CN206311916U - A kind of intelligent robot of exportable expression - Google Patents
A kind of intelligent robot of exportable expression Download PDFInfo
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- CN206311916U CN206311916U CN201620514589.1U CN201620514589U CN206311916U CN 206311916 U CN206311916 U CN 206311916U CN 201620514589 U CN201620514589 U CN 201620514589U CN 206311916 U CN206311916 U CN 206311916U
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Abstract
The utility model discloses a kind of intelligent robot of exportable expression.Intelligent robot of the present utility model includes：Main frame, it is configured to judge whether that needs carry out expression output, and when needing to carry out expression output, generates and export expression output order corresponding with the expression that will show to slave；Slave, it is configured to parse the expression output order when the expression output order is received and the robot expression element matched with the expression output order is extracted from expression storehouse, and control display device shows the robot expression element matched with the expression output order for extracting, the expression storehouse includes multiple different robot expression elements.Compared to prior art, intelligent robot of the present utility model realizes that difficulty and cost are all very low.More complicated according to the expression that intelligent robot of the present utility model is exported, more preferably, the Consumer's Experience of robot is greatly enhanced expression expression effect.
Description
Technical field
The utility model is related to robot field, in particulars relate to a kind of intelligent robot of exportable expression.
Background technology
Existing small scale robot is only capable of by language aspect and user interaction in question answering process, and is difficult to user
Pass on abundant expression output order.
Further, existing robot motion expression is general is realized by motor.In order to complete a set of abundant action,
Generally need complicated Design of Mechanical Structure and more actuator (motor) number.However, because small intelligent robot exists
Intelligence degree, spatial volume and there is requirement higher on cruising time.Therefore small scale robot is subject to structure space and cost
Limitation, it is difficult to accommodate excessive motor.This allows for existing small intelligent robot and is also unable to reach on manual expression
The purpose of real displaying expression output order.
Therefore, in order to pass on abundant expression output order, it is necessary to a kind of intelligence that can preferably export expression to user
Robot.
Utility model content
In order to pass on abundant expression output order to user, the utility model proposes a kind of intelligence of exportable expression
Robot, the robot includes the slave for generating and exporting the main frame of expression output order and be connected with the main frame, institute
Stating slave includes：
The master-slave communication unit of the expression output order is received, the master-slave communication unit is connected with the main frame；
Be stored with comprising robot expression element expression storehouse storage chip；
The slave control chip of the robot expression element, the slave control are extracted based on the expression output order
Chip is connected to the master-slave communication unit and the storage chip；
The robot also includes the display device of the display robot expression element, and the display device is connected to institute
State slave control chip.
In one embodiment, the slave is configured to make the currently displaying robot expression element and the robot
Other multi-modal output matchings of current output.
In one embodiment, the slave is additionally configured to carry out data transmission with the main frame using USB.
In one embodiment, the slave is additionally configured to extract institute from the expression storehouse using direct memory access mode
State robot expression element.
In one embodiment, the display device is LCDs, and the slave is additionally configured to be deposited using direct internal memory
Take mode and robot expression element is transferred to the display device.
Compared to prior art, system architecture of the present utility model is succinct, realizes that difficulty and cost are all very low.According to this reality
The expression exported with new system is more complicated, and more preferably, the Consumer's Experience of robot is greatly enhanced expression expression effect.
Further feature of the present utility model or advantage will be illustrated in the following description.Also, portion of the present utility model
Dtex is levied or advantage will be become apparent by specification, or is appreciated that by implementing the utility model.This practicality
New purpose and certain advantages can be realized by specifically noted step in specification, claims and accompanying drawing
Or obtain.
Brief description of the drawings
Accompanying drawing is used for providing being further understood to of the present utility model, and constitutes a part for specification, with this practicality
New embodiment is provided commonly for explaining the utility model, does not constitute to limitation of the present utility model.In the accompanying drawings：
Fig. 1 is according to the embodiment robot architecture's sketch of the utility model one；
Fig. 2 is according to the embodiment hardware arrangement sketch of the utility model one；
Fig. 3 is the fractional hardware structure interface wiring diagram according to the embodiment of the utility model one.
Specific embodiment
Describe implementation method of the present utility model in detail below with reference to drawings and Examples, it is of the present utility model whereby
Implementation personnel can fully understand how application technology means solve technical problem to the utility model, and reach technique effect
Implementation process is simultaneously embodied the utility model according to above-mentioned implementation process.As long as it should be noted that not constituting conflict, this reality
Can be combined with each other with each embodiment in new and each feature in each embodiment, the technical scheme for being formed exists
Within protection domain of the present utility model.
Existing small scale robot is only capable of by language aspect and user interaction in question answering process, and is difficult to user
Pass on abundant expression output order.
Further, existing robot motion expression is general is realized by motor.In order to complete a set of abundant action,
Generally need complicated Design of Mechanical Structure and more actuator (motor) number.However, because small intelligent robot exists
Intelligence degree, spatial volume and there is requirement higher on cruising time.Therefore small scale robot is subject to structure space and cost
Limitation, it is difficult to accommodate excessive motor.This allows for existing small intelligent robot and is also unable to reach on manual expression
The purpose of real displaying expression output order.
In order to pass on abundant expression output order to user, the utility model proposes a kind of intelligent robot.In root
According in an embodiment of the present utility model, expression storehouse of the construction comprising multiple different robot expression elements is (specifically, expression
Combination of the element comprising one or more in various different media formats such as static images, dynamic picture and video).
During robot is interacted, the main frame of robot according to current interactive environment, the data such as interactively enter and judge whether
Needs carry out expression output.When expression output is needed, main frame generation needs the expression output order corresponding to the expression of output
And slave is arrived into expression output order output.
Slave parses expression output order after receiving expression output order, then according to analysis result from advance construction
The expression element matched with expression output order is extracted in expression storehouse.Finally, according to the expression element for extracting shown with
Complete expression output.Specifically, slave includes display device, slave according to the expression Element generation idsplay order for extracting, with
Idsplay order control display device is shown accordingly.
By taking a concrete application scene as an example, for example, construction includes smile picture, the expression storehouse of sobbing picture.When with user
By the expression output order hair comprising smile output order when the main frame of interaction opportunity device people judges to be currently needed for being smiled to user
It is sent to slave.Slave parsing expression output order is then based on smile output order from expression so as to obtain smile output order
Smile picture is extracted in storehouse.Smile picture is shown to user so as to complete expression output by last slave control display device.
Based on above-mentioned flow, the utility model proposes a kind of intelligent robot of exportable expression.In the utility model
In one embodiment, as shown in figure 1, robot comprises at least main frame 200 and slave 210.
Robot main frame 200 is configured to judge whether that needs carry out expression output, when needing to carry out expression output, main frame
200 express one's feelings accordingly according to the robot expression generation for being currently needed for representing output order and exports to slave 210.
Slave 210 be configured to from robot main frame 200 obtain expression output order, when slave 210 receive expression it is defeated
Go out parsing expression output order and the robot expression element that extraction is matched with expression output order from expression storehouse when instructing, with
And control display device shows the robot expression element matched with the expression output order for extracting, expression storehouse is comprising more
Individual different robot expression element, robot expression element includes static images, dynamic picture and/or video.
Further, in the embodiment of the utility model one, wiring and installation, reduction system volume, by table for convenience
Feelings storehouse is integrated on slave.As shown in Fig. 2 being integrated with master-slave communication unit 301, slave control chip on slave master control borad 300
302 and storage chip 303.
Storage chip 303 is used to store robot expression element to constitute expression storehouse.Slave control chip 302 is used for data
Treatment, master-slave communication unit 301 is used to realize the communication between slave control chip 302 and robot main frame.Master-slave communication list
Unit 310 receives the expression output order 321 from robot main frame and forwards it to slave control chip 302.
Specifically, in the embodiment of the utility model one, slave master control borad 300 is constructed based on STM32 governor circuits.Slave
Control chip 302 is constructed based on STM32 main control chips (MCU), and storage chip 303 is based on flash memory (Flash) W25Q80/16/32
Construction.Correspondence STM32 main control chips, are also configured with crystal oscillator and reset circuit, power supply pipe circuit, communicate in STM32 governor circuits
Interface, JLINK download program interfaces.
In said structure, STM32 main control chips are that ST Microelectronics (one of ST, Ji great semiconductor companies of the world) pushes away
The microcontroller class product for going out, based on 32 Cortex-M series kernels that ARM companies release.Flash memory (Flash) W25Q80
(8M-bit), W25Q16 (16M-bit) and W25Q32 (32M-bit) are the serial Flash memories of small space low-power consumption.
Further, (send data wire, receive data because serial communication device (USART) communication only needs to 2 lines
Line), with low cost transmission speed it is fast the characteristics of.Therefore in the embodiment of the utility model one, robot slave and robot
Communication between main frame is realized based on USART.That is, the master-slave communication unit 301 in Fig. 3 is serial communication device
(USART)。
In the embodiment of the utility model one, expression storehouse can be pre-written into storage chip, and structure is then assembled again
Make completion slave.But in order to improve the flexibility of system, in the embodiment of the utility model one, employ what can be expanded at any time
The design in expression storehouse.I.e., it is possible to new expression element (the customized expression element of developer) is input into slave from outside slave,
Be stored in the expression element of outside input in expression storehouse to extend expression storehouse by slave.
Specifically, by taking embodiment illustrated in fig. 2 as an example.Master-slave communication unit 301 also has the work(for receiving expression element input
Energy.Specifically, during construction expression storehouse, being transmitted to slave control chip 302 by master-slave communication unit 301 from outside
New expression element (the customized expression element 322 of developer), then slave control chip 302 writes new expression element
In storage chip 303.
In the embodiment of the utility model one, before using expression storehouse, slave is it is first determined whether need to update expression
Storehouse (step S400) (current with the presence or absence of expression storehouse more new command).If expression storehouse need not be updated, illustrate that expression storehouse is accurate
It is standby ready, it is possible to use.
If necessary to update expression storehouse, then communication interface (USART) waits the new expression element of outside input.Next,
Outside to be input into new expression element, communication interface receives new expression element, the expression element write table that slave will be received
In feelings storehouse (in storage to storage chip).
Slave next judge express one's feelings element write-in whether complete (expression storehouse renewal whether complete, if need after
Continue into new expression element), if write-in is completed, expression storehouse is ready, it is possible to use.If write-in is not completed,
Return continues to write to new expression element.
Need exist for being intended that, be not limited only to write-in new expression element the step of above-mentioned renewal expression storehouse, also wrap
Deletion and replacement containing old expression element.Slave updates command determination according to specific：New expression element is write empty
White memory space writes original old expression element storage location to replace old expression element to extend expression storehouse, or will
The original old element storage location of expressing one's feelings of clear data write-in is to delete old expression element.
Further, in the present embodiment, it is required for checking whether expression storehouse is ready in start (slave startup) every time
(judging whether to need to update expression storehouse).Further, in slave running, if receiving the expression storehouse of outside input
More new command, then be directly entered expression storehouse more new technological process.
It is noted herein that, in the embodiment of the utility model one, developer can use independent input equipment
It is directly accessed master-slave communication unit 301 and is input into new expression element (expression element more new command), it is also possible to utilizes robot master
The relevant interface of machine, (expression element updates and refers to master-slave communication unit 301 to be input into new expression element by robot main frame
Make).
Based on said structure Functional Design, developer can be with self-defined abundant robot expression pattern.From W25Q16
Storage chip, then can store about 170 pictures, from W25Q128 storage chips, then can store about 1360 pictures.
Further, in the embodiment of the utility model one, expression storehouse is not only checked in slave start-up course whether
It is ready, also boot up display.That is, when slave just starts, even if robot main frame does not send over table
Feelings output order, slave also can automatically carry out default start expression display.
Specifically, when robot system starts start machine people main frame and slave.When the main frame of robot is opened
Check whether main frame is ready after dynamic, if it is not, proceeding the startup of main frame.Slave is notified if main frame is ready.
After slave starts, and receive check after the ready notice of main frame whether whether slave is ready (needs renewal table
Feelings storehouse), if it is not, proceeding the startup (renewal in expression storehouse) of slave.If slave is ready, judge it is current whether
In the presence of the expression output order (whether needing to carry out expression output) from main frame.If there is expression output order, then show
The expression matched with expression output order.If there is no expression output order, then expression storehouse is called according to presupposed solution automatically
In related expression element, boot up the display of expression.
In the utility model, slave controls display device to show after extracting the expression element matched with expression output order
Show expression element.Specifically, in the embodiment of the utility model one, display device is LCDs.
Further, the abundant expression of robot is represented and is difficult to be shown by way of LED dot matrix, common LED
Lattice pixels are relatively low, and color is single, and board area is larger, greatly limit the ability that emotion is passed on by robot, therefore uncomfortable
Conjunction is applied in small intelligent robot system.Therefore in the embodiment of the utility model one, display device is LCDs
It is OLED color screens, OLED technology is organic light emitting display technology.When there is electric charge to pass through, these organic materials will light.OLED
Luminous color depends on the material of organic luminous layer.OLED possesses has simple structure, self-luminous to be not required to backlight, contrast
Height, thickness of thin, the advantages of visual angle is wide, reaction speed is fast, the effect of expression display can be greatly improved based on OLED.
Further, in order to cost-effective, data processing amount is reduced, in the embodiment of the utility model one, as far as possible
Reduce the data volume and display area of expression element.In view of robot expression displaying in it is most important be eye expression table
Reach, most human expressions may be by eye change to show, therefore the display dress in the embodiment of the utility model one
It is set to LCDs (left eye liquid crystal display and the right eye liquid crystal display, LCDs as shown in Figure 2 for being configured to eyes
311 and 312).
Further, as the PCB of the OLED color screens of any one eye in binocular robot as shown in figure 3, having on PCB
There are 7 pin interfaces.The OLED color screen plates are easily installed in the head of small scale robot, used as the eyes exhibition of robot
Show expression.
Further, it is contemplated that multi-modal interactive output function is had (except expression based on robot of the present utility model
Also there is the outputs such as voice output action output beyond output), the output of each mode of robot will be mutually matched.Namely
Say, in output opportunity (output time node), the interactive output of each mode will cooperate.For example, making laugh table
Need to export laugh while feelings.
Therefore, in the embodiment of the utility model one, slave be additionally configured to display and robot currently output other are more
The robot expression element of mode output matching.That is, by the display device display robot expression element of robot slave, its
In, other multi-modal output matchings that the robot expression element being currently displaying currently is exported with robot.
Specifically, including the defeated of expression output order in expression output order of the robot main frame to robot slave output
Go out timing node information.Robot slave is according to output time nodal information display expression element.Further, it is new in this practicality
In the embodiment of type one, the expression output order that robot main frame is only currently needed for display to robot slave output (needs immediately
The expression output order of display).Robot slave carries out the expression element of correlation immediately after expression output order is received
Extract and show, so that ensure current other mode for exporting of expression element and robot of display interacts output matching.
Direct memory access (DMA) (DMA) mode be for providing between peripheral hardware and memory or memory and memory
Between high speed data transfer mode.It has quickly, save cpu resource the characteristics of.In order to quickly show expression element, it is ensured that
Currently other mode of output interact output matching for the expression element of display and robot, in the embodiment of the utility model one
In, robot expression element is transferred to the display device of slave using direct memory access (DMA) mode.I.e. slave is configured to
Robot expression element is transferred to by display device using direct memory access mode.
Further, using DMA transfer, the brush screen speed of OLED can reach 50 sub-picture per second, significantly larger than people
The speed of naked eyes identification, can not only realize that many figures are switched fast, and show dynamic picture, and very can enter remarkable fluency
Row video shows.The dynamic expression change of remarkable fluency can thus be shown so as to substantially increase the display effect of expression output
Really, robot emotion ability to express is greatly improved.
Cooperation is transferred to DMA transfer during display device, and expression element is also adopted by DMA transfer from the extraction in expression storehouse,
The robot expression element matched with expression output order is extracted from expression storehouse using direct memory access mode.That is, slave
It is configured to extract the robot expression element from expression storehouse using direct memory access mode.
Serially (SPI) interface is peripheral interface.SPI interface be mainly used in the electronic devices such as EEPROM, FLASH it
Between, it is few with interface, PCB layout save space the characteristics of.Therefore, in the embodiment of the utility model one, robot slave control
Between coremaking piece and expression storehouse (storage chip), using serial (SPI) interface between slave control chip and LCDs.
To sum up, in the embodiment of the utility model one, after slave brings into operation, slave control chip STM32 master control cores
Piece is waited for, and waits the instruction from master-slave communication unit (USART).Whether STM32 main control chips detection USART connects
Expression output order is received, is not received by continuing to wait.Expression output order is then parsed when expression output order is received,
Generate corresponding storage chip read-write (S730).Then storage chip read-write from expression storehouse (storage chip is used
303, flash memory (Flash) W25Q80/16/32) the middle corresponding expression element of extraction.
Next, STM32 main control chips are based on the expression Element generation liquid crystal display control signal extracted, and (display refers to
Make), and drive the LCDs to carry out expression and show using liquid crystal display control signal.
To sum up, according to intelligent robot of the present utility model, it is possible to achieve robot expression output.System of the present utility model
System framework is simple, realizes that difficulty and cost are all very low.Compared to prior art, according to the expression that system of the present utility model is exported
More complicated, more preferably, the Consumer's Experience of robot is greatly enhanced expression expression effect.
System embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, the part shown as unit can be or may not be physics list
Unit, you can with positioned at a place, or can also be distributed on multiple NEs.It can according to the actual needs be selected
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
In the case of work, you can to understand and implement.
Although implementation method disclosed in the utility model is as above, described content is only to facilitate understand this practicality
It is new and use implementation method, be not limited to the utility model.System described in the utility model can also have other many
Plant embodiment.In the case of without departing substantially from the utility model essence, those of ordinary skill in the art work as can be new according to this practicality
Type makes various corresponding changes or deformation, but these corresponding changes or deformation should all belong to claim of the present utility model
Protection domain.
Claims (5)
1. a kind of intelligent robot of exportable expression, it is characterised in that the robot includes generating and exporting expression output
The main frame of instruction and the slave being connected with the main frame, the slave include：
The master-slave communication unit of the expression output order is received, the master-slave communication unit is connected with the main frame；
Be stored with comprising robot expression element expression storehouse storage chip；
The slave control chip of the robot expression element, the slave control chip are extracted based on the expression output order
It is connected to the master-slave communication unit and the storage chip；
The robot also includes that the display robot expresses one's feelings the display device of element, the display device be connected to it is described from
Machine control chip.
2. intelligent robot according to claim 1, it is characterised in that the slave is configured to make currently displaying described
Other multi-modal output matchings of robot expression element and the robot currently output.
3. intelligent robot according to claim 1, it is characterised in that the slave is additionally configured to be connect using general serial
Mouth carries out data transmission with the main frame.
4. intelligent robot according to claim 1, it is characterised in that the slave is additionally configured to be deposited using direct internal memory
Take mode and the robot expression element is extracted from the expression storehouse.
5. intelligent robot according to claim 1, it is characterised in that the display device is LCDs, described
Slave is additionally configured to that robot expression element is transferred into the display device using direct memory access mode.
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| CN201620514589.1U CN206311916U (en) | 2016-05-31 | 2016-05-31 | A kind of intelligent robot of exportable expression |
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| CN201620514589.1U CN206311916U (en) | 2016-05-31 | 2016-05-31 | A kind of intelligent robot of exportable expression |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807734A (en) * | 2017-09-27 | 2018-03-16 | 北京光年无限科技有限公司 | A kind of interaction output intent and system for intelligent robot |
| CN110134452A (en) * | 2018-02-09 | 2019-08-16 | 阿里巴巴集团控股有限公司 | Object processing method and device |
-
2016
- 2016-05-31 CN CN201620514589.1U patent/CN206311916U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807734A (en) * | 2017-09-27 | 2018-03-16 | 北京光年无限科技有限公司 | A kind of interaction output intent and system for intelligent robot |
| CN107807734B (en) * | 2017-09-27 | 2021-06-15 | 北京光年无限科技有限公司 | Interactive output method and system for intelligent robot |
| CN110134452A (en) * | 2018-02-09 | 2019-08-16 | 阿里巴巴集团控股有限公司 | Object processing method and device |
| CN110134452B (en) * | 2018-02-09 | 2022-10-25 | 阿里巴巴集团控股有限公司 | Object processing method and device |
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