WO2017020734A1 - 一种多功能家庭服务机器人 - Google Patents

一种多功能家庭服务机器人 Download PDF

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Publication number
WO2017020734A1
WO2017020734A1 PCT/CN2016/091034 CN2016091034W WO2017020734A1 WO 2017020734 A1 WO2017020734 A1 WO 2017020734A1 CN 2016091034 W CN2016091034 W CN 2016091034W WO 2017020734 A1 WO2017020734 A1 WO 2017020734A1
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WO
WIPO (PCT)
Prior art keywords
module
head
torso
chassis
motor
Prior art date
Application number
PCT/CN2016/091034
Other languages
English (en)
French (fr)
Inventor
魏然
王巍
徐清云
乔涛
侯进文
周喜锋
Original Assignee
北京进化者机器人科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201510472661.9A external-priority patent/CN105034002B/zh
Priority claimed from CN201520580708.9U external-priority patent/CN204976641U/zh
Application filed by 北京进化者机器人科技有限公司 filed Critical 北京进化者机器人科技有限公司
Priority to EP16832222.0A priority Critical patent/EP3332923A4/en
Priority to US15/522,820 priority patent/US10500716B2/en
Publication of WO2017020734A1 publication Critical patent/WO2017020734A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/0412—Digitisers structurally integrated in a display
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04812—Interaction techniques based on cursor appearance or behaviour, e.g. being affected by the presence of displayed objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures

Definitions

  • the invention relates to a robot, in particular to a multifunctional home service robot.
  • the technical problem to be solved by the present invention is to provide a multifunctional home service robot with an intelligent control system.
  • a multifunctional home service robot comprising an intelligent control system, a mechanical structure and a remote control terminal, wherein the intelligent control system is installed in the mechanical structure, and the remote control terminal regulates the Intelligent control system, which drives the mechanical structure to make corresponding actions;
  • the mechanical structure includes a head, a torso, a chassis, a chassis suspension protection movement mechanism, and two movable wing mechanisms, the head being mounted at an upper end of the torso, the torso being mounted at the bottom On the disc, two of the flap mechanisms are symmetrically mounted on both sides of the torso, and the chassis suspension protection mechanism is mounted on the bottom of the chassis.
  • the invention has the beneficial effects that the invention can make appropriate voice image feedback, limb feedback according to the human voice command, and has the functions of dust removal, disinfection, organic matter decomposition, gas detection, air purification, autonomous navigation walking, autonomous mobile charging, and the like.
  • the intelligent micro-computer can be used to control all-round camera and projection entertainment, and can also carry out information exchange, voice, text and image intelligent interactive communication, and also has remote control patrol indoor security, emergency alarm and other functions.
  • the present invention can also be improved as follows:
  • the head is connected to the torso by a head rotating mechanism, and the head rotating mechanism comprises a trunk fixing plate, a center sleeve, a bearing, a head turntable, a fixing seat, a pressing spring, a compression nut, Fixed frame, head DC motor, drive wheel, driven wheel and at least three bull's eye wheels,
  • the torso fixed plate is horizontally mounted on the upper end of the torso, the middle portion is sleeved outside the lower portion of the central sleeve, and the torso fixed plate is connected by the central sleeve of the bearing;
  • the head sleeve, the fixing seat, the pressing spring and the pressing nut are sequentially sleeved from the bottom to the top on the center sleeve above the torso fixing plate, and the head turntable and the seat
  • the central sleeve is fixedly connected, the fixing seat is fixed on the head turntable, the compression nut is mounted on the upper end of the center sleeve, and one end of the pressing spring abuts on the fixing seat, and the other end Reaching on the compression nut;
  • An upper end of the fixing frame is fixed at a bottom of the torso fixing plate and close to the center sleeve, and the head DC motor is vertically fixed at a lower end of the fixing frame, and an output shaft of the head DC motor Located in the fixed frame, the driving wheel is sleeved thereon;
  • the driven wheel is sleeved on an outer side of a lower end of the central sleeve, and the driving wheel is meshed with the driven wheel;
  • the bull's eye wheel is evenly distributed on the head turntable, and the head is fixedly connected to the head turntable through the bull's eye wheel;
  • the power module and the motor drive module jointly control the operation of the head rotating mechanism to make a corresponding action.
  • the moving wing mechanism comprises a moving wing DC motor, a moving wing DC motor mounting frame, a crank, a connecting rod, a rocker, a moving wing, a first connecting shaft and a second connecting shaft,
  • the moving wing DC motor is fixed on the moving wing DC motor mounting frame, the crank end is fixedly connected with the output end of the moving wing DC motor, and the other end is fixed at one end of the first connecting shaft;
  • One end of the connecting rod is rotatably connected to the other end of the first connecting shaft, and the other end thereof is fixedly connected to one end of the second connecting shaft;
  • the other end of the second connecting shaft is fixedly connected with one end of the rocker, and the other end of the rocker is fixedly connected with one end of the moving wing; the middle of the rocker is installed with the moving wing DC motor Rotating connection
  • the moving wing DC motor mounting bracket is fixed on the torso;
  • the motor drive module controls the operation of the wing mechanism.
  • chassis suspension protection movement mechanism includes a driving wheel structure, and the driving wheel structure is symmetrically mounted on both sides of the bottom of the chassis.
  • the driving wheel structure includes a traveling motor, a driving wheel, a tension spring, a chassis pendulum, a first seat, a second seat and a stroke switch, and the first seat and the second seat are symmetrically mounted vertically a recess in the bottom of the chassis, one end of the tension spring is fixedly connected to the top end of the first support, and the other end is fixedly connected to the top end of the second support;
  • the driving wheel is fixed at an output end of the traveling motor, one end of the chassis swinging rod is stuck on the second support, and the other end is fixed in a middle of the driving wheel near the motor;
  • the travel switch is mounted on the second support and located under the swinging lever of the chassis; when the driving wheel is off the ground, the chassis swing lever can be pushed down to activate the travel switch;
  • the motor drive module controls the operation of the chassis suspension protection motion mechanism; the global positioning The module and the autonomous navigation module can control the movement of the chassis suspension protection motion mechanism.
  • two universal wheels which are symmetrically mounted at the bottom end of the chassis and adjacent to the driving wheel structure.
  • a touch display screen a camera, a microphone and a protective mask mounted on the head
  • the touch display screen being mounted outside the head
  • the camera being mounted outside the head above the touch screen
  • the microphone Mounted on the outer side of the head below the touch screen
  • the protective mask is embedded in the upper end of the head, and can be opened from the head to be disposed outside the touch display screen, the camera and the microphone ;
  • the touch display screen, the camera and the microphone are connected to the main control board line.
  • the torso is further provided with two air inlets, a tray for consigning articles, a speaker, an emergency brake button capable of cutting off the power supply, a projector, a purifying filter cover, an air outlet, a charging device and a plurality of ultrasonic sensors.
  • the air inlet is symmetrically disposed on both sides of the torso and located below the moving wing mechanism;
  • the speaker is mounted in a middle portion of the front side of the torso, the tray is mounted on an upper portion of the front side of the torso and is located above the speaker; the tray is embedded in the torso and can be extracted from the torso;
  • the emergency brake button, the projector, the purifying filter cover, the air outlet, and the charging device are sequentially mounted on the back of the torso from top to bottom.
  • the ultrasonic sensor is evenly distributed outside the upper end of the torso;
  • the projector module controls the projector to operate
  • the power module controls operation of the charging device
  • the sound module controls the operation of the speaker.
  • the intelligent control system includes a host computer main control board, a lower computer main control board, an image acquisition module for scanning images and transmitting information, and a sound collection and positioning for collecting and analyzing sounds and processing feedback.
  • Module used to enhance the speaker effect and polish the sound
  • An audio module and a WiFi routing module a power module, a motor drive module, a positioning navigation module for locating the robot charging pile and avoiding obstacles, a purifier module, and a projector module for wirelessly communicating with the remote terminal,
  • the main control board of the upper computer is installed in the head, the main control board of the lower computer is installed in the chassis, and the main control board of the upper computer and the main control board of the lower computer are connected;
  • the image The acquisition module, the sound collection and positioning module, the sound module and the WiFi routing module are respectively connected to the upper computer main control board line;
  • the power supply module, the motor drive module, the positioning navigation module, the purifier module and The projector module is respectively connected to the line of the host computer main control board;
  • the positioning navigation module includes a global positioning module for positioning the mechanical structure and an autonomous navigation module for autonomous operation of the mechanical structure.
  • the method further includes an information collection and processing module, where the information collection and processing module is connected to the main control board of the upper computer,
  • the information collection processing module includes a gyroscope, an acceleration sensor, an infrared sensor of an analog output, an infrared sensor of a digital output, a smoke sensor for monitoring a concentration of smoke to prevent fire, a CO sensor for monitoring a CO concentration to prevent gas leakage, and the like.
  • CO for detecting indoor CO and formaldehyde gas concentrations, formaldehyde sensors, dust sensors for monitoring dust content, and temperature and humidity sensors for sensing indoor temperature and humidity,
  • the dust sensor and the temperature and humidity sensor are both connected to the purifier module line.
  • the voice interaction module is further connected to the upper computer main control board line, and the voice interaction module can control the robot to receive external voice information and make voice feedback.
  • the beneficial effects of adopting the above further solution are the functions of autonomous walking control, voice localization, image recognition, autonomous map and navigation, autonomous charging homing, intelligent voice, text, image intelligent interactive communication, item transportation, etc., remote control patrol indoor security, Emergency alarms, etc.
  • FIG. 1 is a schematic view showing the structure of a front view of the present invention
  • FIG. 2 is a schematic view showing the structure of a front view of the present invention.
  • Figure 3 is a front view showing the structure of the head rotating mechanism of the present invention.
  • Figure 4 is a cross-sectional structural view showing the head rotating mechanism of the present invention.
  • Figure 5 is a top plan view showing the head rotating mechanism of the present invention.
  • Figure 6 is a perspective view showing the three-dimensional structure of the head rotating mechanism in a plan view of the present invention.
  • Figure 7 is a perspective view showing the three-dimensional structure of the head rotating mechanism in a bottom view
  • Figure 8 is a schematic structural view of a moving wing mechanism according to the present invention.
  • FIG. 9 is a schematic front view showing the structure of a driving wheel structure according to the present invention.
  • Figure 10 is a schematic rear view of the drive wheel structure of the present invention.
  • FIG. 11 is a schematic flow chart of an intelligent control system of the present invention.
  • a multifunctional home service robot includes an intelligent control system, a mechanical structure, and a remote control terminal.
  • the intelligent control system is installed in the mechanical structure, and the remote control terminal regulates the intelligent control system. , thereby driving the mechanical structure to make corresponding actions;
  • the mechanical structure comprises a head 1, a torso 2, a chassis 7, a chassis suspension protection movement mechanism and two movable wing mechanisms 4, the head 1 being mounted at an upper end of the torso 2, the torso 2 being mounted On the chassis 7, two of the moving wing mechanisms 4 are symmetrically mounted on both sides of the torso 2, and the chassis suspension protection mechanism is mounted on the bottom of the chassis 7.
  • the head 1 is coupled to the torso 2 by a head rotating mechanism 3 including a torso fixed disk 3-3, a center sleeve 3-4, a bearing 3-11, and a head turntable 3 -5, fixing seat 3-6, pressing spring 3-9, compression nut 3-7, fixing frame 3-12, head DC motor 3-1, driving wheel 3-10, driven wheel 3-2 and at least Three bull's eye wheels 3-8,
  • the torso fixed plate 3-3 is horizontally mounted on the upper end of the torso 2, the middle portion is sleeved outside the lower portion of the center sleeve 3-4, and the torso fixed plate 3-3 is passed through the bearing 3-11
  • the center sleeve 3-4 is connected;
  • the head sleeve 3-5 is sequentially disposed from the bottom to the top of the center sleeve 3-4 above the trunk fixing plate 3-3, the fixing seat 3-6, and the pressing spring 3- 9 and the compression nut 3-7, the head turntable 3-5 is fixedly connected to the center sleeve 3-4, and the fixing seat 3-6 is fixed on the head turntable 3-5,
  • the compression nut 3-7 is mounted on the upper end of the center sleeve 3-4, and one end of the compression spring 3-9 abuts against the fixing seat 3-6, and the other end abuts against the compression nut 3 -7;
  • the upper end of the fixing frame 3-12 is fixed to the bottom of the trunk fixing plate 3-3 and is close to the At the position of the center sleeve 3-4, the head DC motor 3-1 is vertically fixed at the lower end of the fixed frame 3-12, and the output shaft of the head DC motor 3-1 is located at the fixed frame 3-12. Inside, the drive wheel 3-10 is sleeved thereon;
  • the driven wheel 3-2 is sleeved on the outer side of the lower end of the central sleeve 3-4, and the driving wheel 3-10 is meshed with the driven wheel 3-2;
  • the bull's eye wheel 3-8 is evenly distributed on the head turntable 3-5, and the head 1 is fixedly connected to the head turntable 3-5 through the bull's eye wheel 3-8;
  • the power module and the motor drive module jointly control the operation of the head rotating mechanism 3 to perform corresponding actions.
  • the moving wing mechanism 4 includes a moving wing DC motor 4-1, a moving wing DC motor mounting bracket 4-2, a crank 4-3, a connecting rod 4-4, a rocker 4-5, a moving wing 4-6, and a first Connecting the shaft 4-7 and the second connecting shaft 4-8,
  • the moving wing DC motor 4-1 is fixed on the moving wing DC motor mounting frame 4-2, and one end of the crank 4-3 is fixedly connected with the output end of the moving wing DC motor 4-1, and the other end is fixed. At one end of the first connecting shaft 4-7;
  • One end of the connecting rod 4-4 is rotatably connected to the other end of the first connecting shaft 4-7, and the other end thereof is fixedly connected to one end of the second connecting shaft 4-8;
  • the other end of the second connecting shaft 4-8 is fixedly connected to one end of the rocker 4-5, and the other end of the rocker 4-5 is fixedly connected to one end of the moving wing 4-6;
  • the middle portion of the rocker 4-5 is rotatably connected to the moving wing DC motor mounting bracket 4-2;
  • the moving wing DC motor mounting bracket 4-2 is fixed on the trunk 2;
  • the motor drive module controls the operation of the wing mechanism 4.
  • the chassis suspension protection movement mechanism comprises two driving wheel structures 5, and the driving wheel structure 5 is symmetrically mounted on both sides of the bottom of the chassis 7.
  • the driving wheel structure 5 includes a traveling motor 5-1, a driving wheel 5-2, a tension spring 5-3, a chassis pendulum 5-4, a first abutment 5-5, a second abutment 5-6, and a travel switch 5-7, the first support 5-5 And the second support 5-6 is symmetrically installed vertically in a recess reserved in the bottom of the chassis 7, and one end of the tension spring 5-3 is fixedly connected with the top end of the first support 5-5, and the other end is Fixedly connected to the top end of the second support 5-6;
  • the driving wheel 5-2 is fixed at an output end of the traveling motor 5-1, one end of the chassis swinging rod 5-4 is stuck on the second support 5-6, and the other end is fixed to the driving wheel. 5-2 is located near the motor;
  • the travel switch 5-7 is mounted on the second support 5-6 and under the chassis swing 5-4; the drive swing 5-5 can drive the chassis swing 5 -4 pressing down, thereby starting the travel switch 5-7;
  • the motor drive module controls the operation of the chassis suspension protection motion mechanism; the global positioning module and the autonomous navigation module may control a motion track of the chassis suspension protection motion mechanism.
  • two universal wheels 6 that are symmetrically mounted at the bottom end of the chassis 7 and adjacent to the drive wheel structure 5.
  • the head 1 is mounted with a touch display screen 1-3, a camera 1-1, a microphone 1-4, and a protective mask 1-2, and the touch screen 1-3 is mounted outside the head 1.
  • a camera 1-1 is mounted outside the head 1 above the touch screen
  • the microphone 1-4 is mounted outside the head 1 below the touch screen
  • the protective mask 1-2 is embedded in the
  • the upper end of the head 1 is open from the head 1 and is disposed outside the touch display screen 1-3, the camera 1-1 and the microphone 1-4;
  • the touch display screen 1-3, the camera 1-1 and the microphone 1-4 are connected to the main control board line.
  • the trunk 2 is further provided with two air inlets 2-1, a tray for transporting articles 2-2, a speaker 2-3, an emergency brake button 2-4 capable of cutting off the power, a projector 2-5, and a purifying Filter cover 2-6, air outlet 2-7, charging device 2-8 and several ultrasonic sensors 2-9,
  • the air inlet 2-1 is symmetrically disposed on both sides of the trunk 2 and located below the wing mechanism 4;
  • the speaker 2-3 is installed in the middle of the front side of the trunk 2, and the tray 2-2 is mounted on the body a front upper portion of the trunk 2 and located above the speaker 2-3; the tray 2-2 is embedded in the torso 2 and can be withdrawn from the torso 2;
  • the emergency brake button 2-4, the projector 2-5, the purification screen cover 2-6, the air outlet 2-7, and the charging device 2-8 are sequentially mounted on the back of the trunk 2 from top to bottom.
  • the ultrasonic sensors 2-9 are evenly distributed outside the upper end of the trunk 2;
  • the projector module controls the projector 2-5 to operate
  • the power module controls the charging device 2-8 to operate
  • the sound module controls the speaker 2-3 to operate.
  • the intelligent control system includes a host computer main control board, a lower computer main control board, an image acquisition module for scanning images and transmitting information, and a sound collection and positioning module for collecting and analyzing sounds and processing feedback.
  • An audio module for enhancing the effect of the speaker and smoothing the sound, and a Wi Fi routing module for wirelessly communicating with the remote terminal, a power module, a motor drive module, a positioning navigation module for positioning the robot charging pile and avoiding obstacles , purifier module and projector module,
  • the main control board of the upper computer is installed in the head 1
  • the main control board of the lower computer is installed in the chassis 7
  • the main control board of the upper computer and the main control board of the lower computer are connected by a line.
  • the image acquisition module, the sound collection and positioning module, the sound module, and the Wi Fi routing module are respectively connected to the host computer main control board through a line; the power module, the motor drive module, and the positioning navigation module;
  • the purifier module and the projector module are respectively connected to the main control board of the upper computer through a line;
  • the positioning navigation module includes a global positioning module for positioning the mechanical structure and an autonomous navigation module for autonomous operation of the mechanical structure.
  • the information collection and processing module is further connected to the main control board of the upper computer through a line.
  • the information collection processing module includes a gyroscope, an acceleration sensor, an infrared sensor of an analog output, an infrared sensor of a digital output, a smoke sensor for monitoring a concentration of smoke to prevent fire, a CO sensor for monitoring a CO concentration to prevent gas leakage, and the like. in the detection chamber of CO 2 and formaldehyde gas concentration of CO 2, formaldehyde sensors, dust sensors for monitoring dust content and for sensing indoor temperature and humidity sensor temperature and humidity,
  • the dust sensor and the temperature and humidity sensor are connected to the purifier module through a line.
  • the voice interaction module is further connected to the upper computer main control board line, and the voice interaction module can control the robot to receive external voice information and make voice feedback.
  • the invention drives the mechanical structure of the robot through the intelligent control system, can make appropriate voice image feedback according to human voice commands, limb feedback, and has dust removal, disinfection, organic matter decomposition, gas detection, air Purification, autonomous navigation walking, autonomous mobile charging and other functions, can use intelligent micro-computer to control all-round camera, projection entertainment, and can carry out information exchange, voice, text, image intelligent interactive communication, and also remote control patrol indoor security, Emergency alarm and other functions.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Manipulator (AREA)
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Abstract

一种家庭服务机器人，包括智能控制系统、机械结构和遥控终端。智能控制系统安装在机械结构内，遥控终端调控智能控制系统，从而带动机械结构作出动作。机械结构包括头部（1）、躯干（2）、底盘（7）、底盘悬挂保护运动机构和两只可运动的动翼机构（4）。头部（1）安装在躯干（2）的上端，躯干（2）安装在底盘（7）上，两只动翼机构（4）对称安装在躯干（2）两侧，底盘悬挂保护运动机构安装在底盘（7）底部。这种机器人具有多种功能。

Description

一种多功能家庭服务机器人 技术领域
本发明涉及一种机器人，特别是一种多功能家庭服务机器人。
背景技术
如今，机器人的使用范围已开始向国家安全、特殊环境服役、医疗辅助、科学考察等多个领域扩展。而一旦步入智能化阶段，机器人产业所构建的社会网络，将遍及社会生产、生活各领域，成为新一轮产业革命后的社会形态—智能社会的基础，人类市场上大部分所谓的智能机器人都是简单的单片机控制的家庭玩具，不能有效的实现真正意义的高科技人工智能。特别是市场上的机器人都无法按照人类语音命令做出适当的语音图像反馈，肢体反馈等。
发明内容
为解决上述问题，本发明所要解决的技术问题是提供一种具有智能控制系统的、多功能的家庭服务机器人。
本发明解决上述技术问题的技术方案如下：一种多功能家庭服务机器人，包括智能控制系统、机械结构和遥控终端，所述智能控制系统安装在所述机械结构内，所述遥控终端调控所述智能控制系统，从而带动机械结构作出相应动作；
所述机械结构包括头部、躯干、底盘、底盘悬挂保护运动机构和两只可运动的动翼机构，所述头部安装在所述躯干的上端，所述躯干安装在所述底 盘上，两只所述动翼机构对称安装在所述躯干两侧，所述底盘悬挂保护运动机构安装在所述底盘底部。
本发明的有益效果是：本发明可以按照人类语音命令做出适当的语音图像反馈，肢体反馈，同时具有除尘、消毒、有机物分解、气体检测、空气净化、自主导航行走、自主行动充电等功能，可利用智能化微型电脑进行控制全方位摄像、投影娱乐，并可进行信息存储、语音、文字、图像智能互动交流，还具有远程控制巡视室内安防，应急报警等功能。
在上述技术方案的基础上，本发明还可以做如下改进：
进一步，所述头部通过头部转动机构与所述躯干相连接，所述头部转动机构包括躯干固定盘、中心套筒、轴承、头部转盘、固定座、压紧弹簧、压紧螺母、固定框架、头部直流电机、驱动轮、从动轮和至少三个牛眼轮，
所述躯干固定盘水平安装在所述躯干上端，其中部套设在所述中心套筒的下部外，所述躯干固定盘通过所述轴承所述中心套筒连接；
所述躯干固定盘上方的所述中心套筒上从下至上依次套设有所述头部转盘、所述固定座、所述压紧弹簧和所述压紧螺母，所述头部转盘与所述中心套筒固定连接，所述固定座固定在所述头部转盘上，所述压紧螺母安装在所述中心套筒上端，所述压紧弹簧一端抵在所述固定座上，另一端抵在所述压紧螺母上；
所述固定框架的上端固定在所述躯干固定盘底部且靠近所述中心套筒的位置处，所述头部直流电机竖直固定在所述固定框架下端，所述头部直流电机的输出轴位于固定框架内，其上套设有所述驱动轮；
所述从动轮套设在所述中心套筒下端的外侧，所述驱动轮与所述从动轮啮合连接；
所述牛眼轮均匀分布在所述头部转盘上，所述头部通过所述牛眼轮与所述头部转盘固定连接；
所述电源模块和所述电机驱动模块共同控制所述头部转动机构运行，使其作出相应动作。
进一步，所述动翼机构包括动翼直流电机、动翼直流电机安装架、曲柄、连杆、摇杆、动翼、第一连接轴、第二连接轴，
所述动翼直流电机固定在所述动翼直流电机安装架上，所述曲柄一端与所述动翼直流电机的输出端固定连接，另一端固定在所述第一连接轴的一端；
所述连杆的一端与所述第一连接轴的另一端转动连接，其另一端与所述第二连接轴的一端固定连接；
所述第二连接轴的另一端与所述摇杆的一端固定连接，所述摇杆的另一端与所述动翼的一端固定连接；所述摇杆的中部与所述动翼直流电机安装架转动连接；
所述动翼直流电机安装架固定在所述躯干上；
所述电机驱动模块控制所述动翼机构运行。
进一步，所述底盘悬挂保护运动机构包括个主动轮结构，所述主动轮结构对称安装在所述底盘底部两侧，
所述主动轮结构包括行进电机、主动轮、拉力弹簧、底盘摆杆、第一支座、第二支座和行程开关，所述第一支座和第二支座对称竖直安装在所述底盘底部预留的凹槽内，所述拉力弹簧一端与所述第一支座的顶端固定连接，另一端与所述第二支座的顶端固定连接；
所述主动轮固定在所述行进电机的输出端，所述底盘摆杆一端卡在所述第二支座上，另一端固定在所述主动轮中部靠近所述电机处；
所述行程开关安装在所述第二支座上，且位于所述底盘摆杆下方；所述主动轮离开地面时可带动所述底盘摆杆下压，从而启动所述行程开关；
所述电机驱动模块控制所述底盘悬挂保护运动机构运行；所述全局定位 模块和所述自主导航模块可控制所述底盘悬挂保护运动机构运动轨迹。
进一步，还包括2个万向轮，所述万向轮对称安装在所述底盘底端且靠近所述主动轮结构处。
所述头部上安装有触摸显示屏、摄像头、麦克和保护面罩，所述触摸显示屏安装在所述头部外侧，所述摄像头安装在所述触摸屏上方的所述头部外侧，所述麦克安装在所述触摸屏下方的所述头部外侧，所述保护面罩嵌设在所述头部上端内，且可从所述头部内开出盖设在所述触摸显示屏、摄像头和麦克外；
所述触摸显示屏、所述摄像头和所述麦克与所述主控板线路连接。
进一步，所述躯干上还安装有两个进风口、用于托运物品的托盘、音箱、可切断电源的紧急制动按钮、投影仪、净化滤网盖、出风口、充电装置和若干超声波传感器，
所述进风口对称设在所述躯干两侧，且位于所述动翼机构下方；
所述音箱安装在所述躯干正面中部，所述托盘安装在所述躯干正面上部，且位于所述音箱上方；所述托盘嵌设在所述躯干内，可从所述躯干中抽出；
所述紧急制动按钮、投影仪、净化滤网盖、出风口和充电装置从上至下依次安装在所述躯干背面，
所述超声波传感器均匀分布在所述躯干上端外侧；
所述投影仪模块控制所述投影仪运行；
所述电源模块控制所述充电装置运行；
所述音响模块控制所述音箱运行。
进一步，所述智能控制系统包括上位机主控板、下位机主控板、用于扫描图像并将信息转换传达的图像采集模块、用于对声音进行采集分析并进行处理反馈的声音采集及定位模块、用于加强扬声器效果并对声音进行润色的 音响模块和用于与遥控终端进行无线通信的WiFi路由模块、电源模块、电机驱动模块、用于定位机器人充电桩和避开障碍物的定位导航模块、净化器模块和投影仪模块，
所述上位机主控板安装在所述头部内,所述下位机主控板安装在所述底盘内，所述上位机主控板和所述下位机主控板线路连接；所述图像采集模块、声音采集及定位模块、音响模块和WiFi路由模块分别与所述上位机主控板线路连接；所述电源模块、所述电机驱动模块、所述定位导航模块、所述净化器模块和所述投影仪模块分别与所述上位机主控板线路连接；
所述定位导航模块包括用于所述机械结构定位的全局定位模块和用于所述机械结构自主运行的自主导航模块。
进一步，还包括信息采集处理模块，所述信息采集处理模块与所述上位机主控板线路连接，
所述信息采集处理模块包括陀螺仪、加速度传感器、模拟输出的红外传感器、数字输出的红外传感器、用于监测烟雾的浓度预防火灾的烟雾传感器、用于监测CO浓度预防煤气泄露的CO传感器、用于检测室内CO和甲醛毒气体浓度的CO、甲醛传感器、用于监测粉尘含量的粉尘传感器和用于感知室内温度和湿度温湿度传感器，
所述粉尘传感器和所述温湿度传感器均与所述净化器模块线路连接。
进一步，还包括语音交互模块，所述语音交互模块与所述上位机主控板线路连接，所述语音交互模块可控制机器人接收外界语音信息并作出语音反馈。
采用上述进一步方案的有益效果是具有自主行走控制，语音定位，图像识别，自主地图并导航，自主充电归位，智能语音、文字、图像智能互动交流，物品运送等功能，远程控制巡视室内安防，应急报警等。
附图说明
图1为本发明主视结构示意图；
图2为本发明主视结构示意图；
图3为本发明中头部转动机构主视结构示意图；
图4为本发明中头部转动机构剖视结构示意图；
图5为本发明中头部转动机构俯视结构示意图；
图6为本发明中头部转动机构俯视视角下的立体结构示意图；
图7为本发明中头部转动机构仰视视角下的立体结构示意图；
图8为本发明中动翼机构结构示意图；
图9为本发明中主动轮结构主视结构示意图；
图10为本发明中主动轮结构后视结构示意图；
图11为本发明智能控制系统流程示意图。
附图中，各标号所代表的部件列表如下：
1、头部，1-1、摄像头，1-2、保护面罩，1-3、触摸显示屏，1-4、麦克，2、躯干，2-1、进风口，2-2、用于承装光盘的托盘，2-3、音箱，2-4、紧急制动按钮，2-5、投影仪，2-6、净化滤网盖，2-7、出风口，2-8、充电装置，2-9、超声波传感器，3、头部转动机构，3-1、头部直流电机，3-2、从动轮，3-3、躯干固定盘，3-4、中心套筒，3-5、头部转盘，3-6、固定座，3-7、压紧螺母，3-8、牛眼轮，3-9、压紧弹簧，3-10、驱动轮，3-11、轴承，3-12、固定框架，4、动翼机构，4-1、动翼直流电机，4-2、动翼直流电机安装架，4-3、曲柄，4-4、连杆，4-5、摇杆，4-6、动翼，4-7、第一连接轴，4-8、第二连接轴，5、主动轮结构，5-1、行进电机，5-2、主动轮，5-3、拉力弹簧，5-4、底盘摆杆，5-5、第一支座，5-6、第二支座，5-7、行程开关，6、万向轮，7、底盘。
具体实施方式
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。
如图1至7所示，一种多功能家庭服务机器人，包括智能控制系统、机械结构和遥控终端，所述智能控制系统安装在所述机械结构内，所述遥控终端调控所述智能控制系统，从而带动机械结构作出相应动作；
所述机械结构包括头部1、躯干2、底盘7、底盘悬挂保护运动机构和两只可运动的动翼机构4，所述头部1安装在所述躯干2的上端，所述躯干2安装在所述底盘7上，两只所述动翼机构4对称安装在所述躯干2两侧，所述底盘悬挂保护运动机构安装在所述底盘7底部。
所述头部1通过头部转动机构3与所述躯干2相连接，所述头部转动机构3包括躯干固定盘3-3、中心套筒3-4、轴承3-11、头部转盘3-5、固定座3-6、压紧弹簧3-9、压紧螺母3-7、固定框架3-12、头部直流电机3-1、驱动轮3-10、从动轮3-2和至少三个牛眼轮3-8，
所述躯干固定盘3-3水平安装在所述躯干2上端，其中部套设在所述中心套筒3-4的下部外，所述躯干固定盘3-3通过所述轴承3-11所述中心套筒3-4连接；
所述躯干固定盘3-3上方的所述中心套筒3-4上从下至上依次套设有所述头部转盘3-5、所述固定座3-6、所述压紧弹簧3-9和所述压紧螺母3-7，所述头部转盘3-5与所述中心套筒3-4固定连接，所述固定座3-6固定在所述头部转盘3-5上，所述压紧螺母3-7安装在所述中心套筒3-4上端，所述压紧弹簧3-9一端抵在所述固定座3-6上，另一端抵在所述压紧螺母3-7上；
所述固定框架3-12的上端固定在所述躯干固定盘3-3底部且靠近所述 中心套筒3-4的位置处，所述头部直流电机3-1竖直固定在所述固定框架3-12下端，所述头部直流电机3-1的输出轴位于固定框架3-12内，其上套设有所述驱动轮3-10；
所述从动轮3-2套设在所述中心套筒3-4下端的外侧，所述驱动轮3-10与所述从动轮3-2啮合连接；
所述牛眼轮3-8均匀分布在所述头部转盘3-5上，所述头部1通过所述牛眼轮3-8与所述头部转盘3-5固定连接；
所述电源模块和所述电机驱动模块共同控制所述头部转动机构3运行，使其作出相应动作。
所述动翼机构4包括动翼直流电机4-1、动翼直流电机安装架4-2、曲柄4-3、连杆4-4、摇杆4-5、动翼4-6、第一连接轴4-7、第二连接轴4-8，
所述动翼直流电机4-1固定在所述动翼直流电机安装架4-2上，所述曲柄4-3一端与所述动翼直流电机4-1的输出端固定连接，另一端固定在所述第一连接轴4-7的一端；
所述连杆4-4的一端与所述第一连接轴4-7的另一端转动连接，其另一端与所述第二连接轴4-8的一端固定连接；
所述第二连接轴4-8的另一端与所述摇杆4-5的一端固定连接，所述摇杆4-5的另一端与所述动翼4-6的一端固定连接；所述摇杆4-5的中部与所述动翼直流电机安装架4-2转动连接；
所述动翼直流电机安装架4-2固定在所述躯干2上；
所述电机驱动模块控制所述动翼机构4运行。
所述底盘悬挂保护运动机构包括2个主动轮结构5，所述主动轮结构5对称安装在所述底盘7底部两侧，
所述主动轮结构5包括行进电机5-1、主动轮5-2、拉力弹簧5-3、底盘摆杆5-4、第一支座5-5、第二支座5-6和行程开关5-7，所述第一支座5-5 和第二支座5-6对称竖直安装在所述底盘7底部预留的凹槽内，所述拉力弹簧5-3一端与所述第一支座5-5的顶端固定连接，另一端与所述第二支座5-6的顶端固定连接；
所述主动轮5-2固定在所述行进电机5-1的输出端，所述底盘摆杆5-4一端卡在所述第二支座5-6上，另一端固定在所述主动轮5-2中部靠近所述电机处；
所述行程开关5-7安装在所述第二支座5-6上，且位于所述底盘摆杆5-4下方；所述主动轮5-2离开地面时可带动所述底盘摆杆5-4下压，从而启动所述行程开关5-7；
所述电机驱动模块控制所述底盘悬挂保护运动机构运行；所述全局定位模块和所述自主导航模块可控制所述底盘悬挂保护运动机构运动轨迹。
还包括2个万向轮6，所述万向轮6对称安装在所述底盘7底端且靠近所述主动轮结构5处。
所述头部1上安装有触摸显示屏1-3、摄像头1-1、麦克1-4和保护面罩1-2，所述触摸显示屏1-3安装在所述头部1外侧，所述摄像头1-1安装在所述触摸屏上方的所述头部1外侧，所述麦克1-4安装在所述触摸屏下方的所述头部1外侧，所述保护面罩1-2嵌设在所述头部1上端内，且可从所述头部1内开出盖设在所述触摸显示屏1-3、摄像头1-1和麦克1-4外；
所述触摸显示屏1-3、所述摄像头1-1和所述麦克1-4与所述主控板线路连接。
所述躯干2上还安装有两个进风口2-1、用于托运物品的托盘2-2、音箱2-3、可切断电源的紧急制动按钮2-4、投影仪2-5、净化滤网盖2-6、出风口2-7、充电装置2-8和若干超声波传感器2-9，
所述进风口2-1对称设在所述躯干2两侧，且位于所述动翼机构4下方；
所述音箱2-3安装在所述躯干2正面中部，所述托盘2-2安装在所述躯 干2正面上部，且位于所述音箱2-3上方；所述托盘2-2嵌设在所述躯干2内，可从所述躯干2中抽出；
所述紧急制动按钮2-4、投影仪2-5、净化滤网盖2-6、出风口2-7和充电装置2-8从上至下依次安装在所述躯干2背面，
所述超声波传感器2-9均匀分布在所述躯干2上端外侧；
所述投影仪模块控制所述投影仪2-5运行；
所述电源模块控制所述充电装置2-8运行；
所述音响模块控制所述音箱2-3运行。
所述智能控制系统包括上位机主控板、下位机主控板、用于扫描图像并将信息转换传达的图像采集模块、用于对声音进行采集分析并进行处理反馈的声音采集及定位模块、用于加强扬声器效果并对声音进行润色的音响模块和用于与遥控终端进行无线通信的Wi Fi路由模块、电源模块、电机驱动模块、用于定位机器人充电桩和避开障碍物的定位导航模块、净化器模块和投影仪模块，
所述上位机主控板安装在所述头部1内,所述下位机主控板安装在所述底盘7内，所述上位机主控板和所述下位机主控板通过线路连接在一起；所述图像采集模块、声音采集及定位模块、音响模块和Wi Fi路由模块分别与所述上位机主控板通过线路连接；所述电源模块、所述电机驱动模块、所述定位导航模块、所述净化器模块和所述投影仪模块分别与所述上位机主控板通过线路连接在一起；
所述定位导航模块包括用于所述机械结构定位的全局定位模块和用于所述机械结构自主运行的自主导航模块。
还包括信息采集处理模块，所述信息采集处理模块与所述上位机主控板通过线路连接在一起，
所述信息采集处理模块包括陀螺仪、加速度传感器、模拟输出的红外传 感器、数字输出的红外传感器、用于监测烟雾的浓度预防火灾的烟雾传感器、用于监测CO浓度预防煤气泄露的CO传感器、用于检测室内CO2和甲醛毒气体浓度的CO2、甲醛传感器、用于监测粉尘含量的粉尘传感器和用于感知室内温度和湿度温湿度传感器，
所述粉尘传感器和所述温湿度传感器均与所述净化器模块通过线路连接在一起。
还包括语音交互模块，所述语音交互模块与所述上位机主控板线路连接，所述语音交互模块可控制机器人接收外界语音信息并作出语音反馈。
本发明的工作原理和工作过程：本发明通过智能控制系统带动机器人的机械结构，可以按照人类语音命令做出适当的语音图像反馈，肢体反馈，同时具有除尘、消毒、有机物分解、气体检测、空气净化、自主导航行走、自主行动充电等功能，可利用智能化微型电脑进行控制全方位摄像、投影娱乐，并可进行信息存储、语音、文字、图像智能互动交流，还具有远程控制巡视室内安防，应急报警等功能。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种多功能家庭服务机器人，其特征在于，包括智能控制系统、机械结构和遥控终端，所述智能控制系统安装在所述机械结构内，所述遥控终端调控所述智能控制系统，从而带动机械结构作出相应动作；
    所述机械结构包括头部(1)、躯干(2)、底盘(7)、底盘悬挂保护运动机构和两只可运动的动翼机构(4)，所述头部(1)安装在所述躯干(2)的上端，所述躯干(2)安装在所述底盘(7)上，两只所述动翼机构(4)对称安装在所述躯干(2)两侧，所述底盘悬挂保护运动机构安装在所述底盘(7)底部。
  2. 根据权利要求1所述一种多功能家庭服务机器人，其特征在于，所述头部(1)通过头部转动机构(3)与所述躯干(2)相连接，所述头部转动机构(3)包括躯干固定盘(3-3)、中心套筒(3-4)、轴承(3-11)、头部转盘(3-5)、固定座(3-6)、压紧弹簧(3-9)、压紧螺母(3-7)、固定框架(3-12)、头部直流电机(3-1)、驱动轮(3-10)、从动轮(3-2)和至少三个牛眼轮(3-8)，
    所述躯干固定盘(3-3)水平安装在所述躯干(2)上端，其中部套设在所述中心套筒(3-4)的下部外，所述躯干固定盘(3-3)通过所述轴承(3-11)所述中心套筒(3-4)连接；
    所述躯干固定盘(3-3)上方的所述中心套筒(3-4)上从下至上依次套设有所述头部转盘(3-5)、所述固定座(3-6)、所述压紧弹簧(3-9)和所述压紧螺母(3-7)，所述头部转盘(3-5)与所述中心套筒(3-4)固定连接，所述固定座(3-6)固定在所述头部转盘(3-5)上，所述压紧螺母(3-7)安装在所述中心套筒(3-4)上端，所述压紧弹簧(3-9)一端抵在所述固定座(3-6)上，另一端抵在所述压紧螺母(3-7)上；
    所述固定框架(3-12)的上端固定在所述躯干固定盘(3-3)底部且靠近所述中心套筒(3-4)的位置处，所述头部直流电机(3-1)竖直固定在所述固定框架(3-12)下端，所述头部直流电机(3-1)的输出轴位于固定框架(3-12)内，其上套设有所述驱动轮(3-10)；
    所述从动轮(3-2)套设在所述中心套筒(3-4)下端的外侧，所述驱动轮(3-10)与所述从动轮(3-2)啮合连接；
    所述牛眼轮(3-8)均匀分布在所述头部转盘(3-5)上，所述头部(1)通过所述牛眼轮(3-8)与所述头部转盘(3-5)固定连接；
    所述电源模块和所述电机驱动模块共同控制所述头部转动机构(3)运行，使其作出相应动作。
  3. 根据权利要求2所述一种多功能家庭服务机器人，其特征在于，所述动翼机构(4)包括动翼直流电机(4-1)、动翼直流电机安装架(4-2)、曲柄(4-3)、连杆(4-4)、摇杆(4-5)、动翼(4-6)、第一连接轴(4-7)、第二连接轴(4-8)，
    所述动翼直流电机(4-1)固定在所述动翼直流电机安装架(4-2)上，所述曲柄(4-3)一端与所述动翼直流电机(4-1)的输出端固定连接，另一端固定在所述第一连接轴(4-7)的一端；
    所述连杆(4-4)的一端与所述第一连接轴(4-7)的另一端转动连接，其另一端与所述第二连接轴(4-8)的一端固定连接；
    所述第二连接轴(4-8)的另一端与所述摇杆(4-5)的一端固定连接，所述摇杆(4-5)的另一端与所述动翼(4-6)的一端固定连接；所述摇杆(4-5)的中部与所述动翼直流电机安装架(4-2)转动连接；
    所述动翼直流电机安装架(4-2)固定在所述躯干(2)上；
    所述电机驱动模块控制所述动翼机构(4)运行。
  4. 根据权利要求3所述一种多功能家庭服务机器人，其特征在于，所述底盘悬挂保护运动机构包括2个主动轮结构(5)，所述主动轮结构(5)对称安装在所述底盘(7)底部两侧，
    所述主动轮结构(5)包括行进电机(5-1)、主动轮(5-2)、拉力弹簧(5-3)、底盘摆杆(5-4)、第一支座(5-5)、第二支座(5-6)和行程开关(5-7)，所述第一支座(5-5)和第二支座(5-6)对称竖直安装在所述底盘(7)底部预留的凹槽内，所述拉力弹簧(5-3)一端与所述第一支座(5-5)的顶端固定连接，另一端与所述第二支座(5-6)的顶端固定连接；
    所述主动轮(5-2)固定在所述行进电机(5-1)的输出端，所述底盘摆杆(5-4)一端卡在所述第二支座(5-6)上，另一端固定在所述主动轮(5-2)中部靠近所述电机处；
    所述行程开关(5-7)安装在所述第二支座(5-6)上，且位于所述底盘摆杆(5-4)下方；所述主动轮(5-2)离开地面时可带动所述底盘摆杆(5-4)下压，从而启动所述行程开关(5-7)；
    所述电机驱动模块控制所述底盘悬挂保护运动机构运行；所述全局定位模块和所述自主导航模块可控制所述底盘悬挂保护运动机构运动轨迹。
  5. 根据权利要求4所述一种多功能家庭服务机器人，其特征在于，还包括2个万向轮(6)，所述万向轮(6)对称安装在所述底盘(7)底端且靠近所述主动轮结构(5)处。
  6. 根据权利要求5所述一种多功能家庭服务机器人，其特征在于，所述头部(1)上安装有触摸显示屏(1-3)、摄像头(1-1)、麦克(1-4)和保护面罩(1-2)，所述触摸显示屏(1-3)安装在所述头部(1)外侧，所述摄像头(1-1)安装在所述触摸屏上方的所述头部(1)外侧，所述麦克(1-4)安装在所述触摸屏下方的所述头部(1)外侧，所述保护面罩(1-2)嵌设在所述头部(1)上端内，且可从所述头部(1)内开出盖设在所述触摸显示屏 (1-3)、摄像头(1-1)和麦克(1-4)外；
    所述触摸显示屏(1-3)、所述摄像头(1-1)和所述麦克(1-4)与所述主控板线路连接。
  7. 根据权利要求6所述一种多功能家庭服务机器人，其特征在于，所述躯干(2)上还安装有两个进风口(2-1)、用于托运物品的托盘(2-2)、音箱(2-3)、可切断电源的紧急制动按钮(2-4)、投影仪(2-5)、净化滤网盖(2-6)、出风口(2-7)、充电装置(2-8)和若干超声波传感器(2-9)，
    所述进风口(2-1)对称设在所述躯干(2)两侧，且位于所述动翼机构(4)下方；
    所述音箱(2-3)安装在所述躯干(2)正面中部，所述托盘(2-2)安装在所述躯干(2)正面上部，且位于所述音箱(2-3)上方；所述托盘(2-2)嵌设在所述躯干(2)内，可从所述躯干(2)中抽出；
    所述紧急制动按钮(2-4)、投影仪(2-5)、净化滤网盖(2-6)、出风口(2-7)和充电装置(2-8)从上至下依次安装在所述躯干(2)背面，
    所述超声波传感器(2-9)均匀分布在所述躯干(2)上端外侧；
    所述投影仪模块控制所述投影仪(2-5)运行；
    所述电源模块控制所述充电装置(2-8)运行；
    所述音响模块控制所述音箱(2-3)运行。
  8. 根据权利要求1至7任一项所述一种多功能家庭服务机器人，其特征在于，所述智能控制系统包括上位机主控板、下位机主控板、用于扫描图像并将信息转换传达的图像采集模块、用于对声音进行采集分析并进行处理反馈的声音采集及定位模块、用于加强扬声器效果并对声音进行润色的音响模块和用于与遥控终端进行无线通信的WiFi路由模块、电源模块、电机驱动模块、用于定位机器人充电桩和避开障碍物的定位导航模块、净化器模块和投影仪模块，
    所述上位机主控板安装在所述头部(1)内,所述下位机主控板安装在所述底盘(7)内，所述上位机主控板和所述下位机主控板通过线路连接在一起；所述图像采集模块、声音采集及定位模块、音响模块和WiFi路由模块分别与所述上位机主控板通过线路连接；所述电源模块、所述电机驱动模块、所述定位导航模块、所述净化器模块和所述投影仪模块分别与所述上位机主控板通过线路连接在一起；
    所述定位导航模块包括用于所述机械结构定位的全局定位模块和用于所述机械结构自主运行的自主导航模块。
  9. 根据权利要求8所述一种多功能家庭服务机器人，其特征在于，
    还包括信息采集处理模块，所述信息采集处理模块与所述上位机主控板通过线路连接在一起，
    所述信息采集处理模块包括陀螺仪、加速度传感器、模拟输出的红外传感器、数字输出的红外传感器、用于监测烟雾的浓度预防火灾的烟雾传感器、用于监测CO浓度预防煤气泄露的CO传感器、用于检测室内CO2和甲醛毒气体浓度的CO2、甲醛传感器、用于监测粉尘含量的粉尘传感器和用于感知室内温度和湿度温湿度传感器，
    所述粉尘传感器和所述温湿度传感器均与所述净化器模块通过线路连接在一起。
  10. 根据权利要求9所述一种多功能家庭服务机器人，其特征在于，还包括语音交互模块，所述语音交互模块与所述上位机主控板线路连接，所述语音交互模块可控制机器人接收外界语音信息并作出语音反馈。
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