as to avoid collision with the child; another example is: when the robot works, obstacles such as steps can be sensed in time through the anti-falling sensor at the bottom, so that the robot is ensured not to fall down and fall down.
Furthermore, a battery management system in the power supply obstacle avoidance module provides charging service for the intelligent household robot system, and it should be noted that the battery management system can be composed of a 4S lithium iron phosphate battery.
In this embodiment, the power supply obstacle avoidance module further includes: and the charging pile alignment system is used for automatically searching a target charging pile through an infrared receiving tube and aligning the target charging pile so as to realize automatic charging of the intelligent household robot. That is to say, in this application intelligent house robot system uses the back in the battery after, can the automatic searching fill electric pile to accomplish automatic charging, so, for normal work provides bigger guarantee.
The voice module 13 is configured to detect a sound source obstacle in a surrounding environment through an annular microphone to obtain second obstacle data, and send the second obstacle data to the main control module.
In this embodiment, the sound source obstacle in the surrounding environment is detected by the annular microphone 131 to obtain second obstacle data, the second obstacle data is sent to the main control module, and then the main control module issues a corresponding obstacle avoidance instruction, so that an obstacle avoidance operation is realized according to the obstacle avoidance instruction.
In the embodiment, the sound source obstacle can be detected and automatically evaded, and the sound source obstacle can be an obstacle which is small in size or hidden in angle, is not easy to monitor and can make a sound.
It should be noted that the voice module can perform sound searching and position finding besides detecting sound source obstacles in the surrounding environment through the annular microphone.
The main control module 14 is configured to generate the obstacle avoidance instruction based on the 3D space model, the first obstacle data, and the second obstacle data, and send the obstacle avoidance instruction to the power supply obstacle avoidance module.
In this embodiment, after the first obstacle data and the second obstacle data are acquired, the main control module generates an obstacle avoidance route according to a 3D space model, generates the obstacle avoidance instruction based on the obstacle avoidance route, and sends the obstacle avoidance instruction to the power supply obstacle avoidance module, and the power supply obstacle avoidance module runs according to the obstacle avoidance route in the obstacle avoidance instruction after receiving the obstacle avoidance instruction, so that collision with the outside is avoided, for example, when it is detected that the height of an old person or a child is suddenly reduced, the obstacle avoidance route is generated according to data such as a reduction range, and autonomous obstacle avoidance is completed.
In this embodiment, the main control module further includes: the gas detection system is used for detecting various gas indexes in the surrounding environment to obtain gas detection data; and the Bluetooth WIFI system is used for uploading the gas detection data to a cloud end so as to monitor the current gas environment in real time through the cloud end. Gaseous detecting system includes formaldehyde gas detection module, dust detection module, peculiar smell gas detection module, temperature and humidity detection module, gaseous detecting system detects corresponding gaseous index through above-mentioned module to upload corresponding gaseous detection data to the cell-phone high in the clouds through bluetooth WIFI system, and so, in the cell-phone high in the clouds alright realize the control to gaseous index, thereby when gaseous index is not conform to the regulation, in time take measures to intervene, and then reach the purpose of monitoring family member's health.
In this embodiment, the asynchronous motor control system in the main control module controls the lifting rod to ascend or descend, so that the vision module can ascend or descend, and therefore, pictures at different height positions can be monitored according to actual requirements.
In this embodiment, the main control module further includes: and the intelligent voice system is used for playing voice through the left sound channel loudspeaker and the right sound channel loudspeaker so as to realize human-computer voice interaction.
In summary, the robot integrates the functions of obstacle avoidance power supply, double-light fusion, 3D modeling, gas detection, bluetooth WIFI, and the like into a limited space, and realizes intelligent human-computer interaction, old people and children monitoring, health monitoring, sound searching, position finding and the like.
The embodiment of the application discloses a specific intelligent household robot system, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Referring to fig. 2, the method specifically includes: a vision module 11, a power supply obstacle avoidance module 12, a voice module 13, a main control module 14 and a navigation module 15, wherein,
the vision module 11 includes a real-time monitoring system constructed based on a visible light imaging system and an infrared light imaging system, and a radar system for constructing a 3D spatial model of the surrounding environment.
And the power supply obstacle avoidance module 12 is used for detecting non-sound source obstacles in the surrounding environment through a sensor system to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module to complete corresponding obstacle avoidance operation, and providing charging service for the intelligent household robot system through a battery management system.
The voice module 13 is configured to detect a sound source obstacle in a surrounding environment through an annular microphone to obtain second obstacle data, and send the second obstacle data to the main control module.
The main control module 14 is configured to generate the obstacle avoidance instruction based on the 3D space model, the first obstacle data, and the second obstacle data, and send the obstacle avoidance instruction to the power supply obstacle avoidance module.
The navigation module 15 is configured to store modeling data of a 3D space model, the first obstacle data, the second obstacle data, and the gas detection data.
In this embodiment, the smart home robot system further includes the navigation module 15, and the navigation module is configured to store the modeling data of the 3D spatial model, the first obstacle data, the second obstacle data, and the gas detection data, and form a corresponding database, so as to facilitate a subsequent call of the main control module.
In a specific embodiment, the smart home robot system in the present application can include the following:
referring to fig. 3, in the intelligent home robot system, a lithium iron phosphate battery is used for supplying power, and the power is supplied to each module through a series of power conversion. The whole robot system consists of five parts, namely a power supply obstacle avoidance module, a master control module, a vision module, a navigation module and a voice module, wherein all the modules acquire and process signals and transmit the signals to the master control module, and the master control module issues commands to all the modules.
Referring to fig. 4, the power supply obstacle avoidance module integrates 5 systems, which are a battery management system, a charging pile alignment system, a sensor system, a motor driving and chassis motion system, and a communication and power supply bus system, respectively. Specifically, the battery management system is composed of a 4S lithium iron phosphate battery, and the charging voltage is monitored by a charging IC (integrated circuit), so that the battery management system has the functions of high-precision charging current and voltage regulation, charging pretreatment, termination and charging state monitoring; the charging pile alignment system comprises an alignment beacon receiving group, specifically comprises 2 paths of 850nm infrared receiving tubes, is matched with a shading structure, and decodes an alignment signal NET protocol; the sensor system comprises a collision touch edge sensor group, a falling-prevention sensor group, a side anti-collision sensor group and an Inertial navigation unit (IMU) sensor group, wherein the collision touch edge sensor adopts a mechanical motion mode to drive a grating to move, the left front grating structure and the right front grating structure are respectively arranged, when collision occurs, the mechanical structures displace, the grating signals are shielded, and the control IC judges that the current collision occurs; the anti-falling sensor is an infrared emission type sensor, is arranged at the bottom of the robot, is arranged at the side part of the robot and consists of an infrared emission tube, an infrared receiving tube, a transport amplifier and the like; the motor drive and chassis motion system comprises left wheel motor & encoder, right wheel motor & encoder and other motors, and communication and power supply bus system includes: a communication bus and a power supply bus.
It should be pointed out that, because fill electric pile alignment system and collocated the shading structure, so for the robot when illumination intensity is big, still can accurate perception fill electric pile's position, thereby in time accomplish and charge.
This embodiment is passed through the barrier module is kept away in the power supply, makes intelligent robot when detecting that there is barrier data or just begin to collide, and barrier route is kept away in adjustment that can be timely, avoids colliding with the barrier or avoids the loss of property or personnel injury that more violent collision leads to.
As shown in fig. 5, the main control module integrates a USB & internet access communication system, a bluetooth WIFI system, a gas detection system, an intelligent voice system, and an asynchronous motor control system, and specifically, the USB & internet access communication system includes a control IC of an ethernet and also includes a typeC interface of a USB, which is used for communication between board ends; the Bluetooth WIFI system comprises an integrated Bluetooth WIFI module, comprises two signal rates of 2.4G and 5G, can provide real-time voice communication and networking functions of intelligent homes, and can realize cloud interconnection by virtue of the Bluetooth function; the gas detection system integrates four gas detection modules, namely a formaldehyde gas detection module, a dust detection module, a peculiar smell gas detection module and a temperature and humidity detection module. The formaldehyde gas detection module and the peculiar smell gas detection module carry out data interaction with a main control through a Universal Asynchronous Receiver/Transmitter (UART); the dust detection module detects the dust concentration by outputting PWM (pulse width modulation) and detecting the PWM duty ratio by a main control IO, wherein the larger the dust concentration is, the higher the PWM duty ratio is; the temperature and humidity detection module performs data interaction with a main control through I2C, and reads a temperature value and a humidity value of the current environment through an I2C protocol; after all gas detection module read data by the master control, upload the cell-phone high in the clouds with data through bluetooth WIFI module by the master control, the user can see current gaseous environment on the cell-phone. Intelligence voice system has contained the power amplifier of sound channel about two ways and has controlled the sound channel loudspeaker for the mutual sound of broadcast pronunciation, in addition, intelligence voice system has still contained sound back production and circulation sound locate function, transmits voice input signal to the master control module through intelligent voice system. The asynchronous motor control system comprises a group of asynchronous motor control circuits, and can realize the forward and reverse rotation of the motor, so that the lifting rod is driven to ascend or descend.
Through master control module can detect the superiority and inferiority of indoor air quality to air quality does not reach standard in the room, in time takes corresponding measure, for example reminds the user to open the window ventilation etc.. In a specific implementation manner, if the olfactory sensitivity of the user is reduced due to a cold or other reasons, the intelligent home robot in the embodiment can help the user to timely sense hidden dangers, so that the user can intervene in time. In another kind of concrete embodiment, because this embodiment uploads gaseous detection index to the high in the clouds, even the user is not at home at present, also can in time perceive indoor whether there is gaseous potential safety hazard, thereby take measures the very first time when arriving home, avoid leading to causing certain injury to the health after a long time because do not know indoor air quality, on the other hand, even the user can't arrive home the very first time, when the user in time knows the current gaseous index condition, if reach certain risk level, can also request help such as property, thereby avoid the emergence of more serious condition.
The vision module is located above a lifting rod of a household robot, the height of the vision module can be increased and decreased through the lifting rod, as shown in fig. 6, the vision module integrates a TYPEC and a network port communication system, an infrared imaging system, a visible light imaging system, a radar system and a steering engine system, the infrared imaging system and the visible light imaging system form double-light imaging, the real-time monitoring of the surrounding environment is realized, the radar system realizes modeling of the surrounding environment, the steering engine system realizes the change of the pitching angle of the vision module, and therefore the expansion of the visual lens field angle is realized.
Through the vision module can realize the real time monitoring to the surrounding environment, specific, for example: the indoor seepage and water leakage, the aging of the circuit, the forgetting of closing of the gas and the like can be monitored and sensed by infrared imaging, and after the risk is sensed, the user is timely reminded, so that the property loss in the aspect of personnel is avoided.
The navigation module is used for storing modeling data such as radar, gas detection, collision avoidance, falling prevention and the like, and has the main functions of storage and calling; the voice module comprises 4 annular microphones surrounding the lifting rod, can perform sound tracking positioning according to the surrounding environment, and also comprises two flexible keys, wherein key signals are connected with a master control through the keys and voice signals, and are used for acquiring robot parameters and commands configured outside. The block diagram of the speech module is shown in fig. 7.
To sum up, this application will keep away a plurality of module integration such as barrier power supply, two optical fusion, 3D modeling, gaseous detection, bluetooth WIFI, to limited space in, realized functions such as intelligent human-computer interaction, old man children guardianship, health monitoring, sound seeking and debate of robot, solved the fundamental demand of family.
The embodiment of the application discloses an intelligent household robot control method, which is applied to an intelligent household robot system, wherein the intelligent household robot system comprises: the vision module, the power supply obstacle avoidance module, the voice module and the main control module are shown in fig. 8, and the method comprises the following steps:
step S11: and acquiring a double-light monitoring image based on a visible light imaging system and an infrared light imaging system in the vision module, and constructing a 3D space model of the surrounding environment based on a radar system in the vision module.
Step S12: non-sound source obstacles in the surrounding environment are detected through a sensor system in the power supply obstacle avoidance module to obtain first obstacle data, the first obstacle data are sent to the main control module, an obstacle avoidance instruction issued by the main control module is executed to complete corresponding obstacle avoidance operation, and charging service is provided for the intelligent home robot system through a battery management system in the power supply obstacle avoidance module.
Step S13: and detecting sound source barriers in the surrounding environment through an annular microphone in the voice module to obtain second barrier data, and sending the second barrier data to the main control module.
Step S14: generating the obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module.
It is thus clear that this application discloses intelligent house robot system, includes: the system comprises a vision module, a power supply obstacle avoidance module, a voice module and a main control module, wherein the vision module comprises a real-time monitoring system constructed based on a visible light imaging system and an infrared light imaging system and a radar system used for constructing a 3D space model of the surrounding environment; the power supply obstacle avoidance module is used for detecting non-sound source obstacles in the surrounding environment through a sensor system to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module to complete corresponding obstacle avoidance operation, and providing charging service for the intelligent home robot system through a battery management system; the voice module is used for detecting sound source barriers in the surrounding environment through the annular microphone to obtain second barrier data and sending the second barrier data to the main control module; the master control module is used for generating the obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module. In summary, the robot integrates obstacle avoidance power supply, double-light fusion, 3D modeling and the like into a limited space, and functions of intelligent human-computer interaction of the robot, old people and children monitoring and the like are achieved.
Further, the embodiment of the application also provides electronic equipment. FIG. 9 is a block diagram illustrating an electronic device 20 according to an exemplary embodiment, and the contents of the figure should not be construed as limiting the scope of the application in any way.
Fig. 9 is a schematic structural diagram of an electronic device 20 according to an embodiment of the present disclosure. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a display 23, an input output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 is configured to store a computer program, and the computer program is loaded and executed by the processor 21 to implement relevant steps in the intelligent home robot control method disclosed in any one of the foregoing embodiments. In addition, the electronic device 20 in the present embodiment may be specifically an electronic computer.
In this embodiment, the power supply 26 is used for providing an operating voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and an external device, and a communication protocol followed by the communication interface is any communication protocol applicable to the technical solution of the present application, and is not specifically limited herein; the input/output interface 24 is configured to obtain external input data or output data to the outside, and a specific interface type thereof may be selected according to specific application requirements, which is not specifically limited herein.
In addition, the memory 22 is used as a carrier for resource storage, and may be a read-only memory, a random access memory, a magnetic disk or an optical disk, etc., and the resource stored thereon may include the computer program 221, and the storage manner may be a transient storage or a permanent storage. The computer program 221 may further include a computer program that can be used to complete other specific tasks, in addition to the computer program that can be used to complete the intelligent home robot control method executed by the electronic device 20 disclosed in any of the foregoing embodiments.
Further, the embodiment of the application also discloses a computer readable storage medium for storing a computer program; and when being executed by a processor, the computer program realizes the intelligent household robot control method.
For the specific steps of the method, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
In the present application, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other, so that for the apparatus disclosed in the embodiments, since the apparatus corresponds to the method disclosed in the embodiments, the description is simple, and for the relevant parts, the method is referred to the method part.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The method, the device, the equipment and the storage medium for controlling the smart home robot provided by the application are introduced in detail, a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. The utility model provides an intelligence house robot system which characterized in that includes: a vision module, a power supply obstacle avoidance module, a voice module and a main control module,
the visual module comprises a real-time monitoring system constructed based on a visible light imaging system and an infrared light imaging system and a radar system used for constructing a 3D space model of the surrounding environment;
the power supply obstacle avoidance module is used for detecting non-sound source obstacles in the surrounding environment through a sensor system to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module to complete corresponding obstacle avoidance operation, and providing charging service for the intelligent home robot system through a battery management system;
the voice module is used for detecting sound source barriers in the surrounding environment through the annular microphone to obtain second barrier data and sending the second barrier data to the main control module;
the master control module is used for generating the obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module.
2. The smart home robotic system of claim 1, wherein the vision module further comprises:
and the steering engine system is used for controlling the change of the pitching angle of the visual module to realize the expansion of the monitoring range and the 3D space model construction range.
3. The smart home robot system according to claim 1, wherein the power supply obstacle avoidance module further comprises:
and the charging pile alignment system is used for automatically searching a target charging pile through an infrared receiving tube and aligning the target charging pile so as to realize automatic charging of the intelligent household robot.
4. The smart home robot system according to claim 1, wherein the master control module further comprises:
the gas detection system is used for detecting various gas indexes in the surrounding environment to obtain gas detection data;
and the Bluetooth WIFI system is used for uploading the gas detection data to a cloud end so as to monitor the current gas environment in real time through the cloud end.
5. The smart home robot system of claim 4, further comprising:
and the navigation module is used for storing modeling data of a 3D space model, the first obstacle data, the second obstacle data and the gas detection data.
6. The smart home robot system of claim 1, wherein the master control module further comprises:
and the asynchronous motor control system is used for controlling the lifting rod to ascend or descend so as to realize the ascending or descending of the vision module above the lifting rod.
7. The smart home robot system according to any one of claims 1 to 6, wherein the master control module further comprises:
and the intelligent voice system is used for realizing human-computer voice interaction through the left sound channel loudspeaker and the right sound channel loudspeaker.
8. The intelligent household robot control method is applied to an intelligent household robot system, and the intelligent household robot system comprises the following steps: the method comprises the following steps of providing a vision module, a power supply obstacle avoidance module, a voice module and a master control module, wherein the method comprises the following steps:
acquiring a double-light monitoring image based on a visible light imaging system and an infrared light imaging system in the vision module, and constructing a 3D space model of the surrounding environment based on a radar system in the vision module;
detecting non-sound source obstacles in the surrounding environment through a sensor system in the power supply obstacle avoidance module to obtain first obstacle data, sending the first obstacle data to the main control module, executing an obstacle avoidance instruction issued by the main control module to complete corresponding obstacle avoidance operation, and providing charging service for the intelligent home robot system through a battery management system in the power supply obstacle avoidance module;
detecting sound source barriers in the surrounding environment through a ring microphone in the voice module to obtain second barrier data, and sending the second barrier data to the main control module;
generating the obstacle avoidance instruction based on the 3D space model, the first obstacle data and the second obstacle data, and issuing the obstacle avoidance instruction to the power supply obstacle avoidance module.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the intelligent home robot control method according to claim 8.
10. A computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the smart home robot control method of claim 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116107321A (en) * | 2023-04-13 | 2023-05-12 | 无锡科技职业学院 | Unmanned vehicle path planning system and method based on vision and laser radar fusion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116107321A (en) * | 2023-04-13 | 2023-05-12 | 无锡科技职业学院 | Unmanned vehicle path planning system and method based on vision and laser radar fusion |
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