CN100348381C - Housekeeping service robot - Google Patents

Abstract

The present invention discloses a multifunctional intelligent robot which can complete maid service work instead of persons. The present invention comprises a travelling device, a sensing device, a receiving device, a transmitting device, a control device, an acting device, a storage device, an interaction device, etc., wherein the sensing device transfers information sensed in familial inhabited environment to the control device; the control device orders the acting device to response, and carries out the work of theft-prevention monitoring, safety check, sanitation cleaning, article conveying, household appliance control, household entertaining, illness condition monitoring, children educating, timing waking, household statistics, etc.

Description

Household service robot

Technical field

The present invention relates to a kind of robot, particularly a kind ofly can in living circumstance, realize safety precaution and the intelligent household service robot that carries out household services.

Background technology

Along with social cause and development of economic construction, people's rhythm of life is accelerated, education child and treatment old man and the time that manages one's household are fewer and feweri, and household services practitioner's quality is uneven and the particularity of household services industry, many people are unwilling, and also worriedly own relatives and family's property and housework are transferred to other people take care of and manage.Therefore, the people who replaces having uncertain factor by household service robot finishes household services and just is being subjected to the whole society and pays close attention to more and more widely.

At present, some business-like service robots have been developed abroad, such as swimming pool cleaning robot, robot cleaner, the robot that hoes up weeds, transfer robot etc.They are function singleness often, and intelligent degree is low, can not replace the people to finish antitheft monitoring, safety inspection, sanitation and hygiene, tame electric control in the home environment, and home entertaining, patient's condition supervision, children education, gives the correct time and waken, pay wages services such as management.

Summary of the invention

The present invention has overcome deficiency of the prior art, and a kind of intelligent degree height is provided, and can replace the people to finish the household service robot of part household services.

In order to solve the problems of the technologies described above, household service robot of the present invention comprises:

The moving device that is used for moving is made of 2 DC servo motors, 2 reduction boxes, 2 driving wheels, 2 directive wheels, 1 DC servo motor drive circuit.Wherein, described 2 DC servo motors are connected with described control device by described direct current motor drive circuit, described 2 DC servo motor rotating shafts are connected with described 2 reduction boxes respectively, described 2 reduction boxes are connected with 2 driving wheels respectively, and described 2 directive wheels are installed in the positive front portion and the just rearward of household service robot base respectively independently;

Sensing device makes described household service robot can perceive one or multinomial following information in living circumstance: the people's face around photographing, identify voice signal, the obstacle around detecting, measure assigned address distance, detect room temperature, detect fire, detect inflammable gas, detect the time, detect and whether collide other article, identify direction, detect body temperature.

Actuating unit, it makes described household service robot can finish one or multinomial following work: antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene, home entertaining, patient's condition supervision, children education, give the correct time and waken, pay wages management;

Dispensing device, it makes described household service robot issue instructions to actuating unit by Digiplex, SMS module, internet wireless network interface card, and sends antitheft monitoring, safety inspection, patient's condition monitor message, announcement household outside;

Receiving system, it makes described household service robot can receive the signal that sends by Digiplex, SMS module, internet wireless network interface card, and gives control device;

Control device, it makes described household service robot carry out comprehensive analysis processing with the information that described sensing device perceives to the received signal, sends control instruction to actuating unit, makes it finish relevant work;

Interactive device, it makes described household service robot show self working state, and can with the mutual exchange of information of people;

Storage device, it makes described household service robot can store the image of sensing device perception, sound, data, and the various data messages of described other device generations;

Described sensing device, by the video camera that is used for photographic images, the infrared sensor that is used to detect barrier, the sonac that is used for measuring distance, the temperature sensor that is used to detect room temperature, the flame sensor that is used for detection of fires, the combustible gas sensor that is used to detect inflammable gas, the sound transducer that is used for speech recognition, the light sensor that wakens of being used to give the correct time, be used to detect the crash sensor that whether collides other article, be used to debate the digital compass of knowing direction, the human body pyroelectric sensor that is used for human body body temperature constitutes.Described video camera is connected with described video processing board-card.Described infrared sensor, sonac, temperature sensor, flame sensor, combustible gas sensor, sound transducer, light sensor, crash sensor, digital compass, human body pyroelectric sensor respectively with described data acquisition card connection.Described video processing board-card is connected with the PC mainboard respectively with data collecting card.

Described actuating unit is made of loudspeaker, dust catcher, five degree of freedom manipulator.Described loudspeaker are connected with control device, and described dust catcher is installed in described household service robot bottom, and are connected with control device.Described five degree of freedom manipulator is made of underframe, arm, elbow, paw, 5 DC servo motors.Described arm is installed on the household service robot underframe, and described 5 DC servo motors are installed on respectively on the arm, elbow, paw of manipulator, and is connected with described control device with described DC servo motor drive circuit.

Described home entertaining function is made of MP3 player and two little audio amplifiers, and described family electric control function is made of general-purpose colour TV remote controller and general-purpose air-conditioning remote control; Described patient's condition function for monitoring, children education function, give the correct time and waken function, family expenses statistics (statistics family receipts and expenditures, carry out the online payment expense) by finishing with the application program of VC++6.0 exploitation, they are installed in respectively in the described storage device function respectively.

Described receiving system is made of SMS module, internet wireless network interface card, touch screen, LCD, and they are connected with the PC mainboard respectively.

Described dispensing device is made of Digiplex, SMS module, internet wireless network interface card, and the signal that sends is received by receiving system, and gives control device.

Described control device is to be made of integrated 1 PC mainboard of CPU, on-chip memory, timer system, serial port, AD/DA, I/O interface, interruption and resetting system, 1 blocks of data capture card, 1 video processing board-card.Described data collecting card is a kind of based on 32 pci data bus structures, can carry out the circuit board of transfer of data and signals collecting well, it comprises driver and design tool, and driver is also supported the dynamic link libraries of VC++6.0, Win98/2000 and Win NT4.0.

Described touch screen, LCD, keypad are installed in the surface of household service robot respectively, and are connected with control device with the PC mainboard.

Described household service robot adopts chemical cell to drive, and chemical cell is connected with the PC mainboard.

The operating procedure of household service robot of the present invention is:

(1) perceptual signal collection is sent command signal by Digiplex, SMS module, internet wireless network interface card, keypad, and receiving system receives instruction, and gives sensing device;

(2) perceptual signal transmission, sensing device is converted into binary data with the signal that perceives by described data collecting card, is transferred to the PC mainboard;

(3) control signal is handled, and the PC mainboard carries out analyzing and processing to command signal of sending and the signal that perceives, and sends control instruction to actuating unit;

(4) instruction is carried out, and actuating unit receives control instruction, carries out antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene operation; Dispensing device sends to household to outside with execution result, alarm signal, working condition by SMS module, internet wireless network interface card.

Compared with prior art, advantage of the present invention is intelligent degree height, and is powerful, can replace the people to finish part household services work.

Description of drawings

Fig. 1 is the operation principle schematic diagram of household service robot of the present invention;

Fig. 2 is the internal structure schematic diagram of household service robot of the present invention;

Fig. 3 is the software function module figure of household service robot of the present invention;

Fig. 4 is the manipulator fundamental diagram of household service robot of the present invention;

Fig. 5 is the intelligent security guard workflow of household service robot of the present invention;

Fig. 6 is the household services major function figure of household service robot of the present invention.

The specific embodiment

Below in conjunction with the accompanying drawing and the specific embodiment household service robot of the present invention is done to describe in further detail:

As seen from Figure 1, household service robot can be controlled by Digiplex, SMS module, internet wireless network interface card, keypad.Two driving wheels and two directive wheels are equipped with in its chassis.Wireless camera identification people's face and environment, infrared sensor are housed respectively on its outer surface to be detected obstacle, sonac measuring distance, temperature sensor and detects room temperature, flame sensor warning fire, combustible gas sensor and detect that inflammable gas, sound transducer identification voice, light sensor waken and give the correct time, crash sensor is avoided obstacle, compass is debated the knowledge direction.By its internet wireless network interface card that is equipped with on one's body, keypad, touch screen, LCD, MP3 and two little audio amplifiers, and general-purpose colour TV remote controller and general-purpose refrigerator remote controller can also be realized home entertaining, tame electric control, patient's condition supervision, children education, online payment respectively.In addition, can finish article carrying and sanitation and hygiene and voice suggestion work respectively by being contained in five degree of freedom manipulator on its underframe and dust catcher and loudspeaker.

As seen from Figure 2, the described PC mainboard small-sized mainboard of YAI845GL*01, the CPU that adopt Acer to produce be four 1.7G of Celeron, display chip support AGP4X, in save as 256MB HY128DDR, external memory adopts IBM 10G portable hard drive.Described data collecting card is selected to grind the PCI-64AD card that auspicious company produces, and it is 32 pci bus, has 64 single-ended or 32 road both-end analog input channels, 12 Precision A conversions, 16 digital input channels, 16 digital output channels.Described video camera is selected the XC18A wireless camera for use, and described video processing board-card is the VR36A video receiver.Described internet wireless network interface card is selected LanReady company's T WL-1500GW wireless aps and TWL-12-USB wireless network card for use.In addition, described infrared sensor, sonac, temperature sensor, flame sensor, combustible gas sensor, sound transducer, light sensor, crash sensor, digital compass, human body pyroelectric sensor also are the sensing devices of household service robot of the present invention, be installed on the surface of described household service robot respectively, and with described PC mainboard and described data acquisition card connection.

Fig. 3 has provided 30 functions of household service robot software, antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene have been comprised, and the patient's condition monitors that whole softwares such as the electronic game, home entertaining (MP3 broadcasts), spending management of (informing that expert's state of an illness, expert inquire the state of an illness), children education (typewriting study, learning word, text are read aloud mathematical computations), various health all develop with VC++6.0.

As seen from Figure 4, the five degree of freedom manipulator is the actuating unit of household service robot of the present invention.The five degree of freedom manipulator is installed on the household service robot underframe, and it is made of underframe, arm, elbow, paw, DC servo motor.Described arm is installed on the underframe, and arm is connected with paw by elbow, and 5 DC servo motors are installed on respectively on the arm, elbow, paw of manipulator, and is connected with control device.In addition, dust catcher also is installed in below the described household service robot underframe, and with PC mainboard and data acquisition card connection.Loudspeaker are installed in the surface of described household service robot, and are connected with the PC mainboard.

Internet wireless network interface card, Digiplex, SMS module are the receiving systems of household service robot of the present invention, are connected with the PC mainboard respectively.Wherein keypad, internet wireless network interface card, SMS module constitute the dispensing device of household service robot of the present invention.

Display is selected touch screen and LCD for use, is installed in household service robot of the present invention surface, and is connected with the PC mainboard.

Battery is connected with the PC mainboard, selects the rechargeable type Ni-MH battery for use.

Workflow as shown in Figure 5 for intelligent security guard (antitheft monitoring and safety inspection).When trigger event takes place when, the triggering signal slave flipflop sends through after the encoder encodes and delivers to PC mainboard port with the binary data form, the PC mainboard obtains event code by program and analyzes and discern, and then start corresponding actuation of an alarm (different trigger events has different processing modes) according to program setting, time, the title of record trigger event and touch alert action in log sheet with usefulness for future reference.

Except above-mentioned intelligent security guard function, the household services function also has important application prospects.Because at present people's work pressure and working time increase constantly, will become a very urgent problem to old man, child, patient's treatment, the service function that household service robot provided then can be alleviated above situation well.The service that household service robot provided mainly contains home entertaining, patient's condition supervision, children education, gives the correct time and waken, pay wages functions such as management, sees shown in Figure 6.

Claims (4)

1, a kind of household service robot comprises moving device, sensing device, actuating unit, dispensing device, receiving system, control device, interactive device and storage device, it is characterized in that:

Described moving device is made of 2 DC servo motors, 2 reduction boxes, 2 driving wheels, 2 directive wheels, 1 DC servo motor drive circuit; Wherein, described 2 DC servo motors are connected with described control device by described DC servo motor drive circuit, described 2 DC servo motor rotating shafts are connected with described 2 reduction boxes respectively, described 2 reduction boxes are connected with 2 driving wheels respectively, and described 2 directive wheels are installed in the positive front portion and the just rearward of household service robot base respectively independently;

Described sensing device, by the video camera that is used for photographic images, be used to detect the infrared sensor of barrier, the sonac that is used for measuring distance, be used to detect the temperature sensor of room temperature, the flame sensor that is used for detection of fires, be used to detect the combustible gas sensor of inflammable gas, the sound transducer that is used for speech recognition, the light sensor that is used to give the correct time and wakens, be used to detect the crash sensor that whether collides other article, be used to debate the digital compass of knowing direction, the human body pyroelectric sensor that is used for human body body temperature constitutes, described video camera is connected with described video processing board-card, described infrared sensor, sonac, temperature sensor, flame sensor, combustible gas sensor, sound transducer, light sensor, crash sensor, digital compass, the human body pyroelectric sensor respectively with described data acquisition card connection, described video processing board-card is connected with the PC mainboard respectively with data collecting card; Described sensing device perceives one or multinomial following information in living circumstance: the people's face around photographing, identify one's voice in speech, the obstacle around detecting, measure assigned address distance, detect indoor temperature, detect fire, detect inflammable gas, detect the time, detect and whether collide other article, detect body temperature, identify direction;

Described actuating unit, constitute by loudspeaker, dust catcher, five degree of freedom manipulator, described loudspeaker are connected with control device, described dust catcher is installed in described household service robot bottom, and be connected with control device, described five degree of freedom manipulator is made of underframe, arm, elbow, paw, 5 DC servo motors, described arm is installed on the household service robot underframe, described 5 DC servo motors are installed on respectively on the arm, elbow, paw of manipulator, and are connected with described control device with described DC servo motor drive circuit; Described actuating unit is finished one or multinomial following work: antitheft monitoring, safety inspection, article carrying, tame electric control, sanitation and hygiene, home entertaining, patient's condition supervision, children education, give the correct time and waken, pay wages management;

Described dispensing device is made of Digiplex, SMS module, internet wireless network interface card, and the signal that sends is received by receiving system, and gives control device; Described dispensing device issues instructions to actuating unit by Digiplex, SMS module, internet or wireless network card, and sends antitheft monitoring, safety inspection, patient's condition monitor message, notice household outside;

Described receiving system is made of SMS module, internet wireless network interface card, touch-screen, LCD, and they are connected with the PC mainboard respectively; Described receiving system receives the signal that sends by Digiplex, SMS module, internet or wireless network card, and gives control device;

Described control device is made of integrated 1 PC mainboard of CPU, on-chip memory, timer system, serial port, AD/DA, I/O interface, interruption and resetting system, 1 blocks of data capture card, 1 video processing board-card; The information that perceives with described sensing device is carried out comprehensive analysis processing to the received signal, sends the described actuating unit of instruction control and finishes corresponding work;

Described interactive device exchanges mutually with the user, and shows the duty of described household service robot by touch-screen, LCD, keypad;

Described storage device is stored the harddisk memory of the information and the related data that described other devices produce of described sensing device perception.

2, according to the described household service robot of claim 1, it is characterized in that in the control device, described data collecting card is a kind of based on 32 pci data bus structures, carry out the circuit board of transfer of data and signals collecting, it comprises driver and design tool, and driver is also supported the dynamic link libraries of VC++6.0, Win98/2000 and Win NT 4.0.

3,, it is characterized in that described touch-screen, LCD, keypad are installed in the surface of household service robot respectively, and be connected with the PC mainboard according to the described household service robot of claim 1.

4, according to the described household service robot of claim 1, it is characterized in that adopting chemical cell to drive, chemical cell is connected with the PC mainboard.

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