WO2018018403A1

WO2018018403A1 - Housekeeping robot and control method

Info

Publication number: WO2018018403A1
Application number: PCT/CN2016/091687
Authority: WO
Inventors: 覃国秘; 林华山; 李雯雯; 苏明珠; 莫伟雄; 李耀军; 钟志威; 陈亮亮
Original assignee: 深圳市赛亿科技开发有限公司
Priority date: 2016-07-26
Filing date: 2016-07-26
Publication date: 2018-02-01
Also published as: CN108027609A

Abstract

Provided is a housekeeping robot, comprising: a robot main body (100) on which an identification module (10), a control module (20), and a wireless communication module (30) are provided, both the identification module (10) and the wireless communication module (30) being connected to the control module (20) via an electrical signal. A control method of the housekeeping robot is further provided, comprising: acquiring operation content inputted by the housekeeping robot itself (S110); identifying the operation content to generate a control instruction (S120); and wirelessly controlling, according to the control instruction, household appliances associated with the housekeeping robot (S130). The housekeeping robot can be used as a central controller of household appliances, achieving full intelligent control over the household appliances and improving the convenience of controlling the household appliances. In addition, the control method is simple and highly intelligent.

Description

Housekeeper robot and control method

Technical field

The present invention relates to the field of robot technology, and in particular, to a housekeeper robot and a control method.

Background technique

With the rapid development of robot technology, as well as the improvement of hardware performance and cost of microprocessors, more and more robots are used in the home field. At present, a variety of single-function robots have entered the home field. Such as the sweeping robot, the glass-cleaning robot, etc., these single-function robot solutions have been relatively mature.

Based on the rise of the Internet of Things and the concept of smart home, there is currently no central controller in smart home to achieve the goal of comprehensive intelligent control of home appliances. With the increase in the number of household appliances in the home, this problem will become more and more prominent.

Summary of the invention

Based on this, it is necessary to provide a housekeeper robot, which can be used as a control hub of home appliances, intelligently control various home appliances, and is simple in operation and high in intelligence.

In addition, it is also necessary to provide a control method for the housekeeper robot, which can intelligently control various home appliances, and is simple in operation and high in intelligence.

In order to solve the above technical problems, the following technical solutions will be adopted:

In a first aspect, a housekeeper robot is provided, comprising:

Robot body

An identification module, which is installed in the robot body, and is configured to identify an input manipulation content generation control instruction;

a control module electrically connected to the identification module, and obtaining the control instruction by connecting with an electrical signal of the identification module;

a wireless communication module, which is electrically connected to the control module;

The control module performs wireless control of the associated home appliance according to the control command by connecting with an electrical signal of the wireless communication module.

In conjunction with the first aspect, in a first possible implementation, the wireless communication module is further configured to receive control content transmitted by the terminal, and generate a control instruction.

With reference to the first aspect, in a second possible implementation manner, the manipulation content is gesture information, and the recognition module includes an image recognition module;

The image recognition module is configured to identify the gesture information, and convert the gesture information into a control instruction.

With reference to the first aspect, in a third possible implementation, the control content is voice information, and the recognition module includes a voice recognition module;

The voice recognition module is configured to collect voice information, and convert the voice information into a control command.

With reference to the first aspect, in a fourth possible implementation, the control instruction includes a walking instruction, and the robot further includes a walking module electrically connected to the control module;

The control module controls the walking module to perform a walking operation according to the walking instruction.

With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation, the housekeeper robot further includes a laser scanner and a memory;

The laser scanner is installed in the robot body for scanning a working environment to obtain map information;

The memory is electrically connected to the laser scanner for storing the map information;

Sending a signal to the home appliance device at different locations through the wireless communication module, and acquiring a positioning position of the housekeeper robot in the map information according to the signal strength;

The control module drives the walking module to perform a walking operation consistent with the walking instruction according to the map information and the positioning position.

With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation, the walking module includes an obstacle detecting module and a driving module;

The obstacle detecting module is configured to detect a motion state of the obstacle and the obstacle relative to itself the distance;

The control module formulates a walking route according to the map information, the positioning position, the motion state, the distance, and the walking instruction;

The driving module is configured to drive the housekeeper robot to walk according to the walking route under the control of the control module.

In a second aspect, a control method for a housekeeper robot is provided, including:

Obtain the control content input by the housekeeper robot itself;

Identifying the manipulation content generation control instruction;

Performing wireless control on the home appliance associated with the housekeeper robot according to the control command.

In conjunction with the second aspect, in a first possible implementation, the manipulation content includes any one or any combination of image information, voice information, gesture information, and manipulation content transmitted by the terminal.

With reference to the second aspect, in a second possible implementation, the control instruction includes a walking instruction, and the method further includes:

Obtaining map information of the working environment by scanning, and storing the map information;

Obtaining a positioning position of the housekeeper robot itself in the map information;

A walking operation is performed according to the map information, the positioning position, and the walking instruction.

With reference to the second possible implementation manner of the second aspect, in a third possible implementation, the step of driving the housekeeper robot to walk according to the map information, the positioning position, and the walking instruction comprises:

Determining an initial walking route according to the map information, the positioning position, and the walking instruction;

Performing a walking operation according to the initial walking route;

Detecting a motion state of the peripheral obstacle and a distance of the obstacle relative to itself according to the preset time interval;

Adjusting the walking route according to the motion state and the distance, and obtaining the adjusted walking route;

The walking operation is continued according to the adjusted walking route.

In the present invention, the housekeeper robot includes a robot body, and an identification module, a control module, and a wireless communication module are mounted thereon, and the identification module and the wireless communication module are all connected with the electrical signal of the control module, and the control module generates the control command after the recognition module recognizes the control content and transmits the control command to the control module. a control module, wherein the control module wirelessly controls the associated home appliance through the wireless communication module according to the control command.

When controlling the housekeeper robot, the control content input by the housekeeper robot is acquired, and the control content is generated to generate a control command, and the home appliance connected to the housekeeper robot is wirelessly controlled according to the control command, thereby implementing various appliances through the housekeeper robot. The intelligent control of the equipment is highly intelligent, and the intelligent control of various household electrical appliances can be realized by inputting the manipulation content, and the operation is simple and convenient.

DRAWINGS

1 is a schematic structural view of a main body of a robot in an embodiment;

2 is a schematic structural diagram of a wireless communication module of FIG. 1 in an embodiment;

3 is a schematic structural view of the identification module of FIG. 1 in an embodiment;

4 is a schematic structural view of the identification module of FIG. 1 in another embodiment;

Figure 5 is a schematic structural view of a main body of a robot in another embodiment;

6 is a schematic structural view of a main body of a robot in another embodiment;

Figure 7 is a schematic structural view of the walking module of Figure 5 in one embodiment;

Figure 8 is a flow chart showing a method of controlling a housekeeper robot in an embodiment;

Figure 9 is a flow chart showing a control method of a housekeeper robot in another embodiment;

10 is a flow chart of a method for performing a walking operation step according to map information, a positioning position, and a walking instruction in FIG. 9 in one embodiment.

detailed description

Exemplary embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It is to be understood that the invention is capable of various modifications in the various embodiments and Ben invention.

Based on this, a housekeeper robot and a control method are proposed. The control method of the housekeeper robot is realized by a computer program to operate in the housekeeper robot, thereby realizing intelligent control of various household electrical appliances, and the operation is simple and intelligent. high.

In one embodiment, specifically, as shown in FIG. 1 , a housekeeper robot includes: a robot body 100. The robot body 100 is provided with an identification module 10, a control module 20, and a wireless communication module 30, as follows:

The identification module 10 is installed in the robot body 100 for identifying the input manipulation content generation control instruction.

The control module 20 is electrically connected to the identification module 10, and obtains a control command by connecting with an electrical signal of the identification module 10;

The wireless communication module 30 is electrically connected to the control module 20, and is connected to the electrical signal of the wireless communication module 30, and the control module 20 performs wireless control of the associated home appliance according to the control command.

As shown in FIG. 2, the wireless communication module 30 includes a Wi-Fi (Wireless-Fidelity) module 301 and a Bluetooth module 302. The Wi-Fi module 301 and the Bluetooth module 302 are both connected to the control module 20, the Wi-Fi module 301 is configured to receive a control command of the remote mobile terminal, and send the control command to the home appliance; the Bluetooth module 302 is configured to receive the close range The control command of the mobile terminal sends the control command to the home appliance.

In an embodiment, the wireless communication module 30 can also be used to receive the control content transmitted by the terminal, generate a control command, and the control module 20 obtains a control command by connecting with the electrical signal of the wireless communication module 30, thereby implementing control of the home appliance. .

Further, in an embodiment, as shown in FIG. 3, the identification module 10 includes an image recognition module 101 for recognizing gesture information as a manipulation content and generating a control instruction.

The image recognition module 101 includes a camera 1011 mounted on the surface of the robot body 100. The camera 1011 is configured to collect a facial image of the user, and compare the facial image with the facial image of the user in the database to identify the identity of the user.

Further, in an embodiment, as shown in FIG. 4, the identification module 10 includes a voice recognition module 102, and the voice recognition module 102 is configured to collect voice information of the user, and when the voice information is identity verification information, perform the voice information. The identification, when the voice information is the manipulation content, identifies the voice information generation control instruction.

In an embodiment, as shown in FIG. 5, when the robot module 100 is further provided with a walking module 40, the walking module 40 is connected to the control module 20. When the control command includes a walking instruction, the control module 20 controls walking according to the walking instruction. Module 40 performs a walking operation.

Further, in one embodiment, as shown in FIG. 6, a laser scanner 50 and a memory 60 are further disposed in the robot body 100.

The laser scanner 50 is installed in the robot body 100. The laser scanner 50 can be a three-dimensional laser scanner or other types of scanners for scanning the working environment to obtain map information, and the map information includes a map in the working environment. The placement of each item.

The memory 60 is electrically coupled to a laser scanner 50 for storing map information scanned by the laser scanner 50.

The wireless communication module 30 transmits signals to the home appliances of different locations, and acquires its own location in the map information according to the signal strength. Through the map information and the positioning position, the control module 20 controls the walking module 40 to perform the walking operation under the control of the walking instruction.

In one embodiment, as shown in FIG. 7, the walking module 40 includes an obstacle detection module 401 and a drive module 402.

The obstacle detecting module 401 includes an ultrasonic sensor and an infrared sensor. The ultrasonic sensor and the infrared sensor are combined to detect the motion state of the surrounding obstacle and the distance of the obstacle relative to the self. The control module 20 determines the obstacle according to the map information, the positioning position, and the detected obstacle. The motion state, the distance of the obstacle relative to itself, and the walking command establish a walking route, and then control the driving module 402 according to the walking route.

The driving module 402 includes a servo motor and a wheel at the bottom of the housekeeper robot. The servo motor is connected to the control module 20 for driving the wheel to rotate under the control of the control module; the wheel is connected to the servo motor for rotating under the driving of the servo motor. Then perform the walking operation.

In one embodiment, as shown in FIG. 8, a control method for a housekeeper robot includes:

Step S110, acquiring the manipulation content input by the housekeeper robot itself.

The manipulation content is control information that the user inputs to control the housekeeper robot.

Step S120, identifying a manipulation content generation control instruction.

After obtaining the manipulation content, the manipulation content is identified, and a control command is generated to control the housekeeper robot.

For example, when the user inputs the manipulation content of the gesture information, the recognition module recognizes the gesture information to generate a control instruction; when the user inputs the manipulation content of the voice information, the voice recognition system in the recognition module recognizes the voice information and generates a control instruction.

Step S130, wirelessly controlling the home appliance associated with the housekeeper robot according to the control instruction.

After obtaining the control command, the control command is sent to the associated home appliance through the wireless communication module, thereby controlling the operation of the home appliance.

Therefore, the housekeeper robot is used as a central controller to realize the comprehensive intelligent control of the home appliance in the home, and the wireless control of the home appliance can be realized by simply inputting the manipulation content, and the operation is simple and convenient.

In an embodiment, the manipulation content may be any one or more of image information, voice information, gesture information, and control information transmitted by the terminal, thereby providing the user with various options for controlling the home appliance, thereby greatly improving The convenience of controlling home appliances.

Further, in an embodiment, as shown in FIG. 9, the control instruction includes a walking instruction, and the method as described above further includes:

Step S210: Obtain map information of the working environment by scanning, and store the map information.

The map information includes a map of the housekeeper's working environment and the location of each item.

The map of the housekeeper's working environment and the placement of each item can be obtained by a laser scanner or by other equipment. After the acquisition, the map information in the work environment is stored in the memory so as to be read when the walking operation is performed.

Step S220, obtaining a positioning position of the housekeeper robot itself in the map information.

When performing the walking operation, after obtaining the map information in the working environment of the housekeeper robot, it is necessary to obtain the map information in the working environment of the housekeeper robot. Take the position of the housekeeper's own robot in the working environment map so that the housekeeper robot can perform the walking operation.

Specifically, the housekeeper robot uses a fixed home appliance with a Wi-Fi module in a working environment or other fixed device as a Wi-Fi signal base station, and receives Wi-Fi signal strength by receiving Wi-Fi signals of two or more fixed devices. Calculate the distance between the housekeeper robot and the fixed device, and then calculate the positioning position of the housekeeper's own machine in the working environment according to the triangulation method.

Step S230, performing a walking operation according to the map information, the positioning position, and the walking instruction.

The walking command is a control command generated based on the input manipulation content, and is used by the housekeeper robot to perform the walking operation. When the control command contains a control command for the walking operation, the housekeeper robot is controlled to perform the walking operation.

According to the map information of the working environment and its own positioning position in the working environment, the housekeeper robot walks toward the target under the control of the walking instruction.

For example, when the control command is "take basketball to the door", the housekeeper robot will locate its position in the room map, perform the operation of walking to the basketball according to the map of the room and the position of the basketball, and get the basketball. Continue to take the basketball to the door.

Thus, by acquiring the map information of the working environment and the positioning position of the working map in the map information, the housekeeper robot automatically performs the walking operation under the control of the control command, and the degree of intelligence is high, thereby greatly improving the convenience of operation.

Further, in an embodiment, as shown in FIG. 10, step S230 includes the following steps:

In step S231, an initial walking route is determined according to the map information, the positioning position, and the walking instruction.

After obtaining the walking instruction, the initial walking route is determined according to the map information of the working environment and the positioning position of the housekeeper robot in the working environment map information, and the target position pointed by the control instruction.

In step S232, the walking operation is started according to the initial walking route.

After the initial walking route is developed, the housekeeper robot performs the walking operation in accordance with the initial walking route.

Step S233, detecting motion states and obstacles of the surrounding obstacles according to preset time intervals Relative distance to itself.

According to the map information, the positioning position, and the walking instruction, there may be obstacles in the initial walking route, which may affect the housekeeper robot to reach the target position. During the walking process of the housekeeper robot, the surrounding obstacles, the movement state of the obstacles, and the distance of the obstacles relative to themselves are detected according to preset time intervals, so that the housekeeper robot avoids the obstacles during the walking process.

In step S234, the walking route is adjusted according to the motion state and the distance, and the adjusted walking route is obtained.

When the housekeeper robot walks according to the initial walking route, it may encounter an obstacle, and thus cannot quickly reach the destination, affecting the efficiency of walking. The initial walking route is adjusted by the detected obstacle motion state and the distance of the obstacle relative to itself, and the adjusted walking route is obtained, so that the housekeeper robot can adjust the initial walking route according to the obstacle during the walking process, and During the walking according to the adjusted walking route, the obstacles around the obstacles, the motion state of the obstacles, and the distance of the obstacles relative to themselves are continuously detected according to the preset time interval, and then the walking route is continuously adjusted. Avoid obstacles throughout the walking process and complete the walking operation.

In step S235, the walking operation is continued according to the adjusted walking route.

Therefore, in the process of performing the walking operation by the housekeeper robot, the obstacles are automatically detected, thereby continuously optimizing the walking route, and the walking efficiency of the housekeeper robot is greatly improved.

A person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium. The storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

While the invention has been described with respect to the preferred embodiments the embodiments The present invention may be embodied in a variety of forms without departing from the spirit or scope of the invention. It is to be understood that the invention is not limited to the details of the invention. All changes and modifications that come within the scope of the claims or the equivalents thereof are intended to be covered by the appended claims.

Claims

A housekeeper robot, characterized in that it comprises:

Robot body

An identification module, which is installed in the robot body, and is configured to identify an input manipulation content generation control instruction;

a control module electrically connected to the identification module, and obtaining the control instruction by connecting with an electrical signal of the identification module;

a wireless communication module, which is electrically connected to the control module;

The control module performs wireless control of the associated home appliance according to the control command by connecting with an electrical signal of the wireless communication module.
The housekeeper robot according to claim 1, wherein the wireless communication module is further configured to receive the manipulation content transmitted by the terminal and generate a control instruction.
The housekeeper robot according to claim 1, wherein the manipulation content is gesture information, and the recognition module comprises an image recognition module;

The image recognition module is configured to identify the gesture information, and convert the gesture information into a control instruction.
The housekeeper robot according to claim 1, wherein the manipulation content is voice information, and the recognition module comprises a voice recognition module;

The voice recognition module is configured to collect voice information, and convert the voice information into a control command.
The housekeeper robot according to claim 1, wherein the control command comprises a walking command, and the robot further comprises a walking module electrically connected to the control module;

The control module controls the walking module to perform a walking operation according to the walking instruction.
The housekeeper robot according to claim 5, wherein the housekeeper robot further comprises a laser scanner and a memory;

The laser scanner is installed in the robot body for scanning a working environment to obtain map information;

The memory is electrically connected to the laser scanner for storing the map information;

Sending a signal to the home appliance device at different locations through the wireless communication module, and acquiring a positioning position of the housekeeper robot in the map information according to the signal strength;

The control module drives the walking module to perform a walking operation consistent with the walking instruction according to the map information and the positioning position.
The housekeeper robot according to claim 6, wherein the walking module comprises an obstacle detecting module and a driving module;

The obstacle detecting module is configured to detect a motion state of the obstacle and a distance of the obstacle relative to itself;

The control module formulates a walking route according to the map information, the positioning position, the motion state, the distance, and the walking instruction;

The driving module is configured to drive the housekeeper robot to walk according to the walking route under the control of the control module.
A control method for a housekeeper robot, characterized in that it comprises:

Obtain the control content input by the housekeeper robot itself;

Identifying the manipulation content generation control instruction;

Performing wireless control on the home appliance associated with the housekeeper robot according to the control command.
The method according to claim 8, wherein the manipulation content comprises any one or any combination of image information, voice information, gesture information, and manipulation content transmitted by the terminal.
The method according to claim 8, wherein the control instruction includes a walking instruction, and the method further comprises:

Obtaining map information of the working environment by scanning, and storing the map information;

Obtaining a positioning position of the housekeeper robot itself in the map information;

A walking operation is performed according to the map information, the positioning position, and the walking instruction.
The method according to claim 10, wherein the step of driving the housekeeper robot to walk according to the map information, the positioning position, and the walking instruction comprises:

Determining an initial walking route according to the map information, the positioning position, and the walking instruction;

Performing a walking operation according to the initial walking route;

Detecting a motion state of the peripheral obstacle and a distance of the obstacle relative to itself according to the preset time interval;

Adjusting the walking route according to the motion state and the distance, and obtaining the adjusted walking route;

The walking operation is continued according to the adjusted walking route.