CN206373913U - A kind of Intelligent internet of things household safe service robot - Google Patents
A kind of Intelligent internet of things household safe service robot Download PDFInfo
- Publication number
- CN206373913U CN206373913U CN201720013502.7U CN201720013502U CN206373913U CN 206373913 U CN206373913 U CN 206373913U CN 201720013502 U CN201720013502 U CN 201720013502U CN 206373913 U CN206373913 U CN 206373913U
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- China
- Prior art keywords
- industrial computer
- sound
- intelligent internet
- mobile robot
- embedded controller
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Abstract
The utility model discloses a kind of Intelligent internet of things household safe service robot, including mobile robot body, embedded controller, the industrial computer of image real time transfer, sound positioner, supersonic range finder and camera, the sound positioner is arranged on mobile robot body and is connected by interface with industrial computer, supersonic range finder is arranged on mobile robot body and is connected by interface with embedded controller, camera is arranged on mobile robot body and is connected by interface with industrial computer, industrial computer is arranged on mobile robot body and is connected by serial ports with embedded controller.The utility model can be positioned according to the sound detected, it is moved at sound source and the content monitored is passed into client by way of message or transmission of video, so as to realize the living condition of monitoring family old man, and the effect of security protection and early warning processing is carried out to emergency.
Description
Technical field
The invention belongs to Intelligent home service robot technical field, particularly a kind of Intelligent internet of things household safe service
Robot.
Background technology
Intelligent internet of things home-services robot is a kind of smart home service item, it is intended to build intelligent domestic and wisdom
City, entering into the family life of people, there is provided intelligentized solution and advanced life style.Robot industry in recent years
Speed-to-market, the rapid popularization of smart mobile phone and application, the software of manufacture machine people and hardware technology it is more and more ripe and
The fusion of the technologies such as cloud computing, Internet of Things, mobile interchange, promotes the development of Intelligent home service robot industry
(201510487914.X)。
Current Intelligent internet of things home-services robot can provide dedusting, sterilization, control household appliances, automatic charging, root
Voice, image or the service such as limbs feedback, recognition of face and remote monitoring are made according to human speech order
(201520913985.7,201510116887.5), can meet the most living needs of people, still in terms of basic life
The service that can be provided in terms of security is confined to go on patrol and monitored, also very limited.
The content of the invention
, can be according to detecting it is an object of the invention to provide a kind of Intelligent internet of things household safe service robot
Sound is positioned, and is moved at sound source and the content monitored is passed into client by way of message or transmission of video
End.
The technical solution for realizing the object of the invention is：A kind of Intelligent internet of things household safe service robot, including
Mobile robot body, embedded controller, the industrial computer of image real time transfer, sound positioner, supersonic range finder
And camera, the sound positioner be arranged on mobile robot body on and be connected by interface with industrial computer, ultrasonic wave
Range unit is arranged on mobile robot body and is connected by interface with embedded controller, and camera is arranged on moving machine
Device human body is upper and is connected by interface with industrial computer, and industrial computer is arranged on mobile robot body and passes through serial ports and insertion
Formula controller is connected.
The present invention compared with prior art, its remarkable advantage：It can be positioned according to the sound detected, be moved to sound
Client is passed at source and by the content monitored by way of message or transmission of video, so as to realize monitoring family old man
Living condition, and to emergency carry out security protection and early warning processing effect.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the system construction drawing of Intelligent internet of things household safe service robot of the present invention.
Fig. 2 is the workflow diagram of Intelligent internet of things household safe service robot of the present invention.
Embodiment
With reference to shown in Fig. 1, Intelligent internet of things household safe service robot of the present invention, including it is mobile robot body 1, embedding
Enter formula controller 2, the industrial computer 3 of image real time transfer, sound positioner 4, supersonic range finder 5 and camera 6, it is described
Sound positioner 4 is arranged on mobile robot body 1 and is connected by interface with industrial computer 3, and supersonic range finder 5 is pacified
It is connected on mobile robot body 1 and by interface with embedded controller 2, camera 6 is arranged on mobile robot sheet
It is connected on body 1 and by interface with industrial computer 3, industrial computer 3 is arranged on mobile robot body 1 and passes through serial ports and insertion
Formula controller 2 is connected.The random device people of sound positioner 4 starts, and into detection state, after voice signal has been detected, enters
Row sampling, industrial computer is transferred to by sampled signal；The data measured are transferred to embedding by ultrasonic sensor random device people after starting
Enter formula controller；Industrial computer calculates sound source information and feeds back to embedded controller, and embedded controller controls robot is to sound
Moved at source；After robot is moved at sound source, real-time video, photo or message are sent with Terminal Server Client.
The sound positioner 4 is used for the sensing of audio signal.The camera 6 is used for the sensing of vision signal.Institute
State supersonic range finder 5 and obtain robot and obstacle distance.The industrial computer 3 is calculated for auditory localization, and passes through string
Mouth enters row data communication with embedded controller 2, and obtains the vision signal of camera 6, is transferred to Terminal Server Client.Described is embedding
Enter formula controller 2 and obtain robot peripheral obstacle range information, obtained by serial ports after sound source position information, control machine people
Mobile or turning.
With reference to Fig. 2, in Intelligent internet of things household safe service robot of the present invention, sound positioner 4 is with microphone array
Master is classified as, voice signal is obtained by microphone array, industrial computer is transmitted to by USB port, when there is sound event generation, then by work
Control machine calculates sound source position information, that is, the signal being sampled passes through multiple signal classification (MUltiple SIgnal
Classification, MUSIC) algorithm positioned, i.e., and using the orthogonality of signal subspace and noise subspace, construction is empty
Between spectral function, the orientation of the voice signal is obtained by spectrum peak search.Ultrasonic sensor sends out ultrasonic pulse, by object
After return, ultrasonic wave is received, and information is transmitted to controller, the distance between barrier and robot information is obtained.Industrial computer
Obtain after sound source position information, by serial ports, robot control signal is descended into embedded controller, then by control panel control
Driver processed, and then controlled motor rotation, make robot motion.When industrial computer detects nearer apart from sound source, pass through
Wi-Fi signal, in the way of RTMP agreements, Terminal Server Client is transferred to by vision signal or message, realizes that video messaging is passed
Defeated function.
The range measurement principle of supersonic range finder 5 is that the ultrasonic pulse that ultrasonic sensor is sent out is hit through air
Hit to reflect after object and received again by sensor, an arteries and veins can be returned to controller when sensor receives reflected impulse
Punching, measure the high level lasting time of the pulse can calculate sensor with the distance between objects in front.Ultrasonic sensor
Movement of the data feedback of acquisition to slave computer control machine people.Set in the utility model mobile robot and obstructing objects it
Between safe distance be 1m, Emergency Distance is 30cm.Emergency Distance inner machine people understands emergent stopping, and the outer robot of safe distance is pressed
Original direction is advanced, between the two the then larger direction movement of selection measurement distance.
Row data communication is entered by Serial Communication Program between industrial computer 3 and embedded controller 2, industrial computer collects sound
The sound source data that positioner is obtained feeds back to the next machine controller, controller motor, the movement of control machine people.
Claims (6)
1. a kind of Intelligent internet of things household safe service robot, it is characterised in that including mobile robot body (1), embedded
Controller (2), the industrial computer (3) of image real time transfer, sound positioner (4), supersonic range finder (5) and camera
(6), the sound positioner (4) is arranged on mobile robot body (1) and is connected by interface with industrial computer (3), surpasses
Sound ranging device (5) is arranged on mobile robot body (1) and is connected by interface with embedded controller (2), images
Head (6) is arranged on mobile robot body (1) and is connected by interface with industrial computer (3), and industrial computer (3) is arranged on moving machine
It is connected on device human body (1) and by serial ports with embedded controller (2).
2. Intelligent internet of things household safe service robot according to claim 1, it is characterised in that the sound positioning
Device (4) is used for the sensing of audio signal.
3. Intelligent internet of things household safe service robot according to claim 1, it is characterised in that the camera (6)
Sensing for vision signal.
4. Intelligent internet of things household safe service robot according to claim 1, it is characterised in that the ultrasound
Robot and obstacle distance are obtained away from device (5).
5. Intelligent internet of things household safe service robot according to claim 1, it is characterised in that the industrial computer (3)
Calculated for auditory localization, and row data communication is entered by serial ports and embedded controller (2), and obtain camera (6) video
Signal, is transferred to Terminal Server Client.
6. Intelligent internet of things household safe service robot according to claim 1, it is characterised in that described is embedded
Controller (2) obtains robot peripheral obstacle range information, is obtained by serial ports after sound source position information, and control machine people moves
Dynamic or turning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720013502.7U CN206373913U (en) | 2017-01-06 | 2017-01-06 | A kind of Intelligent internet of things household safe service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720013502.7U CN206373913U (en) | 2017-01-06 | 2017-01-06 | A kind of Intelligent internet of things household safe service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206373913U true CN206373913U (en) | 2017-08-04 |
Family
ID=59404515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720013502.7U Expired - Fee Related CN206373913U (en) | 2017-01-06 | 2017-01-06 | A kind of Intelligent internet of things household safe service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206373913U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992719A (en) * | 2018-08-13 | 2018-12-14 | 张晨晨 | A kind of oral care respiratory tract and oral cavity attraction device |
| CN109224141A (en) * | 2018-08-13 | 2019-01-18 | 张晨晨 | A kind of disinfection oral cavity attraction device certainly for oral care |
-
2017
- 2017-01-06 CN CN201720013502.7U patent/CN206373913U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992719A (en) * | 2018-08-13 | 2018-12-14 | 张晨晨 | A kind of oral care respiratory tract and oral cavity attraction device |
| CN109224141A (en) * | 2018-08-13 | 2019-01-18 | 张晨晨 | A kind of disinfection oral cavity attraction device certainly for oral care |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170804 Termination date: 20190106 |