CN207058584U - Home intelligent robot with environmental monitoring and voice interactive function - Google Patents
Home intelligent robot with environmental monitoring and voice interactive function Download PDFInfo
- Publication number
- CN207058584U CN207058584U CN201720881030.7U CN201720881030U CN207058584U CN 207058584 U CN207058584 U CN 207058584U CN 201720881030 U CN201720881030 U CN 201720881030U CN 207058584 U CN207058584 U CN 207058584U
- Authority
- CN
- China
- Prior art keywords
- unit
- sensor
- voice
- environmental monitoring
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model discloses a kind of home intelligent robot with environmental monitoring and voice interactive function, including environment information acquisition unit, robot control unit, communication unit, voice and video interactive unit, environment information acquisition unit is arranged on fuselage, home environment state is monitored in real time, the signal output part of environment information acquisition unit is connected with robot control unit, voice and video interactive unit is connected with robot control unit, and robot control unit is connected by communication unit with remote control terminal.The utility model is provided with environment information acquisition unit, home environment state can be monitored in real time, the signal of collection is sent into robot control unit by environment information acquisition unit, again cell phone application is sent to through communication unit, allow people to be more convenient, perceive the environmental information of interior for greater flexibility, monitoring in real time and the control to robot more can without distance limitation be carried out to family's indoor environment by cell phone application people, it is applied widely.
Description
Technical field
A kind of home intelligent robot is the utility model is related to, it is more particularly to a kind of that there is environmental monitoring and interactive voice work(
The home intelligent robot of energy.
Background technology
As people's quality of the life improves constantly, people carry out remote real time monitoring and control, photograph to home environment state
See the requirement more and more higher of old man and children.Current network communication, intelligent control, speech recognition, environment information acquisition technology day
Gradually ripe, one system that can meet home environment intellectual monitoring of design is possibly realized.
Indoor air chemical pollution is a new industry, is directly connected to the physical and mental health of its people.Air is that people are rely life
The material base deposited, it is very important to build succession and development of the green interior environment for the mankind.The environmental protection of current people
Consciousness and health perception are strengthened gradually, also begin to be concerned about the pollution shape of indoor environment while horizontal steadily improve is enjoyed life
Condition, from this point on from the point of view of, the development prospect of indoor air chemical pollution is very optimistic.
With the intensification of social senilization's degree, Empty nest elderly is more and more, and this phenomenon has become one and do not allow to neglect
Depending on social concern.Having among the family of child, the child of family can not be looked after when being worked outside because of father and mother, causes child can
Can be damaged etc. accident.Therefore so that the appearance of the home intelligent robot system with voice interactive function becomes can
Energy, the animation of old man and children can be looked after in real time by system people, when old man and child are in time of crisis
When notice house person outside in time, reduce the generation of accident.
The content of the invention
In order to solve the above-mentioned technical problem, the utility model offer is a kind of simple in construction, multiple functional supervises with environment
Survey the home intelligent robot with voice interactive function.
The technical scheme that the utility model solves the above problems is：A kind of family with environmental monitoring and voice interactive function
Front yard intelligent robot, including environment information acquisition unit, robot control unit, communication unit, voice and video interactive unit, institute
Environment information acquisition unit is stated on fuselage, home environment state is monitored in real time, environment information acquisition unit
Signal output part is connected with robot control unit, and voice and video interactive unit is connected with robot control unit, robot control
Unit processed is connected by communication unit with remote control terminal.
The above-mentioned home intelligent robot with environmental monitoring and voice interactive function, the environment information acquisition unit bag
Temperature Humidity Sensor, optical sensor, infrared sensor, baroceptor, aerosol gases sensor and A/D modular converters are included,
Temperature Humidity Sensor, optical sensor, infrared sensor, baroceptor, aerosol gases sensor are arranged on fuselage, warm and humid
Sensor, optical sensor, infrared sensor, baroceptor, the signal output part of aerosol gases sensor and A/D is spent to change
The input of module is connected, and the output end of A/D modular converters is connected with robot control unit.
The above-mentioned home intelligent robot with environmental monitoring and voice interactive function, the robot control unit include
Controller, robot motion's unit and image unit, robot motion's unit include range sensor, tracing sensor,
Servomotor, motor-drive circuit, range sensor, the signal output part of tracing sensor are connected with controller, four servos
The output shaft of motor is connected with four wheels installed in fuselage bottom respectively, and controller is through motor-drive circuit and servomotor
It is connected, the camera unit includes steering wheel head, the camera of four-degree-of-freedom, and steering wheel head is arranged on fuselage, camera
On steering wheel head, the signal output part of camera is connected with controller.
The above-mentioned home intelligent robot with environmental monitoring and voice interactive function, in addition to alarm unit, alarm are single
Member is arranged on fuselage, and alarm unit is connected with controller.
The above-mentioned home intelligent robot with environmental monitoring and voice interactive function, the Temperature Humidity Sensor use
AM2320, the aerosol gases sensor use MQ-2, and the baroceptor uses BMP180.
The above-mentioned home intelligent robot with environmental monitoring and voice interactive function, the communication unit is ZIGBEE moulds
One kind in block, bluetooth module, WIFI module, gsm module.
The above-mentioned home intelligent robot with environmental monitoring and voice interactive function, the remote control terminal is mobile phone
APP。
The beneficial effects of the utility model are：
1st, the utility model is provided with environment information acquisition unit, home environment state can be monitored in real time, environment
The signal output part of information acquisition unit is connected with robot control unit, then is sent to remote control terminal through communication unit,
Allow people to be more convenient, perceive the environmental information of interior for greater flexibility.
2nd, remote control terminal of the present utility model uses cell phone application, can more be limited by cell phone application people without distance
Ground carries out monitoring in real time and the control to robot to family's indoor environment, applied widely.
3rd, the utility model is provided with alarm unit, and when the environmental quality detected is less than expected effect, system can be carried out
Sound and light alarm, to remind user to take corresponding measure in time.
4th, the utility model is provided with voice and video interactive unit, where can be interacted regardless of user by voice and video
The audio frequency and video function of unit and long-range old man and child's video communication, find the shape of old man or child in time in times of crisis
State.
Brief description of the drawings
Fig. 1 is structured flowchart of the present utility model.
Fig. 2 is integrated circuit figure of the present utility model.
Fig. 3 is the circuit diagram of the utility model tracing sensor.
Embodiment
The utility model is further described with reference to the accompanying drawings and examples.
As shown in figure 1, the utility model includes environment information acquisition unit, robot control unit, communication unit, voice
Video interactive unit, alarm unit, the environment information acquisition unit are arranged on fuselage, home environment state are carried out real-time
Monitoring, the signal output part of environment information acquisition unit are connected with robot control unit, voice and video interactive unit and machine
People's control unit is connected, and robot control unit is connected by communication unit with remote control terminal.
The environment information acquisition unit includes Temperature Humidity Sensor, optical sensor, infrared sensor, air pressure sensing
Device, aerosol gases sensor and A/D modular converters, Temperature Humidity Sensor, optical sensor, infrared sensor, baroceptor,
Aerosol gases sensor is arranged on fuselage, Temperature Humidity Sensor, optical sensor, infrared sensor, baroceptor, smog
The signal output part of gas sensor is connected with the input of A/D modular converters, output end and the robot control of A/D modular converters
Unit processed is connected.
The Temperature Humidity Sensor uses AM2320, and the communication interface of the sensor and controller is I2C buses.Controlling
I2C addresses on device are 0x5C.Front line has 4：VDD, GND, SDA, SCL, respectively power supply 3.1V-5V, ground wire, data wire,
Signal wire.There are 8 eight bit registers, respectively work mode register in the sensor, address 0x03, read selection deposit
Device, address 0x04,2 humidity data registers, 2 temperature data registers (shown in Fig. 3) etc..The data letter that can be gathered
Cease for temperature range：- 40 DEG C~80 DEG C, humidity range is：0RH~99.0RH.Precision：At 25 DEG C, temperature error for ±
0.5, humidity error is ± 3%RH.
The aerosol gases sensor uses MQ-2, and the information of collection has：Density of hydrogen, LPG concentration, methane
Concentration, carbonomonoxide concentration, alcohol concentration, smokescope, propane concentration.The communication of aerosol gases sensor and controller connects
Mouth is PCF8591 AD conversion module, is connected by I2C buses with master control.The simulation input mouth and MQ- of the modular converter
2 sensors are connected, and analog voltage is converted to and sent by I2C buses to controller after digital voltage.PCF8591 I2C is total
Address on line is 0x48.MQ-2 wiring front line：VCC, GND, AO, respectively power supply (5v), ground wire, analog signal output.When
It is nominal gas to simulate when the output of AO mouths is 0.1v -0.3v.When the pernicious gases such as smog be present, AO outputs reach as high as
4v—5v.And the composition of pernicious gas can be calculated according to the magnitude of voltage of output：Density of hydrogen, LPG concentration,
Methane concentration, carbonomonoxide concentration, alcohol concentration, smokescope, propane concentration etc..
In home, i.e., the environment without tested gas, setting sensor output voltage values are reference voltage, this
When, the voltage at AOUT ends is in 1V or so, and when sensor detects tested gas, voltage often raises 0.1V, actual tested gas
Concentration increase 200ppm (briefly：1ppm=1mg/kg=1mg/L=1 × 10-6 is commonly used to represent gas concentration, or
Solution concentration.), the analog quantity voltage value measured is converted to by concentration value inside single-chip microcomputer according to this parameter can.
The connected mode of infrared sensor and controller is common GPIO interface, 3 front line VCC, GND, DO difference be present
For power supply, ground wire, digital output.The farthest detecting distance of the module is 7 meters, and the most long delay time is about 300s, most short delay
Time is 5s, and can adjust delay time manually.Operation principle：When in the spatial dimension internal memory that 0-180 degree radius is 7 meters
In physical activity, the output of DO mouths is low level, is otherwise high level.
The communication interface of optical sensor and controller is I2C buses, and the address in I2C buses is 0x23.The light of detection
It is the lux of 0.11 lux~10000 according to strength range.
The baroceptor uses BMP180.It is I2C buses with controller communication interface, BMP180 modules are total in I2C
Address on line is 0x77.There are VCC 3.3v power supplys, GND ground wires, SCL signal line, SDA data wires in front line.The baroceptor
Measurable air pressure range is 300~1100hPa, and height above sea level scope is 500 meters~9000 meters.Error：Low-power consumption mode
Under, error range is 0.5 meter, and error is 0.25 meter under High Linear pattern.The module has also carried temperature-compensating output, due to examining
Consider AM2320 Temperature Humidity Sensors and obtained temperature, abandon the temperature output function that the module carries.
Obtain the algorithm of pressure altitude：Initialize the control register of the inside modules, check register, corresponding air pressure
Data, according to the barometric information of acquisition, can be calculated height above sea level, can finally passed through in data register with this
I2C buses pass data to controller.
The robot control unit includes controller, robot motion's unit and image unit, the robot motion
Unit includes range sensor, tracing sensor, servomotor, motor-drive circuit, range sensor, the letter of tracing sensor
Number output end is connected with controller, and the output shaft of four servomotors is connected with four wheels installed in fuselage bottom respectively,
Controller is connected through motor-drive circuit with servomotor, and the camera unit includes the steering wheel head of four-degree-of-freedom, shooting
Head, steering wheel head are arranged on fuselage, and camera is arranged on steering wheel head, signal output part and the controller phase of camera
Even.Alarm unit is arranged on fuselage, and alarm unit is connected with controller.
The interface of camera and controller is USB interface, calls FFMPEG storehouses recorded video stream to upload using C language
Into streaming media server, streaming media server encodes to video flowing, then will be pushed to cell phone application.FFMPEG is
Corresponding routine is provided to obtain video flowing, the method for use is to open a process, calls the routine to obtain video
Stream.When in night, infrared light compensating lamp can be opened by the relay being connected with controller, so can also be seen at night
It must understand.
The small vehicle model in the laboratory that fuselage temporarily uses simultaneously has carried out corresponding repacking to it.Walking function still uses
4 servomotors, driven using 2 L298N drive circuits, a drive circuit controls 2 servomotors, and motor is by 12v
Power supply is powered.Using 6 18650 batteries of section and 2 pieces of charge-discharge modules as power management.
The driving of servomotor：High level I1 mouths, which are sent, to the motor-driven I0 mouths of L298N sends low level, servomotor
Rotate forward, conversely, servomotor inverts.Forward-reverse：When 4 servomotors rotate to equidirectional simultaneously, dolly advances, after
It is also such for moving back.Turn to：When the steering of 2 servomotors is reverse with other two, you can realize and turn to.
Voice and video interactive unit：The hardware device that voice and video interactive unit uses has：Camera voice module, sound
Sensor.Camera voice module is mainly responsible for being recorded and being sent to the winged server of University of Science and Technology's news, and sound transducer then detects
Surrounding environment whether there is voice, when detecting voice, produces interrupt signal and is then performed to controller, controller at interruption
Reason.
The hardware device that robot motion's unit uses has：8 road IR evading obstacle sensors, PCF8574 expand I/O module.
Fuselage is all around mounted with 2 IR evading obstacle sensors respectively, totally No. 8 sensor.8 sensors are all
It is connected to PCF8574 to expand in I/O module, is powered by 3.3v.PCF8574 be IO expand module, by I2C buses with
Raspberry PI connections, its I2C address are 0x20, are powered by 3.3v.Robot is advancing, and retreats, and turns left, the process of right-hand rotation
Middle to judge front respectively, rear, the left side, whether the right has obstacle, when detecting that target direction has obstacle in motion process,
Meeting voice output warning message (such as：" preceding object ") and stop motion.
The control mode of steering wheel on steering wheel head：Steering wheel has 3 front lines, respectively power supply, ground wire, signal wire.In signal
50Hz PWM square waves are sent on line, steering wheel can turn to corresponding angle.The pulsewidth that the control signal cycle of steering wheel is 20MS is adjusted
(PWM) signal is made, for wherein pulse width from 0.5-2.5MS, corresponding steering wheel position is 0-180 degree, linear change.I.e.
Certain pulsewidth is provided to it, its output shaft will be kept on certain corresponding angle, and no matter how extraneous torque changes, until
The pulse signal of an other width is provided it with, it can just change output angle to new correspondence position.Two SG90 steering wheels
A two-dimensional Cartesian coordinate system can be formed, each steering wheel can rotate in 180 degree scope so that head can be turned to two-dimensional coordinate
Any one coordinate points in system.It is the direction for accurately controlling camera that mobile phone terminal, which sends coordinate information,.
The utility model has automatic cruising and the function that tracks：
Tracking principle is that robot travels on the floor for post black tape, due to reflection system of the black and white to light
Number is different, can judge " road "-black line according to the power of the reflected light received.Simple, application is make use of in the module
Also commonplace detection method --- infrared spy method.
Outer probe method, i.e., there is the characteristics of different reflectivity properties in the physical surface of different colours using infrared ray.
Constantly earthward launch infrared light during dolly traveling, unrestrained transmitting, reflected light occur when infrared light runs into white ground
The reception pipe being installed on dolly receives；Infrared light is absorbed if black line is run into, then the reception pipe on dolly does not receive
Signal.
Alarm unit can realize the function of alarm, and the connected mode with controller is common GPIO mouths.There is VCC in front line,
GND, DI.Respectively power supply 3v, ground wire, numeral input mouth (low level triggering).Operation principle：When DI mouths receive low level letter
Number when send sound.
The communication unit is one kind in ZIGBEE modules, bluetooth module, WIFI module, gsm module.
The remote control terminal is cell phone application.
General operating principle of the present utility model is as follows：Environment information acquisition unit is supervised in real time to home environment state
Survey, the signal output part of environment information acquisition unit is connected with robot control unit, then is sent to long-range control through communication unit
Terminal phone APP processed, allow people to be more convenient, perceive the environmental information of interior for greater flexibility, more being capable of nothing by cell phone application people
Distance limitation ground carries out monitoring in real time and the control to robot to family's indoor environment, applied widely；When what is detected
System can carry out sound and light alarm when environmental quality is less than expected effect, to remind user to take corresponding measure in time.This reality
Voice and video interactive unit is provided with new, where can pass through the audio frequency and video work(of voice and video interactive unit regardless of user
With long-range old man and child's video communication, the state of old man or child can be found in time in times of crisis.
Claims (7)
- A kind of 1. home intelligent robot with environmental monitoring and voice interactive function, it is characterised in that：Including environmental information Collecting unit, robot control unit, communication unit, voice and video interactive unit, the environment information acquisition unit are arranged on On fuselage, home environment state is monitored in real time, signal output part and the robot control list of environment information acquisition unit Member is connected, and voice and video interactive unit is connected with robot control unit, and robot control unit is by communication unit and remotely Control terminal is connected.
- 2. the home intelligent robot according to claim 1 with environmental monitoring and voice interactive function, its feature exist In：The environment information acquisition unit includes Temperature Humidity Sensor, optical sensor, infrared sensor, baroceptor, smog Gas sensor and A/D modular converters, Temperature Humidity Sensor, optical sensor, infrared sensor, baroceptor, smog gas Body sensor is arranged on fuselage, and Temperature Humidity Sensor, optical sensor, infrared sensor, baroceptor, aerosol gases pass The signal output part of sensor is connected with the input of A/D modular converters, the output end of A/D modular converters and robot control unit It is connected.
- 3. the home intelligent robot according to claim 1 with environmental monitoring and voice interactive function, its feature exist In：The robot control unit includes controller, robot motion's unit and image unit, robot motion's unit bag Include range sensor, tracing sensor, servomotor, motor-drive circuit, range sensor, the signal output of tracing sensor End is connected with controller, and the output shaft of four servomotors is connected with four wheels installed in fuselage bottom respectively, controller It is connected through motor-drive circuit with servomotor, the camera unit includes steering wheel head, the camera of four-degree-of-freedom, steering wheel Head is arranged on fuselage, and camera is arranged on steering wheel head, and the signal output part of camera is connected with controller.
- 4. the home intelligent robot according to claim 3 with environmental monitoring and voice interactive function, its feature exist In：Also include alarm unit, alarm unit is arranged on fuselage, and alarm unit is connected with controller.
- 5. the home intelligent robot according to claim 2 with environmental monitoring and voice interactive function, its feature exist In：The Temperature Humidity Sensor uses AM2320, and the aerosol gases sensor uses MQ-2, and the baroceptor uses BMP180。
- 6. the home intelligent robot according to claim 2 with environmental monitoring and voice interactive function, its feature exist In：The communication unit is one kind in ZIGBEE modules, bluetooth module, WIFI module, gsm module.
- 7. the home intelligent robot according to claim 2 with environmental monitoring and voice interactive function, its feature exist In：The remote control terminal is cell phone application.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720881030.7U CN207058584U (en) | 2017-07-19 | 2017-07-19 | Home intelligent robot with environmental monitoring and voice interactive function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720881030.7U CN207058584U (en) | 2017-07-19 | 2017-07-19 | Home intelligent robot with environmental monitoring and voice interactive function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207058584U true CN207058584U (en) | 2018-03-02 |
Family
ID=61511970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720881030.7U Expired - Fee Related CN207058584U (en) | 2017-07-19 | 2017-07-19 | Home intelligent robot with environmental monitoring and voice interactive function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207058584U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989382A (en) * | 2019-12-06 | 2020-04-10 | 河南师范大学 | Multifunctional cloud service home robot |
| CN112995295A (en) * | 2021-02-05 | 2021-06-18 | 钟建平 | Internet robot monitoring system |
-
2017
- 2017-07-19 CN CN201720881030.7U patent/CN207058584U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989382A (en) * | 2019-12-06 | 2020-04-10 | 河南师范大学 | Multifunctional cloud service home robot |
| CN112995295A (en) * | 2021-02-05 | 2021-06-18 | 钟建平 | Internet robot monitoring system |
| CN112995295B (en) * | 2021-02-05 | 2023-05-02 | 武汉市德发电子信息有限责任公司 | Internet robot monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205940634U (en) | Environmental monitoring unmanned aerial vehicle | |
| CN103335652B (en) | The dining room path guiding system of a kind of robot and air navigation aid | |
| CN108733062A (en) | Family accompanies and attends to robot autonomous charging system and method | |
| CN106054895A (en) | Intelligent business hall robot and indoor walking deviation automatic correction method thereof | |
| CN207058584U (en) | Home intelligent robot with environmental monitoring and voice interactive function | |
| CN109229421A (en) | A kind of unmanned plane power performance test macro and method | |
| CN105835030A (en) | Dangerous area multifunctional probe vehicle based on wireless control and video transmission | |
| CN105867226B (en) | Field biological detection and early warning system | |
| CN106323372A (en) | Intelligent household indoor environment information wireless collection device | |
| CN204963795U (en) | Three -dimensional reconsitution material system based on laser scanning | |
| CN206067427U (en) | A kind of environment inside car manages detecting system | |
| CN209172200U (en) | A kind of sweeping robot based on gyroscope collision detection | |
| CN108910355A (en) | A kind of intelligent garbage recyclable device and control method | |
| CN107860869A (en) | A kind of intelligent air monitoring system and monitoring method based on aircraft | |
| CN104089656A (en) | Storage yard coal spontaneous combustion detection method and device | |
| CN103398294B (en) | Pipeline non-destructive testing system | |
| CN205540266U (en) | Wheeled drive pipeline robot of spiral based on high strength spring presses wall to put | |
| CN205905000U (en) | Dangerous multi -functional probe vehicle in region based on wireless control and video transmission | |
| CN209209059U (en) | A kind of unmanned plane power performance test macro | |
| CN208443442U (en) | Atmospheric environment monitoring equipment and system thereof | |
| CN207965577U (en) | Earth station's data transmission system | |
| CN204202650U (en) | Multiple-gas detector | |
| CN207096814U (en) | Transformer station's master control room long-distance intelligent inspecting robot | |
| CN206057275U (en) | A kind of room air detection means | |
| CN213632234U (en) | Scenic spot tourism ecological environment monitoring early warning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 Termination date: 20200719 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |