CN205184779U - Interactive consulting system of portable expert - Google Patents
Interactive consulting system of portable expert Download PDFInfo
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- CN205184779U CN205184779U CN201520606202.0U CN201520606202U CN205184779U CN 205184779 U CN205184779 U CN 205184779U CN 201520606202 U CN201520606202 U CN 201520606202U CN 205184779 U CN205184779 U CN 205184779U
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Abstract
The utility model provides an interactive consulting system of portable expert, this system of characterized by includes walking chassis controller, main control unit, walking controller, the walking is equipped with humanoid truck on the chassis, and humanoid truck top is equipped with humanoid information head, information top of the head end is equipped with the antenna, and forehead department is equipped with the projecting apparatus, and the eye is equipped with the camera, and the oral area is equipped with the speaker. The utility model has the characteristics of convenient to use, the resource etc. Of using manpower sparingly. The utility model provides a robot has establish the service mode one to one of " robot - - - people ", has alleviateed staff's burden, simultaneously with knot of the data in the database and in -service use, and the solve the problem of messenger expert ability one -to -many.
Description
Technical field
The utility model belongs to intelligence system, particularly relates to a kind of portable expert's interactive consulting system.
Background technology
At present, in every profession and trade service hall, staff needs to process very how various problem every day.But having in these problems is FAQs greatly.And sometimes in festivals or holidays or evening, client is badly in need of tackling certain emergency situations, but is often difficult to find related personnel to seek advice from.Sometimes, when number is more, custom queueing counseling problem, staff is also too busy to do it, and in the face of such problem, needs under the prerequisite of saving human resources, and we need to be customer service better.
Summary of the invention
The utility model provides simple, the intelligent height of a kind of structure, portable expert consulting system easy to use, with solve available man-power resource not, the problem such as can not to cope with contingencies.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of portable expert's interactive consulting system, it is characterized in that this system comprises walking chassis, master controller, traveling controller, described walking chassis is provided with humanoid trunk, humanoid trunk top is provided with humanoid information header, and described information header top is provided with antenna, and forehead place is provided with projecting apparatus, eye is provided with camera, and oral area is provided with loudspeaker.
As preferably, bottom described information header, axle center is provided with gear wheel, and gear wheel engages with the driving gear of head drive motors.
As preferably, described walking chassis comprises left drive motors, right drive motors, left lateral travelling wheel, right lateral travelling wheel, and described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are provided with driven gear, the rotating shaft of left drive motors, right drive motors is provided with driving gear, and driving gear engages with driven gear respectively.
As preferably, at least side hinged support bar on described walking chassis, support bar hinge is connected with motor, described support bar is provided with draw-in groove, described walking chassis is provided with two electromagnetism decks, and electromagnetism deck is provided with the dop corresponding with draw-in groove, and described support bar end is provided with wheel.
As preferably, described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are respectively equipped with axle sleeve, and axle sleeve is provided with connecting rod, and the end of connecting rod is provided with stabilizer drive motors, stabilizer drive motors is provided with stabilizer, and stabilizer contacts with left lateral travelling wheel, right lateral travelling wheel respectively.Described axle sleeve is provided with two draw-in grooves, walking chassis is provided with electromagnetism deck, electromagnetism deck is provided with the dop corresponding with two draw-in grooves, stabilizer drive motors is connected with central processing unit through stabilizer drive circuit, by the walking states signal feedback of left lateral travelling wheel, right lateral travelling wheel to central processing unit.
As preferably, described master controller comprises central processing unit, video terminal, the switch of described projecting apparatus are connected with central processing unit, camera is connected with central processing unit through video acquisition module, loudspeaker is connected with central processing unit through voice module, head drive motors is connected with central processing unit after head driver module, position sensor is connected with central processing unit through signal acquisition module, central processing unit respectively with WiFi module, 4G model calling, central processing unit after serial communication module with walking chassis controller be connected.
As preferably, described walking chassis comprises accelerometer, gyroscope, described left drive motors, right drive motors are connected with travelling control processor through driver module, and support bar drive motors is connected with travelling control processor through support bar drive circuit, described accelerometer, gyroscope are connected with travelling control processor.
As preferably, described walking chassis controller is also connected with electromagnetic lock.
As preferably, described 4G module adopts Huawei ME909u-521MiniPCIe, and standard MiniPCIe encapsulates; Support descending 100Mbps, the transfer rate of up 50Mbps; The expanded function provided: FOTA, USSD, IPV6/IPV4 support GPSStandalone, A-GPS; Built-in ICP/IP protocol stack; Huawei's expansion AT instruction set.
The utility model have easy to use, save the feature such as human resources.The service mode one to one that robot in the utility model establishes " robot-people ", alleviates the burden of staff, simultaneously by the data knot in database and actual use, makes dealing with problems of expert's energy one-to-many.Have employed the working method of coaxial, the respective drive of two-wheeled, the center of gravity of vehicle body is positioned at the top of axletree, by the movable balance keeping vehicle body of wheel, and can travel when vertical balanced.Due to special structure, its adaptation to the ground changing capability is strong, and motion flexibly, can be competent at the work in some complex environments.
The utility model judges the posture state of walking residing for chassis with built-in accurate solid-state gyroscope, after calculating suitable instruction through central microprocessor that is accurate and high speed, the effect balanced accomplished by CD-ROM drive motor.The overall center of gravity longitudinal axis on walking chassis is as reference line.When this axle is toward top rake, the built-in electro-motor on walking chassis can produce strength forward, the moment of torsion of toppling over before balance walking chassis on the one hand, produce the acceleration allowing walking chassis advance on the one hand, contrary, when gyroscope finds the center of gravity on walking chassis toward hypsokinesis, also the strength that can produce backward reaches counterbalance effect.The utility model market capacity is large, and prospect is extensive, has great market value and social value.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model;
Fig. 2 is walking states figure of the present utility model;
Fig. 3 is halted state figure of the present utility model;
Fig. 4 is the utility model is a kind of walking chassis structure schematic diagram;
Fig. 5 is the utility model is another kind of walking chassis structure schematic diagram;
Fig. 6 is the B place enlarged drawing of Fig. 5;
Fig. 7 is the utility model and WiFi module, 4G model calling theory diagram;
Fig. 8 is the circuit diagram of the utility model solid-state gyroscope precise amplifying circuit.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in further detail.
Shown in composition graphs 1,2,3,4, this portable expert's interactive consulting system is made up of chassis of walking, master controller, traveling controller etc., walking chassis 21 is provided with humanoid trunk 2, and humanoid trunk 2 top is provided with humanoid information header 3, and information header 3 top is provided with antenna 4, forehead place is provided with projecting apparatus 5, eye is provided with camera 6, and oral area is provided with loudspeaker 7, when people seeks advice from, camera 6 makes a video recording the projection of people through network delivery, and the figure of expert displays by projecting apparatus 5 simultaneously; Heavy for specialist speech network transfer dissolves by loudspeaker 7, can realize and expert's face-to-face exchange.
Bottom information header 3, axle center is provided with gear wheel 10, and gear wheel 10 engages with the driving gear 11 of head drive motors 12.Head drive motors 12 starts, and driving gear 11 rotarily drives gear wheel 10 and rotates, and information header 3 is rotated, and information header 3 deflects human oriented.
Walking chassis 21 comprises left drive motors 23, right drive motors 33, left lateral travelling wheel 24, right lateral travelling wheel 34, left lateral travelling wheel 24, right lateral travelling wheel 34 rotating shaft are provided with driven gear 25, the rotating shaft of left drive motors 23, right drive motors 33 is provided with driving gear 26, and driving gear 26 engages with driven gear 25 respectively.Left drive motors 23, right drive motors 33 drive left lateral travelling wheel 24, right lateral travelling wheel 34 respectively, adopt Dual Drive to make the utility model dynamic performance superiority, can move freely in complicated landform.
The embodiment 1 on walking chassis: shown in composition graphs 4, at least side hinged support bar 31 on walking chassis 21, support bar 31 hinge is connected with being with the motor 32 of decelerator, and support bar 31 end is provided with wheel 36.Travelling control processor is through the motor 32 of support bar drive circuit control cincture decelerator.When the utility model moves, support bar 31 is positioned at road wheel top all the time, does not hinder road wheel freely-movable.
When preparing to stop, travelling control processor determines whether support bar 31 starts and turn to left lateral travelling wheel 24 bottom.When support bar 31 end goes to bottom road wheel, left and right driving motor 23,33 stops operating gradually.
Upon start up, left lateral travelling wheel, right lateral travelling wheel 24,34 start to rotate, and support bar 31 goes to left lateral travelling wheel 24 upper end immediately, does not hinder platform automatically to run.
The embodiment 2 on walking chassis: shown in composition graphs 5,6, the walking left lateral travelling wheel on chassis 21, right lateral travelling wheel 24,34 rotating shaft are respectively equipped with axle sleeve 27, axle sleeve 27 is provided with connecting rod 28, the end of connecting rod 28 is provided with stabilizer drive motors 29, stabilizer drive motors 29 is provided with stabilizer 30, and stabilizer 30 contacts with left lateral travelling wheel 24, right lateral travelling wheel 34 respectively.Axle sleeve 27 is provided with two draw-in grooves 271, on walking chassis 21, correspondence is provided with two electromagnetic locks, electromagnetic lock comprises electromagnetism deck 272, dop 273, electromagnet etc., electromagnetism deck 272 is provided with the dop 273 corresponding with two draw-in grooves 271, is provided with electromagnet 371, back-moving spring 372 in electromagnetism deck 272.Stabilizer drive motors 29 is connected with travelling control processor through stabilizer drive circuit, whether the walking states signal feedback of left lateral travelling wheel, right lateral travelling wheel 24,34 to travelling control processor, is controlled stabilizer 30 and starts and turn to road wheel 24,34 bottom by driver module.
When travelling control processor controls driver module, drive left drive motors 23, right drive motors 33, when left lateral travelling wheel, right lateral travelling wheel 24,34 are walked, stabilizer drive motors 29 driven equilibrium wheel 30 rotates with left lateral travelling wheel 24, right lateral travelling wheel 34, and go to left lateral travelling wheel, right lateral travelling wheel 24,34 top, electromagnetism deck 272 upper chuck 273 snaps on axle sleeve 27 in draw-in groove 271, keeps stabilizer 30 constant.
When travelling control processor controls left lateral travelling wheel, right lateral travelling wheel 24,34 stopping, stabilizer drive motors 29 driven equilibrium wheel 30 rotates, go to left lateral travelling wheel, right lateral travelling wheel 24,34 bottom, electromagnetism deck 272 upper chuck 273 snaps on axle sleeve 27 in draw-in groove 271, and travelling control processor controls driver module stopping simultaneously.
Shown in composition graphs 7, master controller comprises central processing unit, loudspeaker, projecting apparatus etc.The video terminal of projecting apparatus 5 is connected with central processing unit, and two cameras 6 are connected with central processing unit through video acquisition module, and loudspeaker 6 is connected with central processing unit through voice module.Head drive motors 12 is connected with central processing unit after head driver module; Position sensor is connected with central processing unit through signal acquisition module; Central processing unit is also connected with WiFi module, 4G module, GPS positioner respectively; Central processing unit is connected with the travelling control processor on walking chassis after serial communication module.
4G module adopts Huawei ME909u-521MiniPCIe, and standard MiniPCIe encapsulates; Support descending 100Mbps, the transfer rate of up 50Mbps; There is provided abundant expanded function: FOTA, USSD, IPV6/IPV4 ... support GPSStandalone, A-GPS; Built-in ICP/IP protocol stack; Huawei's expansion AT instruction set.
Walking chassis comprises accelerometer, gyroscope, travelling control processor, left drive motors, right drive motors are connected with travelling control processor through driver module, support bar drive motors is connected with travelling control processor through support bar drive circuit, accelerometer, gyroscope are connected with travelling control processor, and travelling control processor is also connected with electromagnetic lock.
Accelerometer directly can calculate walking angle of inclination, chassis 21 by antitrigonometric function.Accelerometer be a kind of inertia force of Detection job block that utilizes to measure the sensor of carrier acceleration, be divided into linear accelerometer and angular accelerometer.Native system adopts Freescale company to utilize the three axis accelerometer MMA7260 of MEMS microelectric technique Development and Production.MMA7260 is a kind of low g value, small-range linear acceleration sensors, and do not moving or do not exporting as 1.65V, maximum measurement category 0-6g under gravitate (0g) condition, sensitivity ranges up to 800mV/g.
Although single inertial sensor just can carry out separately the detection of attitude angle, but its accuracy depends primarily on the precision of inertia device, single from improving hardware configuration and production technology aspect is difficult to have a very significant increase, and systematic error can be accumulated in time, be not suitable for long-time attitude detection.Be difficult to owing to utilizing single-sensor (gyroscope or accelerometer) obtain chassis 21 attitude angle of walking relatively really, for the consideration to systematic survey attitude angle accuracy, native system adopts multiple sensor signals to carry out data fusion, to obtain optimum posture angle.
Fusion is a very important research contents, only has and adopts optimal fusion method could obtain best effect.Frequently-used data fusion method has weighted mean method, neural network etc.Weighted mean method is a kind of simple fusion method, therefore its operational precision is very poor; Neural network has well non-linear and effective self-learning ability, but its model construction related to, and parameter optimization is very complicated, is not suitable for native system.Have researcher to go out complementary filter algorithm according to accelerometer and gyrostatic complementary the characteristic study abroad, it is simple and clear and have good real-time and stability, can merge preferably and attitude angle.Consider that the inertia device characteristic that native system uses is poor, complementary filter can not make up device property defect on essential concept, therefore native system adopts Kalman filtering algorithm as data fusion method.
Nineteen sixty Kalman has delivered the famous paper solving the linear filtering problem of discrete data with recursion method.Along with the progress of Digital Computing, Kalman filter obtains to be applied more and more widely and promotes, especially in autonomous or assisting navigation field.Kalman filter and most of wave filter difference, be that it is a kind of pure time domain filtering, do not need as the frequency domain filters such as low pass filter, needs to be transformed into time domain again at Domain Design and realize.For the most problem of solution, be optimum, most effective or even the most useful.The extensive use of Kalman filter, more than 30 years, comprises robot navigation, controls, and Data Fusion of Sensor is even followed the trail of etc. in the radar system of military aspect and guided missile.More be applied to Computer Image Processing in recent years, such as head and face identification, Iamge Segmentation, Image Edge-Detection etc.
Shown in composition graphs 8, the gyroscope that native system adopts is Murata ENC-03, is a kind of piezoelectricity gyro, and it exports as 0.67mv/deg/sec.The highest acquisition precision of ATD module of main control singlechip MC9S12XS128 is 12bit, AD reference voltage is 3.3V, and calculating minimum resolution voltage is 0.8mv, therefore directly can not gather output from Gyroscope, need Design enlargement circuit.System adopts LM358 to design negative feedback amplifier circuit, and multiplication factor is
, namely amplify 10 times.Meanwhile, because gyroscope output can change with temperature, influential system inclination angle detection precision, for suppressing the drift of gyroscope temperature, needs in amplifying circuit, design zero offset voltage-regulating circuit.Utilize LM358 to form voltage follower in native system, output voltage is regulated by potentiometer, makes zero offset voltage remain on the half (1.65V) of gyroscope operating voltage, can effectively suppress gyrostatic temperature to be floated like this.
The portable expert consulting system of multiple stage is by network and central computer data cube computation, central computer is connected with large screen display, central computer also by network respectively with there is the computer of micro-letter module, multiple stage smart mobile phone, multiple stage divide computer data to be connected.
Central computer is seeked advice from terminal with the interactive computer of many experts and is connected.User's reference content through central computer, after central computer allotment, then on the screen of computer terminal that is complete, that clearly feed back to expert.
In addition, because expert can not sit up straight before computer screen all the time, therefore central computer is designed to be able to by micro-letter transmission consultation information, the smart mobile phone connecting each expert.So that the counseling problem, having expert to answer user online whenever and wherever possible to propose.
Finally it should be pointed out that above detailed description of the invention is only the more representational example of the utility model.Obviously, the utility model is not limited to above-mentioned detailed description of the invention, can also have many distortion.Every above detailed description of the invention is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all should think and belong to protection domain of the present utility model.
Claims (9)
1. portable expert's interactive consulting system, it is characterized in that this system comprises walking chassis, master controller, traveling controller, described walking chassis is provided with humanoid trunk, humanoid trunk top is provided with humanoid information header, described information header top is provided with antenna, forehead place is provided with projecting apparatus, and eye is provided with camera, and oral area is provided with loudspeaker.
2. the portable expert's interactive consulting system of one according to claim 1, bottom it is characterized in that described information header, axle center is provided with gear wheel, and gear wheel engages with the driving gear of head drive motors.
3. the portable expert's interactive consulting system of one according to claim 1, it is characterized in that described walking chassis comprises left drive motors, right drive motors, left lateral travelling wheel, right lateral travelling wheel, described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are provided with driven gear, the rotating shaft of left drive motors, right drive motors is provided with driving gear, and driving gear engages with driven gear respectively.
4. the portable expert's interactive consulting system of one according to claim 3, to it is characterized in that on described walking chassis at least side hinged support bar, support bar hinge is connected with motor, described support bar is provided with draw-in groove, described walking chassis is provided with two electromagnetism decks, electromagnetism deck is provided with the dop corresponding with draw-in groove, and described support bar end is provided with wheel.
5. the portable expert's interactive consulting system of one according to claim 3, it is characterized in that described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are respectively equipped with axle sleeve, axle sleeve is provided with connecting rod, the end of connecting rod is provided with stabilizer drive motors, stabilizer drive motors is provided with stabilizer, and stabilizer contacts with left lateral travelling wheel, right lateral travelling wheel respectively; Described axle sleeve is provided with two draw-in grooves, walking chassis is provided with electromagnetism deck, electromagnetism deck is provided with the dop corresponding with two draw-in grooves, stabilizer drive motors is connected with central processing unit through stabilizer drive circuit, by the walking states signal feedback of left lateral travelling wheel, right lateral travelling wheel to central processing unit.
6. the portable expert's interactive consulting system of one according to claim 1, it is characterized in that described master controller comprises central processing unit, the video terminal of described projecting apparatus, switch is connected with central processing unit, camera is connected with central processing unit through video acquisition module, loudspeaker is connected with central processing unit through voice module, head drive motors is connected with central processing unit after head driver module, position sensor is connected with central processing unit through signal acquisition module, central processing unit respectively with WiFi module, 4G model calling, central processing unit is connected with walking chassis controller after serial communication module.
7. the portable expert's interactive consulting system of one according to claim 3, it is characterized in that described walking chassis comprises accelerometer, gyroscope, described left drive motors, right drive motors are connected with travelling control processor through driver module, and support bar drive motors is connected with travelling control processor through support bar drive circuit, described accelerometer, gyroscope are connected with travelling control processor.
8. the portable expert's interactive consulting system of one according to claim 7, is characterized in that described walking chassis is also connected with electromagnetic lock.
9. the portable expert's interactive consulting system of one according to claim 6, is characterized in that described 4G module adopts Huawei ME909u-521MiniPCIe, and standard MiniPCIe encapsulates; Support descending 100Mbps, the transfer rate of up 50Mbps; The expanded function provided: FOTA, USSD, IPV6/IPV4 support GPSStandalone, A-GPS; Built-in ICP/IP protocol stack; Huawei's expansion AT instruction set.
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| CN201520606202.0U CN205184779U (en) | 2015-01-07 | 2015-08-13 | Interactive consulting system of portable expert |
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| CN2015200081583 | 2015-01-07 | ||
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| CN201520606202.0U CN205184779U (en) | 2015-01-07 | 2015-08-13 | Interactive consulting system of portable expert |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113053A (en) * | 2016-07-01 | 2016-11-16 | 旗瀚科技有限公司 | A kind of robot of long-range control |
| CN106384492A (en) * | 2016-09-20 | 2017-02-08 | 湖南科技职业学院 | Control device of robot remote cloud deck |
| CN107322602A (en) * | 2017-06-15 | 2017-11-07 | 重庆柚瓣家科技有限公司 | Home-services robot for tele-medicine |
| CN108527389A (en) * | 2018-04-20 | 2018-09-14 | 重庆门罗机器人科技有限公司 | Multi-function mutual mobile robot |
| CN108597201A (en) * | 2018-02-12 | 2018-09-28 | 西安财经学院 | A kind of man-machine supplementary AC equipment of English Translation |
| CN109661700A (en) * | 2016-07-06 | 2019-04-19 | 无线电广播技术研究所有限公司 | With family work execution it is related combine, equipment, visualization component, attachment device, software product |
| CN111331595A (en) * | 2018-12-18 | 2020-06-26 | 三星电子株式会社 | Method and apparatus for controlling operation of service robot |
-
2015
- 2015-08-13 CN CN201520606202.0U patent/CN205184779U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113053A (en) * | 2016-07-01 | 2016-11-16 | 旗瀚科技有限公司 | A kind of robot of long-range control |
| CN109661700A (en) * | 2016-07-06 | 2019-04-19 | 无线电广播技术研究所有限公司 | With family work execution it is related combine, equipment, visualization component, attachment device, software product |
| CN106384492A (en) * | 2016-09-20 | 2017-02-08 | 湖南科技职业学院 | Control device of robot remote cloud deck |
| CN107322602A (en) * | 2017-06-15 | 2017-11-07 | 重庆柚瓣家科技有限公司 | Home-services robot for tele-medicine |
| CN108597201A (en) * | 2018-02-12 | 2018-09-28 | 西安财经学院 | A kind of man-machine supplementary AC equipment of English Translation |
| CN108527389A (en) * | 2018-04-20 | 2018-09-14 | 重庆门罗机器人科技有限公司 | Multi-function mutual mobile robot |
| CN108527389B (en) * | 2018-04-20 | 2020-07-03 | 重庆门罗机器人科技有限公司 | Multifunctional interactive robot |
| CN111331595A (en) * | 2018-12-18 | 2020-06-26 | 三星电子株式会社 | Method and apparatus for controlling operation of service robot |
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