WO2017219681A1

WO2017219681A1 - Domestic robot control system and method

Info

Publication number: WO2017219681A1
Application number: PCT/CN2017/073519
Authority: WO
Inventors: 张贯京
Original assignee: 深圳市前海康启源科技有限公司
Priority date: 2016-06-24
Filing date: 2017-02-14
Publication date: 2017-12-28
Also published as: CN106041950B; CN106041950A

Abstract

A domestic robot control system and method, the method comprising the following steps: obtaining position information of a storage cabinet and controlling a domestic robot to move to the storage cabinet; obtaining the height of first through holes of a storage box of the storage cabinet; adjusting the height of robotic arms of the domestic robot according to the height of the first through holes, and controlling the robotic arms to pass through the first through holes; obtaining position information of a user from a user terminal, and controlling the domestic robot to move to the position of the user. By means of a storage cabinet and storage boxes matching a domestic robot, the domestic robot can handle an article from the storage cabinet, thereby making it convenient for a user to handle an article at home, increasing usage scenarios of the domestic robot, and improving the usage efficiency of the domestic robot.

Description

Specification Name of Invention: Home Robot Control System and Method Field of Technology

[0001] The present invention relates to the field of robot control, and in particular, to a home robot control system and method.

Background technique

[0002] With the continuous development of technology and service robot technology, intelligent robots are getting more and more people's attention and getting closer to people's daily life, which provides a feasible solution for the future population problem. Broad application and market prospects. Therefore, the development of smart home robot products to help people take care of their daily lives plays an important role in ensuring social stability. Further, in the home, it is often the case that items are taken from a cabinet (for example, a closet or a cabinet), but existing home robots cannot carry items from the cabinet.

technical problem

[0003] A primary object of the present invention is to provide a home robot control system and method for solving the technical problem that the existing home robot control system cannot control the home robot to carry articles from the cabinet.

Problem solution

Technical solution

[0004] In order to achieve the above object, the present invention provides a home robot control system including a storage cabinet, a home robot, and a user terminal, wherein the home robot is in communication connection with a storage cabinet and a user terminal, a storage box is disposed in the storage cabinet, and the storage box is provided with a first through hole and a label for storing attribute information of the storage box, wherein the storage cabinet is provided with a pulley and a track, and the storage box is suspended from the track The storage cabinet is provided with an extraction area, and the storage cabinet moves the storage box along the sliding rail into the extraction area by controlling the pulley, and the home robot is provided with a robot arm and a home robot control device. The home robot control device includes:

[0005] a setting module, configured to set attribute information of a storage box that the user needs to extract;

[0006] a control module, configured to acquire location information of the storage cabinet and control the movement of the home robot to the storage cabinet; [0007] an obtaining module, configured to acquire attribute information in a label on the storage box in the storage area in the storage cabinet; [0008] The control module is further configured to: when the user needs to extract the attribute information of the storage box and the information in the extraction area If the attribute information in the label on the storage box is inconsistent, the pulley in the control cabinet is rotated to move the next storage box along the track to the extraction area;

[0009] The obtaining module is further configured to: when the attribute information of the storage box that the user needs to extract is consistent with the attribute information in the label on the storage box in the extraction area, obtain the first of the storage box from the storage cabinet The height of the through hole;

[0010] an adjustment module, configured to adjust a height of a robot arm of the home robot according to a height of the first through hole, and control the robot arm to pass through the first through hole;

[0011] The control module is further configured to control, according to the location information of the user acquired from the user terminal, the home machine to move to a location where the user is located.

[0012] Preferably, the attribute information of the storage box that the user needs to extract includes the number of the storage box and the user identity information, and the attribute information in the label on the storage box includes the number of the storage box, and the user who uses the storage box. Identity information, usage, load weight and specifications.

[0013] Preferably, the tag is an RFID tag or a two-dimensional code tag.

[0014] Preferably, the home robot further includes a base, a rotating shaft, a vertical member, a lifting portion, and a moving wheel, wherein the rotating shaft is disposed on the base, and the vertical member is disposed on the rotating a slide rail is disposed in the vertical member, the lifting portion is disposed in a sliding rail of the vertical member, and the lifting portion protrudes from a frame of the side wall of the vertical member, and both ends of the lifting portion Each is connected to one end of one of the robot arms.

[0015] Preferably, the home robot further includes a robot arm hook, and the robot arm hook is disposed at the other end of the robot arm.

[0016] Preferably, the home robot further includes a display and a diagonal member, the display is disposed at an upper position of the rotating shaft, and the oblique member is disposed at an upper position of the vertical member.

[0017] Preferably, the home robot includes a seat, a mounting hole, a mounting screw, a foot placement portion, and a clamp, the seat is mounted on a base of the home robot, and the mounting hole is disposed in the a surface of the base of the home robot, the mounting screw is disposed at a bottom of the seat, the mounting screw passes through the mounting hole and fixes the seat, and the foot placement portion is disposed at the seat The front bottom position is attached to the base of the home robot.

[0018] Preferably, the storage cabinet is provided with a bracket hole, a cross bar, a bow portion, a bracket beam, and a bracket beam hanging. a hook, a chain and a mounting pin, wherein the storage box is further provided with a second through hole, and each of the two ends of the cross bar is provided with a bracket hole, and the top of the bow portion and the lower end of the end of the cross bar Connecting, each end of the arch portion is connected to a bracket beam, wherein an end of each bracket beam is connected with a bracket beam hook, the mounting pin is disposed on the chain, and the mounting pin passes through the bracket hole. The chain is disposed in the track, and the bracket beam is configured to pass through the second through hole and suspend the storage box.

[0019] In another aspect, the present invention also provides a home robot control method, which is applied to a home robot control system, where the home robot control system further includes a storage cabinet, a home robot, and a user terminal. The home robot is connected to the storage cabinet and the user terminal, and the storage cabinet is provided with a storage box. The storage box is provided with a first through hole and a label for storing attribute information of the storage box, and the storage cabinet is provided with a label. There is a pulley and a track, the storage box is suspended on the track, the storage cabinet is provided with an extraction area, and the storage cabinet moves the storage box along the sliding rail to the extraction area by controlling the pulley The home robot control method includes the following steps:

[0020] setting attribute information of the storage box that the user needs to extract;

[0021] acquiring location information of the storage cabinet and controlling the movement of the home robot to the storage cabinet;

[0022] obtaining attribute information in a label on a storage box in the storage area in the storage cabinet;

[0023] when the attribute information of the storage box that the user needs to extract is inconsistent with the attribute information in the label on the storage box in the extraction area, the pulley in the storage cabinet is controlled to rotate to move the next storage box along the track to the extraction area;

[0024] when the attribute information of the storage box that the user needs to extract is consistent with the attribute information in the label on the storage box in the extraction area, the height of the first through hole of the storage box is obtained from the storage cabinet;

[0025] adjusting a height of a robot arm of the home robot according to a height of the first through hole, and controlling the robot arm to pass through the first through hole;

The home robot is controlled to move to a location where the user is located based on the location information of the user acquired from the user terminal.

[0027] Preferably, the attribute information of the storage box that the user needs to extract includes the number of the storage box and the user identity information, and the attribute information in the label on the storage box includes the number of the storage box, and the user who uses the storage box. Identity information, usage, load weight and specifications.

Advantageous effects of the invention Beneficial effect

[0028] Compared with the prior art, the home robot control system and method of the present invention adopts the above technical solutions, and achieves the following technical effects: the home robot can be accessed from the storage cabinet through the storage cabinet and the storage box matched with the home robot Carrying items in the middle facilitates the user to carry items at home, increases the use scene of the home robot, and improves the use efficiency of the home robot.

Brief description of the drawing

DRAWINGS

1 is a schematic structural view of a preferred embodiment of a home robot control system of the present invention;

2(a) to 2(d) are schematic diagrams showing the structure of a preferred embodiment of a home robot in the home robot control system of the present invention;

3 is a cross-sectional structural view of a preferred embodiment of a storage cabinet in a home robot control system of the present invention; [0032] FIG. 4 is a view showing a structure of a preferred embodiment of a storage cabinet in a home robot control system of the present invention; Schematic diagram

5 is a schematic structural view of a preferred embodiment of a storage box in the home robot control system of the present invention;

6 is a schematic diagram of functional modules of a preferred embodiment of a home robot control device in a home robot of the present invention; [0034] FIG.

7 is a schematic flow chart of a preferred embodiment of a home robot control method of the present invention.

[0036] The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

BEST MODE FOR CARRYING OUT THE INVENTION

The specific embodiments, structures, features and utilities of the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1, FIG. 1 is a schematic structural view of a preferred embodiment of a home robot control system of the present invention. In the present embodiment, the home robot control system 100 includes a storage cabinet 1, a home robot 3, and a user terminal 50. A storage box 2 is disposed in the storage cabinet 1 , and the home robot 3 is communicably connected to the storage cabinet 1 and the user terminal 50 , and the domestic robot 3 can lift the storage box 2 from the storage cabinet 1 . specifically The storage cabinet 1 is provided with an extraction area 60, and the storage cabinet 1 moves the storage box 2 into the extraction area 60. The domestic robot 3 grips the storage box 2 and lifts the storage box 2 from the extraction area 60 of the storage cabinet 1. The home robot 3 is also communicably connected to the user terminal 50, the home robot 3 acquires geographic location information of the user terminal 50, and moves the storage box 2 according to the geographic location information of the user terminal 50 to hold the The location of the user of the user terminal 50. The storage box 2 stores items of the user (for example, clothes, mobile phones, etc.). A plurality of storage boxes 2 may be placed in the storage cabinet 1, and different types of articles are placed in each storage box 2. In the present embodiment, the extraction area 60 refers to an initial position in the storage cabinet 1 in which the storage box 2 is stored. In general, the extraction area 60 is located at a lower position of the storage cabinet 1 to facilitate the home robot 3 to extract or place the storage box 2.

2(a) to 2(d), FIG. 2(a) to FIG. 2(d) are schematic structural views of a preferred embodiment of a home robot in the home robot control system of the present invention. 2(a) is a front perspective view of the home robot, FIG. 2(b) is a perspective view of the home robot, FIG. 2(c) is a right perspective view of the home robot, and FIG. 2(d) is a home robot. Stereo picture.

[0040] The home robot 3 includes a base 40, a display 4, a rotating shaft 5, a slanting member 6, a vertical member 7, a lifting portion 8, a robot arm 9, a robot arm hook 10, a moving wheel 11, a seat 12, The mounting hole 13, the mounting screw 14, the leg placing portion 15, and the jig 16.

[0041] wherein the rotating shaft 5 is disposed on the base 40 of the home robot 3.

[0042] The display 4 is disposed at a position above the rotating shaft 5. The slanted member 6 is disposed above the vertical member 7. The vertical member 7 is disposed on the rotating shaft 5, specifically, the vertical member 7 passes through the rotating shaft 5. The slanted member 6 is an arched structure.

[0043] The vertical member 7 is provided with a slide rail (shown in the figure), the lifting portion 8 is disposed in the slide rail of the vertical member 7, and the lifting portion 8 can be moved up and down along the slide rail . The lifting portion 8 may be, but is not limited to, a scissor lift or a rail chain elevator. The lifting portion 8 extends from the frame of the side wall of the vertical member 7, wherein the two ends of the lifting portion 8 are respectively connected to one end of one of the robot arms 9. A robot arm hook 10 is provided at the other end of each robot arm 9. In the present embodiment, the robot arm 9 is of a wedge type structure.

[0044] In the embodiment, the rotating shaft 5 is used for rotating and driving the display 4, the rotating shaft 5, the inclined member 6, the vertical member 7, the lifting portion 8, the robot arm 9, and the robot arm hook 10 to rotate. . [0045] The moving wheel 11 is mounted at a position below the base 40 of the home robot 3.

[0046] The seat 12 is mounted on the base 40 of the home robot 3, the mounting hole 13 is disposed on a surface of the base 40 of the home robot 3, and the mounting screw 14 is disposed on the seat The bottom of the chair 12. The mounting screw 14 passes through the mounting hole 13 and fixes the seat 12.

[0047] The foot placement portion 15 is disposed at a front bottom position of the seat 12 and is attached to the home robot

The pedestal 40 of 3 is a shovel type structure. The jig 16 is disposed in the chair 12 and fixedly connects the leg rest portion 15 to the chair 12. When the user sits on the seat 12, the user's foot is placed in the foot placement portion 15.

[0048] It should be noted that, in other embodiments, the seat 12 is an optional component, that is, the seat 12 may be omitted. If the seat 12 is omitted, the mounting screws 14, the foot placing portion 15, and the clamp 16 are omitted.

3 is a cross-sectional structural view of a preferred embodiment of a storage cabinet in a home robot control system of the present invention; FIG. 4 is a partial view of a portion of a storage cabinet in the home robot control system of the present invention; FIG. 4(e) is a front view of a connection structure composed of a bracket hole, a cross bar, a bow portion, a bracket beam and a bracket beam hook in the storage cabinet, and FIG. 4(f) is a storage view. The right side view of the connection structure consisting of the bracket hole, the cross bar, the bow portion, the bracket beam and the bracket beam hook, Fig. 4 (g) is the bracket hole, the cross bar, the bow portion, the bracket beam and the bracket in the storage cabinet A perspective view of a connection structure composed of a bracket beam hook, and FIG. 4(h) is a schematic structural view of a connection structure composed of a chain and a mounting needle in the storage cabinet.

[0050] The storage cabinet 1 is provided with a bracket hole 17, a cross bar 18, a bow portion 19, a bracket beam 20, a bracket beam hook 21, a chain 25, a mounting pin 26, a pulley 27, and a track 28.

[0051] A bracket hole 17 is disposed at each of the upper ends of the cross bar 18, and a top portion of the bow portion 19 is connected to a lower position of the end of the cross bar 18 . A bracket beam 20 is connected to each end of the arch portion 19, and a bracket beam hook 21 is connected to the end of each bracket beam 20. The mounting pin 26 is disposed on the chain 25, the mounting pin 26 passes through the bracket hole 17, the chain 25 is disposed in the rail 28, and the rail 28 is disposed on the pulley 27. The chain 25 moves along the rail 28 and drives the bracket hole 17, the crossbar 18, the bow portion 19, the bracket beam 20, and the bracket beam hook 21 to move. In the present embodiment, the bracket beam 20 cooperates with the storage box 2, and when the bracket beam 20 moves, the storage box 2 also moves. [0052] Further, the storage cabinet 1 is further provided with a positioning unit (not shown) for obtaining the position information of the storage cabinet 1.

Referring to Fig. 5, Fig. 5 is a schematic view showing the configuration of a preferred embodiment of a storage box in the home robot control system of the present invention. Here, Fig. 5(i) is a left perspective view of the storage box 2, and Fig. 5(j) is a front perspective view of the storage box 2.

[0054] The side walls of the storage box 2 are respectively provided with a first through hole 22 and a second through hole 23. The first through hole 22 is engaged with the robot arm 9 of the home robot 3, that is, the robot arm 9 of the home robot 3 passes through the first through hole 22 and lifts the storage box 2, The home robot 3 moves, and the storage box 2 moves with the home robot 3 at the same time.

[0055] the second through hole 23 cooperates with the bracket beam 20 in the storage cabinet 1, that is, the bracket beam 20 passes through the second through hole 23 and lifts the storage box 2, when the bracket The beam 20 moves along the track 28, and the storage box 2 moves along the track 28 in the storage cabinet 1.

[0056] In the present embodiment, the storage box 2 is initially placed in the storage cabinet 1. When the home robot 3 is to lift the storage box 2, the home robot 3 moves to the position of the storage cabinet 1, and the robot arm 9 is inserted into the first through hole 22, and the lifting portion 8 is raised. a high preset height and driving the robot arm 9 to lift the storage box 2 such that the gravity of the storage box 2 acts completely on the robot arm 9, the home robot 3 is backward with respect to the direction of the storage cabinet 1. Move and lift the storage box 2.

[0057] When the home robot 3 is to place the storage box 2 in the storage cabinet 1 , the home robot 3 moves to the position of the storage cabinet 1 and pairs the second through holes 23 Facing the bracket beam 20 such that the bracket beam 20 passes through the second through hole 23, the lifting portion 8 lowers a preset height and drives the robot arm 9 to lower the storage box 2, so that the The gravity of the storage box 2 acts completely on the support beam 20.

[0058] Further, a label 24 is further mounted on the cover of the storage box 2, and the attribute information of the storage box 2 is stored in the label 24 (for example, the number of the storage box 2, the user who uses the storage box 2) Identity information, usage, load weight, specifications, etc.). When the home robot 3 is close to the storage box 2, the tag 24 is communicably connected to the home robot 3, the home robot 3 acquires attribute information in the tag 24, and determines whether the storage needs to be removed according to the attribute information. Box 2. In this embodiment, the tag 24 is a Radio Frequency Identification (RFID) tag. In other embodiments, the tag 24 may be a two-dimensional code tag, and when the home robot 3 is close to the storage box 2, the home robot 3 The QR code tag is scanned by a camera (not shown) to obtain attribute information within the tag 24.

Referring to FIG. 6, FIG. 6 is a schematic diagram of functional modules of a preferred embodiment of a home robot control device in a home robot of the present invention. In the present embodiment, as shown in Figs. 1-5, the home robot control device 30 operates in the home robot 3. The home robot 3 includes, but is not limited to, a home robot control device 30, a storage unit 32, a processing unit 34, and a communication unit 36.

[0060] The storage unit 32 may be a read only storage unit ROM, an electrically erasable storage unit EEPRO M, a flash storage unit FLASH or a solid hard disk.

[0061] The processing unit 34 may be a central processing unit (CPU), a microcontroller (MCU), a data processing chip, or an information processing unit having a data processing function.

[0062] The communication unit 36 is a wireless communication interface with remote wireless communication functions, for example, supports communication technologies such as GSM, GPRS, WCDMA, CDMA, TD-SCDMA, WiMAX, TD-LTE, and FDD-LT E. Communication interface.

[0063] The home robot control device 30 includes, but is not limited to, a setting module 310, a control module 320, an obtaining module 330, a determining module 340, and an adjusting module 350. A module referred to in the present invention refers to a series of computer program instruction segments that can be executed by the processing unit 34 and that are capable of performing a fixed function, which are stored in the storage unit 32.

[0064] The setting module 310 is configured to set attribute information of the storage box 2 that the user needs to extract. In this embodiment, the attribute information of the storage box that the user needs to extract includes, but is not limited to, a number of the storage box and user identity information (for example, information such as a user ID).

[0065] The control module 320 is configured to control the movement of the home robot 3 to the storage cabinet 1 according to the acquired location information of the storage cabinet 1. In this embodiment, a positioning unit (for example, an indoor positioning unit) is installed in the storage cabinet 1, and the positioning unit of the storage cabinet 1 generates position information and sends the position information to the control module 320.

[0066] The obtaining module 330 is configured to acquire attribute information of the tag 24 on the storage box 2 of the storage area 1 in the storage cabinet 1. Specifically, if the tag 24 is an RFID tag, an RFI D device (not shown) is disposed in the home robot 3, and the RFID device is within a preset distance from the tag 24, and is automatically acquired. Attribute information on the RFID tag. If the tag 24 is a two-dimensional code tag, the home robot 3 is provided with a photographing device, and the photographing device scans the two-dimensional code label and acquires the attribute information on the label 24 from the two-dimensional code label. The attribute information of the label on the storage box includes the number of the storage box 2, and the use User identity information, usage, load weight, and specifications of the storage box 2.

[0067] The determining module 340 is configured to compare the attribute information of the storage box 2 that the user needs to extract with the attribute information in the tag 24, and determine whether the storage box 2 is the storage box 2 that the user needs to extract. Specifically, if the attribute information of the storage box 2 that the user needs to extract is consistent with the attribute information in the tag 24, it indicates that the storage box 2 where the tag 24 is located is the storage box 2 that the user needs to extract. If the attribute information of the storage box 2 that the user needs to extract is inconsistent with the attribute information in the tag 24, it indicates that the storage box 2 is not the storage box 2 that the user needs to extract.

[0068] The control module 310 is further configured to control the pulley 27 in the storage cabinet 1 to rotate to move the next storage box 2 if the attribute information of the storage box 2 that the user needs to extract is inconsistent with the attribute information in the label 24. The track 28 moves to the extraction area 60.

The acquisition module 330 is further configured to acquire the height of the first through hole 22 of the storage box 2 from the storage cabinet 1.

In the present embodiment, the storage cabinet 1 determines the height of the first through hole 22 by calculating the height of the bracket beam 20. Specifically, when the storage box 2 is hung in the storage cabinet 1 , the bracket beam 20 passes through the second through hole 23 , and the height of the bracket beam 20 is the second through hole. The height of the first through hole 22 and the second through hole 23 are fixed, and the height of the first through hole 22 and the height of the second through hole 23 are different from each other by a predetermined height. (for example, two centimeters), therefore, the height of the first through hole 22 is the sum of the height of the second through hole 23 and the preset height. Further, a light path finder (not shown) is disposed on the bracket beam 20, and the light range finder emits light to monitor the height of the support beam 20.

[0070] The adjustment module 350 is further configured to adjust the height of the robot arm 9 of the home robot 3 according to the height of the first through hole 22, and control the robot arm 9 to pass through the first through hole 22.

[0071] The control module 310 is further configured to control the home robot 3 to move to a location where the user is located according to the location information of the user acquired from the user terminal 50.

[0072] Referring to FIG. 7, it is a schematic flow chart of a preferred embodiment of the home robot control method of the present invention. In the present embodiment, the home robot control method is applied to the home robot control system 100. In conjunction with Figures 1-6, the method includes the following steps:

[0073] Step S10: The setting module 310 sets attribute information of the storage box 2 that the user needs to extract. In this embodiment, the attribute information of the storage box that the user needs to extract includes, but is not limited to, the editing of the storage box. Number and user identity information (for example, user ID and other information).

[0074] Step SI 1: The control module 320 acquires the location information of the storage cabinet 1 and controls the home robot 3 to move to the storage cabinet 1. In this embodiment, a positioning unit (for example, an indoor positioning unit) is installed in the storage cabinet 1, and the positioning unit of the storage cabinet 1 generates position information and sends the position information to the control module 320.

[0075] Step S12: The obtaining module 330 acquires attribute information of the label 24 on the storage box 2 of the storage area 1 in the storage cabinet 1. Specifically, if the tag 24 is an RFID tag, the home robot 3 is within a preset distance from the tag 24, and automatically acquires attribute information on the RFID tag. If the tag 24 is a two-dimensional code tag, the home robot 3 scans the two-dimensional code tag through the camera and acquires the attribute information on the tag 24 from the two-dimensional code tag.

[0076] Step S13: The determining module 340 compares the attribute information of the storage box 2 that the user needs to extract with the attribute information in the tag 24, and determines whether the storage box 2 is the storage box 2 that the user needs to extract. Specifically, if the attribute information of the storage box 2 that the user needs to extract is consistent with the attribute information in the tag 24, it indicates that the storage box 2 where the tag 24 is located is the storage box 2 that the user needs to extract, and the flow proceeds to step S15. If the attribute information of the storage box 2 that the user needs to extract is inconsistent with the attribute information in the tag 24, it indicates that the storage box 2 is not the storage box that the user needs to extract, and the flow proceeds to step S14.

[0077] Step S14: The control module 310 controls the pulley 27 in the storage cabinet 1 to rotate to move the next storage box 2 along the track 28 to the extraction area 60.

[0078] Step S15: The obtaining module 330 acquires the height of the first through hole 22 of the storage box 2 from the storage cabinet 1. In the embodiment, the storage cabinet 1 determines the height of the first through hole 22 by calculating the height of the bracket beam 20. Specifically, when the storage box 2 is hung in the storage cabinet 1 , the bracket beam 20 passes through the second through hole 23 , and the height of the bracket beam 20 is the second through hole 23 . The height of the first through hole 22 and the second through hole 23 are fixed, and the height of the first through hole 22 and the height of the second through hole 23 are different from each other by a predetermined height ( For example, two centimeters), therefore, the height of the first through hole 22 is the sum of the height of the second through hole 23 and the preset height. Further, a light finder (not shown) is disposed on the support beam 20, and the light finder emits light to monitor the height of the bracket beam 20.

[0079] Step S16: The adjustment module 350 adjusts the height of the robot arm 9 of the home robot 3 according to the height of the first through hole 22, and controls the robot arm 9 to pass through the first through hole 22. [0080] Step S17: The control module 310 controls the home robot 3 to move to a location where the user is located according to the location information of the user acquired from the user terminal 50.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent function changes made by the description of the present invention and the contents of the drawings, or directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Industrial applicability

Compared with the prior art, the home robot control system and method of the present invention adopts the above technical solutions, and achieves the following technical effects: the home robot can be accessed from the storage cabinet through the storage cabinet and the storage box matched with the home robot Carrying items in the middle facilitates the user to carry items at home, increases the use scene of the home robot, and improves the use efficiency of the home robot.

Claims

Claim

[Claim 1] A home robot control system, wherein the home robot control system includes a storage cabinet, a home robot, and a user terminal, wherein the home robot is communicably connected to a storage cabinet and a user terminal, and the storage cabinet is a storage box is disposed, the storage box is provided with a first through hole and a label for storing attribute information of the storage box, wherein the storage cabinet is provided with a pulley and a track, and the storage box is suspended on the track, An extraction area is disposed in the storage cabinet, and the storage cabinet moves the storage box along the sliding rail to the extraction area by controlling the pulley, and the home robot is provided with a robot arm and a home robot control device, wherein The home robot control device includes: a setting module, configured to set attribute information of a storage box that the user needs to extract; a control module, configured to acquire position information of the storage cabinet and control the movement of the home robot to the storage cabinet; Obtain the attribute information in the label on the storage box in the storage area in the storage cabinet; The control module is further configured to: when the attribute information of the storage box that the user needs to extract is inconsistent with the attribute information in the label on the storage box in the extraction area, control the rotation of the pulley in the storage cabinet to move the next storage box along the track The obtaining module is further configured to: when the attribute information of the storage box that the user needs to extract is consistent with the attribute information in the label on the storage box in the extraction area, obtain the storage box from the storage cabinet a height of a through hole; an adjustment module, configured to adjust a height of a robot arm of the home robot according to a height of the first through hole, and control the robot arm to pass through the first through hole; and the control module is further used The home robot is controlled to move to a location where the user is located according to the location information of the user acquired from the user terminal.

[Claim 2] The home robot control system according to claim 1, wherein the attribute information of the storage box that the user needs to extract includes the number of the storage box and the user identity information, and the label on the storage box The attribute information includes the number of the storage box, the user identity information using the storage box, usage, load weight, and specifications.

[Claim 3] The home robot control system according to claim 1, wherein the label is

RFID tag or QR code tag.

[Claim 4] The home robot control system according to claim 1, wherein the home robot further includes a base, a rotating shaft, a vertical member, a lifting portion, and a moving wheel, wherein a rotating shaft is disposed on the base, the vertical member is disposed on the rotating shaft, a sliding rail is disposed in the vertical member, and the lifting portion is disposed in a sliding rail of the vertical member, and the lifting The portion protrudes from the frame of the side wall of the vertical member, and the two ends of the lifting portion are respectively connected to one end of one of the robot arms.

[Claim 5] The home robot control system according to claim 4, wherein the home robot further includes a robot arm hook, and the robot arm hook is disposed on another mountain of the robot arm

[Claim 6] The home robot control system according to claim 4, wherein the home robot further includes a display and a tilting member, and the display is disposed at an upper position of the rotating shaft, the oblique type The component is disposed above the vertical component.

[Claim 7] The home robot control system according to claim 4, wherein the home robot includes a seat, a mounting hole, a mounting screw, a foot placing portion, and a jig, and the seat is mounted on the a mounting hole is disposed on a surface of the base of the home robot, the mounting screw is disposed at a bottom of the seat, and the mounting screw passes through the mounting hole and fixes the a seat, the foot placement portion is disposed at a front bottom position of the seat and is attached to a base of the home robot.

[Claim 8] The home robot control system according to claim 1, wherein the storage cabinet is provided with a bracket hole, a cross bar, a bow portion, a bracket beam, a bracket beam hook, a chain, and a mounting pin. a second through hole is further disposed on the storage box, and a bracket hole is disposed at an upper position of the two ends of the cross bar, and a top of the bow portion is connected to a lower position of one end of the cross bar, the bow portion Each of the two ends is connected to a bracket beam, wherein the end of each bracket beam is connected with a bracket beam hook, the mounting pin is disposed on the chain, the mounting pin passes through the bracket hole, and the chain is disposed on the track The bracket beam is configured to pass through the second through hole and suspend the storage box.

[Claim 9] A home robot control method, wherein the home robot control method is applied to a home robot control system, the home robot control system further includes a storage cabinet, a home robot, and a user terminal, the household The robot is connected to the storage cabinet and the user terminal, wherein the storage cabinet is provided with a storage box, and the storage box is provided with a first through hole and a label for storing the attribute information of the storage box, wherein the storage cabinet is provided with a pulley and a track, the storage box is suspended on the track, and the storage cabinet is provided with an extraction area, and the storage cabinet is controlled by the The pulley moves the storage box along the sliding rail into the extraction area, and the home robot control method comprises the following steps: setting attribute information of a storage box that the user needs to extract; acquiring position information of the storage cabinet and controlling movement of the home robot To the storage cabinet; obtain the attribute information in the label on the storage box in the storage area in the storage cabinet; when the attribute information of the storage box that the user needs to extract is inconsistent with the attribute information in the label on the storage box in the extraction area, control storage The pulley in the cabinet rotates to move the next storage box along the track to the extraction area; when the attribute information of the storage box that the user needs to extract is consistent with the attribute information in the label on the storage box in the extraction area, from the storage cabinet Obtaining a height of the first through hole of the storage box; adjusting the machine of the home robot according to the height of the first through hole The height of the arm, and controlling the robotic arm through the first through hole; and a mobile robot according to controlling the home position information of the user terminal acquired from the location to the user where the user

[Claim 10] The home robot control method according to claim 9, wherein the attribute information of the storage box that the user needs to extract includes the number of the storage box and the user identity information, and the label on the storage box The attribute information includes the number of the storage box, the user identity information using the storage box, usage, load weight, and specifications.