CN204515399U - Child nurses robot - Google Patents
Child nurses robot Download PDFInfo
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- CN204515399U CN204515399U CN201520001580.6U CN201520001580U CN204515399U CN 204515399 U CN204515399 U CN 204515399U CN 201520001580 U CN201520001580 U CN 201520001580U CN 204515399 U CN204515399 U CN 204515399U
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Abstract
A kind of child nurses robot, be applicable to family use, comprise moving body and be located at the robot fuselage on moving body, moving body is provided with wheel and drive motor, described fuselage is provided with host computer, and moving body is provided with slave computer, and described host computer is connected by blue teeth wireless with slave computer, the man-machine interaction modular system that described host computer comprises video monitoring system and is connected with video monitoring system, described slave computer comprises kinetic control system; Its structure is simple, small volume and less weight, and master controller and functional module adopt bluetooth to be connected, and the result of host computer image acquisition realizes controlling the fixed range of slave computer control moving body to nurse object in conjunction with infrared distance measurement modules acquiring data and follows.
Description
Technical field
The utility model relates to a kind of child and nurses robot, and the child being especially suitable for the use of a kind of family nurses robot.
Background technology
It is that a class is to nurse the service robot that child is target that child nurses robot.Child nurses robot requirement and can monitor in real time surrounding environment, and can identify the moving target in scene, obtains the more accurate position of moving target and feature.
The moving target that the design follows the tracks of is child, and because the speed of travel of child in indoor is very fast, and its motion is without purpose, so have higher requirement in the recognition speed and precision of video monitoring system.
At present still not for the nurse robot of child, the existing nurse robot for adult or old man is general highly higher, volume is larger, slow in action, notebook or desktop computer is adopted to be master controller, specifically be made up of topworks, drive unit, pick-up unit, control system and complicated machinery etc., and each several part adopts wired electrical connection.And all embed the larger battery of a capacity inside robot, the long-time continuous firing of guarantee robot.
Summary of the invention
This child nurses robot and solves the problem, and its structure is simple, small volume and less weight, and the child that master controller adopts bluetooth to be connected with functional module nurses robot.
For realizing above-mentioned technical purpose, child of the present utility model nurses robot, comprise moving body and be located at the robot fuselage on moving body, moving body is provided with wheel and drive motor, it is characterized in that: described fuselage is provided with host computer, and moving body is provided with slave computer, described host computer is connected by blue teeth wireless with slave computer, the man-machine interaction modular system that described host computer comprises video monitoring system and is connected with video monitoring system, described slave computer comprises kinetic control system; Described video monitoring system comprises interconnective video acquisition module and image processing module; Described man-machine interactive system comprises mutual CPU, mutual CPU connects touch-screen, voice module and Bluetooth wireless communication module respectively, described mutual CPU is connected with image processing module, described voice module comprises speech control unit, speech control module is connected to microphone and loudspeaker, and Bluetooth wireless communication module is connected with kinetic control system by wireless signal; Described kinetic control system comprises housing, motion control single-chip microcomputer is provided with in housing, motion control single-chip microcomputer is connected to infrared radio range finder module, button and LCD MODULE, motor module, Bluetooth wireless communication module, described LCDs, setting button and infrared radio transceiver are located on housing, and described motor module is connected with drive motor by circuit.
The video monitoring system of described host computer is also provided with wireless network transmitter, the video information of image processing module process is sent in network and goes; Described motion control single-chip microcomputer model is STM32F103RBT6; Described infrared radio range finder module is GP2D12; Described motor module model is L298N; Described Bluetooth wireless communication module model is BlueCore4-Ext.
Beneficial effect: this child nurses robot and is made up of host computer and slave computer two parts, the man-machine interaction modular system that host computer comprises video monitoring system and is connected with video monitoring system,, slave computer is the direct current motor component movement control system driven by single-chip microcomputer, infrared distance sensor and two bands.Camera, wireless network card and microphone, loudspeaker and the bluetooth module composition video monitoring system and man-machine interactive system of host computer by arranging; Slave computer is realized and the communicating of host computer by bluetooth module by single-chip microcomputer, and realize following the fixed range of nurse object in conjunction with infrared distance measurement modules acquiring data according to the result of host computer image acquisition, its structure is simple, easy to use, has practicality widely.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present utility model;
Fig. 2 kinetic control system block diagram of the present utility model;
Fig. 3 is kinetic control system microcontroller circuit figure of the present utility model;
Fig. 4 is kinetic control system motor module circuit diagram of the present utility model;
Fig. 5 is man-machine interactive system software flow pattern of the present utility model.
Embodiment
Be further described below in conjunction with the enforcement of accompanying drawing to this kinetic control system:
As shown in Figure 1, child of the present utility model nurses robot, comprise moving body and be located at the robot fuselage on moving body, moving body is provided with wheel and drive motor, described fuselage is provided with host computer, and moving body is provided with slave computer, and described host computer is connected by blue teeth wireless with slave computer, the man-machine interaction modular system that described host computer comprises video monitoring system and is connected with video monitoring system, described slave computer comprises kinetic control system; Described video monitoring system comprises interconnective video acquisition module and image processing module, and described video monitoring system is also provided with wireless network transmitter, the video information of image processing module process is sent in network and goes; Described man-machine interactive system comprises mutual CPU, mutual CPU connects touch-screen, voice module and Bluetooth wireless communication module respectively, described mutual CPU is connected with image processing module, described voice module comprises speech control unit, speech control module is connected to microphone and loudspeaker, and Bluetooth wireless communication module is connected with kinetic control system by wireless signal; Described kinetic control system comprises housing, motion control single-chip microcomputer is provided with in housing, motion control single-chip microcomputer is connected to infrared radio range finder module, button and LCD MODULE, motor module, Bluetooth wireless communication module, described LCDs, setting button and infrared radio transceiver are located on housing, and described motor module is connected with drive motor by circuit.
Described motion control single-chip microcomputer model is STM32F103RBT6/VCT6; Described mutual CPU is X86 family chip or ARM15 family chip; Described infrared radio range finder module is GP2D12; Described motor module model is L298N; Described Bluetooth wireless communication module model is BlueCore4-Ext; Described power module model is AMS1117 and AM2596.
By being located at video acquisition module on host computer, video acquisition is carried out to around scene; and the video image collected is sent to image processing module; be sent in mutual CPU by wireless network after image procossing; software in above-mentioned flow process is prior art, does not belong to the scope of the utility model protection.
As shown in Fig. 2 Fig. 3, the motion control single-chip microcomputer model of slave computer is also comprise crystal oscillating circuit, reset circuit, JTAG debug circuit, start-up mode selection circuit.
(1) reset circuit
When single-chip microcomputer powers on, generally will carry out electrification reset, its concrete mode adds high level signal normally to single-chip microcomputer RST pin, and the duration of high level signal generally remains on more than two machine cycles.When button S1 presses, capacitor discharge, NRST level becomes low.When button unclamps, electric capacity is charged by 10K resistance, and level becomes height, and single-chip microcomputer can reset.
(2) crystal oscillating circuit
There is 8M crystal oscillator STM32F103VCT^ inside, if external circuit does not connect the crystal oscillator of 8M, will give tacit consent to and use inner crystal oscillator; If connect external crystal-controlled oscillation, external crystal-controlled oscillation will be automatically switched into by single-chip microcomputer after the power-up, and by the mode frequency multiplication of phaselocked loop to 72M.Another crystal oscillator is 32768Hz, is mainly the signal that the inner RTC clock of single-chip microcomputer provides standard.
(3) JTAG debug circuit
JTAG is a kind of test protocol of standard, and this agreement is that Global Access is used, and and IEEE1149.1 compatibility.Jtag interface comprises TMS, TCK, TDI and TDO, can be downloaded or debugged program by JTAGE interface.STM32 also has SWD interface in addition, and SWD only needs minimum two lines, just can debugging code, and SWD and JTAG is shared, only needs to connect just can use SWD pattern, convenient and swift.
(4) selection circuit is started
STM32F103 has multiple Starting mode, and different Starting mode has different application, different Starting mode, by BOOT0, selects two port BOOT1.It has three kinds of Starting mode, respectively: the first, from main flash memory.The second, from system storage.3rd, from built-in SRAM.
As described in Figure 4, described motor module, four input end IN1, IN2, IN3, IN4, respectively as the input of two-way direct current generator, by regulating the polarity of every road input end of motor, can change the rotating of motor.PWM, PWMB end is that motor input can regulate motor speed respectively.
As shown in Figure 5, this child robot follows the workflow of children automatically: the rear host computer of system startup and slave computer are matched by bluetooth and be connected, afterwards by image around the video monitoring system collection of host computer, and by the image that collects by image processing module process, the image information of image processing module inspection shooting, when there is the target information preset, target is locked, open the input of microphone waiting voice, the motion control control body system controlling slave computer according to the order of microphone input advances, retreat or suspend, or carry out corresponding activity according to the instruction on touch-screen, order is stopped until receive, when video monitoring system can't detect target information within the time cycle of presetting, then the kinetic control system controlling slave computer carries out original place rotation or random motion, until search out target.
In addition by arranging wireless network card, collection video data being sent to network in real time, utilizing client software to realize the video monitoring of child.
The software flow that above-mentioned steps uses is prior art, does not belong to the scope of the utility model protection.
Claims (6)
1. a child nurses robot, comprise moving body and be located at the robot fuselage on moving body, moving body is provided with wheel and drive motor, it is characterized in that: described fuselage is provided with host computer, moving body is provided with slave computer, described host computer is connected by blue teeth wireless with slave computer, the man-machine interaction modular system that described host computer comprises video monitoring system and is connected with video monitoring system, and described slave computer comprises kinetic control system; Described video monitoring system comprises interconnective video acquisition module and image processing module; Described man-machine interactive system comprises mutual CPU, mutual CPU connects touch-screen, voice module and Bluetooth wireless communication module respectively, described mutual CPU is connected with image processing module, described voice module comprises speech control unit, speech control module is connected to microphone and loudspeaker, and Bluetooth wireless communication module is connected with kinetic control system by wireless signal; Described kinetic control system comprises housing, motion control single-chip microcomputer is provided with in housing, motion control single-chip microcomputer is connected to infrared radio range finder module, button and LCD MODULE, motor module, Bluetooth wireless communication module, described LCDs, setting button and infrared radio transceiver are located on housing, and described motor module is connected with drive motor by circuit.
2. child according to claim 1 nurses robot, it is characterized in that: the video monitoring system of described host computer is also provided with wireless network transmitter, the video information of image processing module process is sent in network and goes.
3. child according to claim 1 nurses robot, it is characterized in that: described motion control single-chip microcomputer model is STM32F103VCT6.
4. child according to claim 1 nurses robot, it is characterized in that: described infrared radio range finder module is GP2D12.
5. child according to claim 1 nurses robot, it is characterized in that: described motor module model is L298N.
6. child according to claim 1 nurses robot, it is characterized in that: described Bluetooth wireless communication module model is BlueCore4-Ext.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520001580.6U CN204515399U (en) | 2015-01-04 | 2015-01-04 | Child nurses robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520001580.6U CN204515399U (en) | 2015-01-04 | 2015-01-04 | Child nurses robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204515399U true CN204515399U (en) | 2015-07-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201520001580.6U Expired - Fee Related CN204515399U (en) | 2015-01-04 | 2015-01-04 | Child nurses robot |
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| Country | Link |
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| CN (1) | CN204515399U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798923A (en) * | 2016-05-16 | 2016-07-27 | 苏州金建达智能科技有限公司 | Household teaching-assistant robot system for children |
| CN106113062A (en) * | 2016-08-23 | 2016-11-16 | 陈中流 | One is accompanied and attended to robot |
| CN106272400A (en) * | 2016-08-30 | 2017-01-04 | 青岛大学 | A kind of special steering engine driving device of six degree of freedom mechanical arm |
| CN106651283A (en) * | 2016-08-23 | 2017-05-10 | 南昌大学 | Intelligent monitoring and reminding robot for teenagers |
| CN107357292A (en) * | 2017-07-13 | 2017-11-17 | 上海斐讯数据通信技术有限公司 | Intelligent safeguard system and its maintaining method is seen in a kind of children's room |
| CN109895107A (en) * | 2017-12-07 | 2019-06-18 | 卡西欧计算机株式会社 | Maintaining method and recording medium are seen by nurse robot |
| CN110895410A (en) * | 2018-08-24 | 2020-03-20 | 中国海洋大学 | Infant nursing trolley based on computer vision |
-
2015
- 2015-01-04 CN CN201520001580.6U patent/CN204515399U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798923A (en) * | 2016-05-16 | 2016-07-27 | 苏州金建达智能科技有限公司 | Household teaching-assistant robot system for children |
| CN105798923B (en) * | 2016-05-16 | 2018-04-13 | 深圳市鑫益嘉科技股份有限公司 | A kind of family expenses assiatant's robot system for children |
| CN106113062A (en) * | 2016-08-23 | 2016-11-16 | 陈中流 | One is accompanied and attended to robot |
| CN106651283A (en) * | 2016-08-23 | 2017-05-10 | 南昌大学 | Intelligent monitoring and reminding robot for teenagers |
| CN106651283B (en) * | 2016-08-23 | 2021-01-01 | 南昌大学 | Intelligent monitoring and reminding robot for teenagers |
| CN106272400A (en) * | 2016-08-30 | 2017-01-04 | 青岛大学 | A kind of special steering engine driving device of six degree of freedom mechanical arm |
| CN107357292A (en) * | 2017-07-13 | 2017-11-17 | 上海斐讯数据通信技术有限公司 | Intelligent safeguard system and its maintaining method is seen in a kind of children's room |
| CN109895107A (en) * | 2017-12-07 | 2019-06-18 | 卡西欧计算机株式会社 | Maintaining method and recording medium are seen by nurse robot |
| CN109895107B (en) * | 2017-12-07 | 2022-04-08 | 卡西欧计算机株式会社 | Nursing robot, nursing method and recording medium |
| CN110895410A (en) * | 2018-08-24 | 2020-03-20 | 中国海洋大学 | Infant nursing trolley based on computer vision |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150729 Termination date: 20160104 |