CN208930273U

CN208930273U - A kind of detachable robot

Info

Publication number: CN208930273U
Application number: CN201821801445.XU
Authority: CN
Inventors: 赖伟; 张峰; 陈良军; 吴义坚
Original assignee: SHANGHAI YUANQU INFORMATION TECHNOLOGY Co Ltd
Current assignee: SHANGHAI YUANQU INFORMATION TECHNOLOGY Co Ltd
Priority date: 2018-11-02
Filing date: 2018-11-02
Publication date: 2019-06-04
Anticipated expiration: 2028-11-02

Abstract

The utility model discloses the utility model proposes a kind of novel detachable robot, main part is a small scale robot, has vision, the functions such as interactive voice and certain limbs mechanical action function, but is not directly provided with the mobile function of walking.Matched is a mobile base, though pedestal does not have powerful computing unit and complicated calculations function, itself is equipped with infrared, the sensors such as ultrasound, it can detect the environment such as various obstacles, edge, can independently carry out the function of automatic obstacle-avoiding walking and planning memory route.After robot body and pedestal are combined together, the two shared information can complete the walking task of complicated intelligence, for example, following specific people's automatically walk, automatic obstacle-avoiding etc. in conjunction with computer vision information and sensor signal.

Description

Split type robot

Technical Field

The utility model belongs to intelligent robot field, concretely relates to split type robot.

Background

The development of the robot technology is a common comprehensive result of the development of science and technology, and has great influence on the development of social economy. Robots are mechatronics devices having human-like functions, and are typically classified into industrial robots, household robots, commercial robots, and the like. The household robot can be further divided into a housework robot (carrying, sweeping), a accompany robot, an entertainment robot and the like. The accompanying and entertainment type robot focuses on the interaction between the robot and the human, so that the robot has the appearance of imitating the human, and has the interaction means of voice, vision, limb movement and the like.

Domestic small-size robot on the existing market to the companion's of toddler design study type robot, concrete form is the story machine, and intelligent audio amplifier, children education robot etc. design for the desktop type usually, do not all possess the ability that the walking removed. This is due to the limited size of the smaller profile, the fact that it is used primarily on a desktop, and the cost of manufacture. There is a small part of high-end products with a functional design of head rotation. Once the robot has walking capability (mostly rolling in a wheel mode), the height of the robot mostly breaks through 60 cm, the price is rapidly detected to be more than 5 thousand yuan, and the range is beyond the range of conventional household use.

Disclosure of Invention

The utility model discloses the technical problem that will solve is: the split type robot is provided, and the problem that a household robot in the prior art is large in size or cannot move is solved.

The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:

a split type robot comprises an intelligent robot terminal and a mobile base, wherein the intelligent robot terminal and the mobile base can work independently or are combined into a whole to work cooperatively; wherein,

the intelligent robot terminal is provided with a data acquisition module, an identity recognition module and a terminal interface matched with the mobile base; the data acquisition module acquires visual and voice information; the identity recognition module carries out identity recognition of human bodies and human faces according to the information collected by the information data module; the terminal interface matched with the mobile base comprises a data communication interface and a power interface, the data communication interface is used for data intercommunication with the mobile base, and the power interface is used for power supply of the intelligent robot;

the mobile base is provided with an automatic identification module, a positioning module, a walking driving module and a base interface matched with the intelligent robot terminal interface; the automatic identification module is used for identifying obstacles and edge information; the positioning module is used for acquiring the position of the mobile base in real time; the walking driving module drives the mobile base to walk according to the received instruction; the base interface comprises a data communication interface and a charging interface, the data communication interface is connected with the data communication interface of the intelligent robot to realize data intercommunication, and the charging interface provides a power supply for the intelligent robot and charges.

The intelligent robot terminal comprises a robot body and a control assembly, wherein the robot body is of a human-shaped structure and is provided with a head, a body and a neck, and the neck can rotate relative to the head and the body; the control assembly comprises a data acquisition device arranged on the head, an intelligent display device, a keyboard input device and a startup and shutdown button arranged on the body.

The data acquisition device comprises an ultrasonic sensor, a camera, an infrared sensor, a microphone and a loudspeaker; the intelligent display device is a display screen arranged at the front end of the head; the keyboard input device comprises a main menu key and a return key.

The bottom of the body of the robot body is provided with a bayonet which is recessed inwards, a data communication interface and a power supply interface.

The neck is a motor rotating shaft.

The movable base comprises a base body, a movable device arranged at the bottom of the base body, an interface arranged at the upper part of the base body and a detection device arranged on the side surface of the movable base.

The detection device comprises a suspension detector and an obstacle detector.

The interface on base body upper portion includes bellied base bayonet socket, data communication interface and the interface that charges that makes progress, and the bellied base bayonet socket that makes progress is used for fixed intelligent robot terminal, and data communication interface is used for realizing the data intercommunication with intelligent robot terminal, and the interface that charges provides the power for intelligent robot terminal.

The moving device is driving wheels which are uniformly distributed at the bottom of the base body.

The driving wheel comprises two power driving wheels and an auxiliary universal wheel.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the utility model provides a split type design has compromise small and exquisite of small-size domestic robot promptly, and the desktop of being convenient for is used to and interact with the child, can reach the function that the automatic intelligence that large-scale robot just possessed was walked in the existing market again, makes the robot have certain action ability, and the enhancement function is experienced with the use, and the multi-scene of being convenient for move is used.

2. When the robot is used independently, children can easily hold the robot and put the robot on a desktop, a bed or a floor for use. The robot captures the orientation, expression and action of the user through a camera, a sound pickup and other equipment, and interacts with the user.

3. When the base is used independently, the automatic obstacle avoidance walking function is achieved, and obstacles such as a cliff and the like can be turned and avoided when the base meets a wall. When the power is low, the position of the charging stand can be memorized and the past charging can be automatically moved. The route can be intelligently planned and memorized.

4. When the robot and the base are combined, the robot and the base can be successfully combined only by slightly placing the robot on the base. The assembly possesses the visual information that comes from the robot camera at this moment, and the obstacle information that comes from the base sensor carries out comprehensive processing operation with these information, combines user's pronunciation again, and control information such as cell-phone APP can realize abundant use scene, for example "follow me".

5. The robot is designed into a human-shaped structure, so that the robot has beautiful appearance and more friendly human-computer interaction function.

Drawings

Fig. 1 is the utility model discloses the structure of the robot body at intelligent robot terminal.

Fig. 2 shows the structure of the movable base of the present invention.

Fig. 3 is a flow chart of the automatic obstacle avoidance walking control when the separable platform is combined.

Wherein, the labels in the figure are: 1-an ultrasonic sensor; 2-a camera; 3-stereo speakers; 4-an infrared sensor; 5-a microphone array; 6-a display screen; 7-main menu key; 8-return key; 9-a motor rotating shaft; 10-power on and off button; 11-a drive wheel; 12-base bayonet; 13-a data communication interface; 14-USB Type-C charging port; 15-a flying detector; 16-obstacle detector.

Detailed Description

The structure and working process of the present invention will be further explained with reference to the accompanying drawings.

The utility model provides a novel split type domestic robot platform system, the main part is a small robot, possesses the vision, functions such as voice interaction and certain limbs mechanical action function, but does not directly possess the function that the walking removed. The base is provided with sensors such as infrared sensors, ultrasonic sensors and the like, can detect various obstacles, edges and other environments, and can independently perform the functions of automatic obstacle avoidance walking and planning and memorizing routes. When the robot main body and the base are combined together, the robot main body and the base share information, and complex intelligent walking tasks such as automatic walking along with specific people, automatic obstacle avoidance and the like can be completed by combining computer visual information and sensor signals.

the intelligent robot terminal is provided with an information acquisition module, an identity recognition module and a terminal interface matched with the mobile base; the information acquisition module acquires visual and voice information; the identity recognition module carries out identity recognition of human bodies and human faces according to the information collected by the information collection module; the terminal interface matched with the mobile base comprises a data communication interface and a power interface, the data communication interface is used for data intercommunication with the mobile base, and the power interface is used for power supply of the intelligent robot;

The detailed structure and the specific embodiment of the splittable robot of the present invention are described in detail below with reference to the accompanying drawings, as shown in fig. 1 and 2,

the intelligent robot terminal comprises a robot body and a control assembly, wherein the robot body is of a human-shaped structure and is provided with a head, a body and a neck, and the neck can rotate relative to the head and the body; the control assembly comprises a data acquisition device arranged on the head, an intelligent display device, a keyboard input device and a startup and shutdown button arranged on the body. The data acquisition device comprises an ultrasonic sensor 1, a camera 2, an infrared sensor 4, a microphone and a loudspeaker, wherein the loudspeaker adopts a stereo loudspeaker 3 which is respectively arranged at two sides of the forehead of the robot and used for playing corresponding sound; the microphones adopt a microphone array 5, are uniformly arranged below the mouth of the robot and are used for acquiring the voice information of an external human body; the camera 2 is arranged above the forehead of the robot and used for collecting external environment information; the intelligent display device is a display screen 6 arranged at the front end of the head, and the display screen 6 is arranged in the middle of the forehead of the robot; the keyboard input device comprises a main menu key 7 and a return key 8, wherein the infrared sensor 4, the main menu key 7 and the return key 8 are arranged at the mouth of the robot in parallel; the neck of the robot is a motor rotating shaft 9; the front of the body of the robot is provided with a startup and shutdown button 10; the bottom of the body of the robot body is provided with a bayonet which is recessed inwards, a data communication interface and a power supply interface. The data communication interface is used for communicating data with the mobile base, and the power supply interface is used for supplying power to the intelligent robot.

The mobile base comprises a base body, a mobile device arranged at the bottom of the base body, an interface arranged at the upper part of the base body and a detection device arranged on the side surface of the mobile base, wherein the interface comprises an upwards-protruding base bayonet 12, a data communication interface 13 and a charging interface, the data communication interface 13 also has a charging function and is a multifunctional interface, and the charging interface is a USB Type-C charging interface 14; the base bayonet socket protruding upwards is used for fixing the intelligent robot terminal, the data communication interface is used for achieving data intercommunication with the intelligent robot terminal, and the charging interface provides a power supply for the intelligent robot terminal.

The detection means comprise a flying detector 15 and an obstacle detector 16.

The moving device is a driving wheel 11 which is evenly distributed at the bottom of the base body. The drive wheels 11 of this embodiment comprise two powered drive wheels and one auxiliary castor wheel.

The utility model relates to a technical essential mainly includes:

1. the sound and voice positioning, detecting and recognizing technology applied to the robot is as follows: the orientation of the human voice is localized by the microphone array. Detecting and recognizing a person's voice and other environmental sounds, recognizing the person's identity, and the like.

2. Computer vision technology applied to a household robot: the mobile computing platform/embedded computing platform realizes computing functions of detecting human faces, identifying human identities, detecting human bodies, detecting body actions, following human bodies, identifying place scenes, and the like.

3. The movable base platform applied to the household robot needs to have certain mobility and load power, and has the functions of ultrasonic induction, distance detection and obstacle avoidance. Indoor positioning, route memory, automatic path planning and the like.

4. Mutual control and signal transmission between the robot and the mobile base.

5. User interaction functions within the robotic computing platform: the system comprises the following contents and functions of voice recognition, voice instruction, voice chat, audio and video on demand, audio and video real-time conversation and monitoring, entertainment, education, habit culture and the like facing to children.

6. And the robot and the mobile phone App have an interactive function through the Internet. Parents of a user can control the robot to walk, monitor and call entertainment and learning functions and the like through the mobile phone.

The core invention points are as follows:

1) and the robot is used for identifying the human body/human face by combining visual information and voice information. (firstly, the orientation and the distance of a person are preliminarily judged through voice, and then the human body and the human face are identified and accurately positioned by combining visual information).

2) The robot base based automatic obstacle avoidance and intelligent path planning algorithm based split type robot platform is integrally matched, the robot and the base are mutually controlled, and the automatic walking comprehensive algorithm and application of visual information, acoustic information and sensor signals are combined.

3) Split type robot system of design: the robot main body has an independent function, the base also has an independent function, and after combination, the robot main body has more extended functions, for example, voice instructions such as entertainment and the like are always completed along with a user.

To further describe the specific principle and application process of the split home robot, a system control block diagram is shown in fig. 3, which is exemplified below.

The utility model discloses a split type robot platform comprises robot main part and two parts of removal base, and both can independent utility to possess respective function. When the two are combined, the information can be shared and mutually controlled, and a complex and intelligent use scene is realized.

Intelligent robot terminal:

the robot adopts an intelligent embedded system, and the hardware part of the system comprises a CPU, a memory, a network communication unit, a true color touch display screen, a camera, a loudspeaker, a microphone, a GPS, a battery and other modules.

The robot has a face detection and tracking technology, and the specific implementation process is as follows:

when the robot is in a man-machine conversation, the head of the robot is controlled to face the user all the time. The identity of a user is identified according to sound acquired by a microphone and image information acquired by a camera, personalized response is given according to different identities, and different modes are provided for interaction with different people.

The robot has the functions of sound and voice detection and positioning. The robot is equipped with the microphone array that can detect the sound source direction, passes through the time difference that sound spreads the different units of microphone array, combines the physical orientation, calculates the orientation of sound source, can carry out computational analysis to the kind of sound simultaneously, distinguishes people's sound pronunciation and other environment sounds, helps judging whether someone is near the robot.

The robot has a natural voice interaction function. Through the built-in or cloud computing function of the robot, through voice recognition, semantic understanding and voice synthesis, the robot receives voice instructions (such as 'playing songga' and 'turning over') of a user, carries out voice chat and question and answer (such as 'the current points' and 'why people wash hands before meals') and calls database information according to questions to make corresponding answers.

The robot has a safety monitoring function, is started by a monitoring person through remote control of a mobile phone or is started by being triggered by certain conditions of the environment where the robot is located, and sends video and audio information and position and location information acquired by the robot to background service and the mobile phone of the monitoring person in real time.

The robot has the function of intelligent early education, is matched with the software of a home keeper installed on the smart phone, and is matched and completed through internet background service. Parents come to arrange the study task for child through the smart mobile phone, and child and robot interaction accomplish the study task, and parents can receive feedback information, look over child's task progress at any time, send the table through this system and raise and reward information for child. Parents can also inquire the overall learning condition of children, and data such as statistical analysis and the like. Through this system, the head of a family can be more convenient participate in children's early education. Even if the parents are not at the sides of the children, the parents can remotely interact with the children to learn about the learning condition and encourage the children. For parents, early education becomes more efficient and interesting.

The robot is provided with a set of joyful interactive entertainment system. The robot and the smart phone are communicated and interacted with each other. Including instant voice, pictures, text messages. Real-time audio calls and video calls.

Just as adults have devices such as smart phones, children should own their own exclusive smart robots, allowing them to enjoy interactions with parents, and to enjoy the convenience and nice life of the internet with parents.

Moving the base:

the movable base is integrally in a disc shape. It has two power driving wheels and one auxiliary universal wheel. The moving modes of advancing and retreating, turning, in-situ rotation and the like are realized by matching the same or different rotating directions of the two driving wheels.

The circumference of the outer side of the movable base is distributed with a mechanical pressure-sensitive detector and an ultrasonic distance probe. A suspended detector is arranged at the bottom and close to the outer side. When the base moves to a preset destination direction on a horizontal ground or a desktop, if the base touches obstacles such as a wall surface, a seat, a human body and the like, the base can pause, and simultaneously scans the surrounding environment and searches for the direction with the least wide obstacles to turn. When the bottom detector finds that the ground is suspended, the movement is suspended, the speed is reduced, the peripheral route is tried to be detected at a small angle, the suspended boundary of the ground is found, and the angle is adjusted to continue to advance.

The mobile base is capable of accepting the following classes of control instructions: forward, backward, left turn, right turn, stop moving, stop rotating. Forward and reverse are subdivided to support fast forward/reverse and slow forward/reverse.

When the robot is combined with the robot host, the robot can inquire the following state information of the mobile base: the current electric quantity, whether charging is being carried out, whether moving is being carried out, the moving speed is high or low, whether rotating is carried out or not, and the current rotating angle is obtained. Event notifications will also be actively issued to the robot host when the mobile base triggers the following events: when the circuit is touched with obstacles, suspended, plugged, powered off and low in power, an automatic circuit-finding circuit is triggered to return to charge; and some barrier fault events.

The movable base is separated from the robot, the base runs independently, the base depends on the sensor, a relatively simple automatic obstacle avoidance and road finding are realized, the movable base rotates a certain angle to travel a small distance (generally not exceeding the width of the robot) when colliding with an obstacle (or being suspended), the movable base continuously travels until colliding with the obstacle again, and the operation is circulated. When the mobile base is combined with the robot main body, more sensing information such as a camera on the robot is matched, a stronger algorithm can be operated by means of stronger CPU computing power, the thinking mode of the brain of a human is simulated, the collected data is gathered to the robot computing unit, a room map is built, real-time positioning is carried out, and more intelligent automatic walking and use experience are realized.

The mobile base is equipped with a charging station, usually placed in a fixed position indoors. The orientation of the charging seat can be sensed by the movable base, when the electric quantity of the movable base is insufficient, the movable base moves towards the charging seat independently, and if an obstacle is encountered in the process, the obstacle avoidance strategy is applied. After the mobile phone successfully arrives at the charging seat, the last route can be memorized, so that the route planning speed is increased when the mobile phone returns to the same place for charging next time.

The combination state of the robot and the mobile base:

the bottom of robot with the top of moving the base, be provided with assorted magnetism and inhale the formula contact, the bottom of robot has the bayonet socket of inside concave yield, the top of moving the base has outside convex bayonet socket, two bayonet sockets are mutually supported and are connected, and magnetism is inhaled the formula contact and is set up in the bayonet socket. The robot is only required to be lightly placed on the surface of the movable base, and the robot and the movable base are communicated.

When the two are combined, if the electric quantity of the robot is lower than 80% and the electric quantity of the base is higher than 30%, the mobile base charges the robot. If the mobile base is positioned beside the charging seat and is in a charging state, the mobile base can also charge the robot on the mobile base.

If the combination state of the two is required to be canceled, the robot is only required to be slightly taken down from the movable base.

In the combined state, the master control is a robot. Signals collected by the distance detection sensor on the movable base are transmitted to the robot in real time to assist the robot to move autonomously. The robot synthesizes visual signals acquired by a camera of the robot and distance detection signals transmitted by the movable base, calculates, converts results into action control signals (steering, speed and the like) and transmits the action control signals to the movable base in real time, controls two driving wheels of the base, and finishes actions of walking, stopping, steering and the like.

A typical smart action scenario is illustrated. The user places the robot on the mobile base, both in the engaged mode. And then issues a voice command "follow me" to the robot. The robot acquires the voice instruction request through the voice awakening module, starts the recording equipment to collect voice information, and confirms that the instruction is 'advance along with the human body and automatically avoid obstacles' through voice recognition and the semantic understanding module. The robot judges the approximate position of the command-emitting person according to sound positioning, drives the mobile base to rotate in situ to approximately align the head of the robot with the command-emitting person, starts a camera on the robot, detects and positions the human body in the visual field, and then drives the base to move forward towards the direction of the human body. Visual information (the size of a human body in the visual field) and distance detection information on the mobile base are combined. When the distance is 50 cm away from the human body, the speed is slowed down, and when the distance is less than 20 cm, the human body stops. In the process of marcing forward, the barrier is not discerned to the robot camera, but moves the base and detects the barrier, for example the unsettled condition in ground such as stair edge also can trigger and avoid the barrier action. If the robot cannot continue to move and the human body is far away through multiple detections, the robot sends out reminding information, and the user can return to help the robot cross obstacles and then continue to move forwards.

The utility model discloses a structural installation mode, the relation of connection between the part, the processing method are explained as an example only, can not consider only to protect the scheme, all can do various evolutions according to the mode method of this scheme under the applied circumstances of all split type robot.

Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. A split type robot, characterized in that: the intelligent robot terminal and the mobile base can work independently or are combined into a whole to work cooperatively; wherein,

the intelligent robot terminal is provided with a data acquisition module, an identity recognition module and a terminal interface matched with the mobile base; the data acquisition module acquires visual and voice information; the identity recognition module carries out identity recognition of human bodies and human faces according to the information collected by the data collection module; the terminal interface matched with the mobile base comprises a data communication interface and a power interface, the data communication interface is used for data intercommunication with the mobile base, and the power interface is used for power supply of the intelligent robot;

2. The split robot according to claim 1, wherein: the intelligent robot terminal comprises a robot body and a control assembly, wherein the robot body is of a human-shaped structure and is provided with a head, a body and a neck, and the neck can rotate relative to the head and the body; the control assembly comprises a data acquisition device arranged on the head, an intelligent display device, a keyboard input device and a startup and shutdown button arranged on the body.

3. The split robot according to claim 2, wherein: the data acquisition device comprises an ultrasonic sensor, a camera, an infrared sensor, a microphone and a loudspeaker; the intelligent display device is a display screen arranged at the front end of the head; the keyboard input device comprises a main menu key and a return key.

4. The split robot according to claim 2, wherein: the bottom of the body of the robot body is provided with a bayonet which is recessed inwards, a data communication interface and a power supply interface.

5. The split robot according to claim 2, wherein: the neck is a motor rotating shaft.

6. The split robot according to claim 1, wherein: the movable base comprises a base body, a movable device arranged at the bottom of the base body, an interface arranged at the upper part of the base body and a detection device arranged on the side surface of the movable base.

7. The split robot of claim 6, wherein: the detection device comprises a suspension detector and an obstacle detector.

8. The split robot of claim 6, wherein: the interface on base body upper portion includes bellied base bayonet socket, data communication interface and the interface that charges that makes progress, and the bellied base bayonet socket that makes progress is used for fixed intelligent robot terminal, and data communication interface is used for realizing the data intercommunication with intelligent robot terminal, and the interface that charges provides the power for intelligent robot terminal.

9. The split robot of claim 6, wherein: the moving device is driving wheels which are uniformly distributed at the bottom of the base body.

10. The split robot according to claim 9, wherein: the driving wheel comprises two power driving wheels and an auxiliary universal wheel.