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

Housekeeping robot

technical field

The invention relates to a robot, in particular to an intelligent housekeeping service robot capable of realizing safety precautions and performing housekeeping services in a family living environment.

Background technique

With the development of social undertakings and economic construction, people's pace of life is accelerating, and there is less and less time for educating children, taking care of the elderly, and dealing with housework. People are not willing and do not feel at ease to entrust their relatives, family property and housework to others to take care of and manage them. Therefore, the replacement of people with uncertain factors by domestic service robots to complete housekeeping services is receiving more and more attention from the whole society.

At present, some commercial service robots have been developed abroad, such as swimming pool cleaning robots, robot vacuum cleaners, weeding robots, and handling robots. They often have a single function and a low degree of intelligence, and cannot replace people in the home environment for anti-theft monitoring, safety inspection, sanitation, home appliance control, as well as home entertainment, disease monitoring, children's education, timekeeping wake-up call, expenditure management and other services.

Contents of the invention

The invention overcomes the deficiencies in the prior art, and provides a housekeeping service robot with a high degree of intelligence, which can replace human beings to complete part of housekeeping services.

In order to solve the above technical problems, the domestic service robot of the present invention includes:

The traveling device used for moving is composed of 2 DC servo motors, 2 reduction boxes, 2 driving wheels, 2 guide wheels, and 1 DC servo motor drive circuit. Wherein, the two DC servo motors are connected to the control device through the DC motor driving circuit, the shafts of the two DC servo motors are respectively connected to the two reduction boxes, and the two reduction boxes are respectively It is connected with two driving wheels, and the two guide wheels are independently installed on the front and back of the base of the housekeeping service robot;

Perception device, enabling the housekeeping service robot to perceive one or more of the following information in the home living environment: photographing surrounding faces, recognizing voice signals, detecting surrounding obstacles, and measuring the distance to a designated location , Detect room temperature, detect fire, detect flammable gas, detect time, detect whether it collides with other objects, identify direction, and detect human body temperature.

Executing device, which enables the housekeeping service robot to complete one or more of the following tasks: anti-theft monitoring, security inspection, item handling, home appliance control, cleaning, family entertainment, disease monitoring, children's education, time alarm and wake-up call, expense management ;

Sending device, which enables the housekeeping service robot to send instructions to the execution device through the wireless remote control, mobile phone SMS module, and Internet wireless network card, and send anti-theft monitoring, safety inspection, and disease monitoring information to notify family members outside;

A receiving device, which enables the housekeeping service robot to receive the signals sent by the wireless remote controller, the SMS module of the mobile phone, and the wireless network card of the Internet, and send them to the control device;

A control device, which enables the housekeeping service robot to conduct comprehensive analysis and processing on the received signal and the information sensed by the sensing device, and send control instructions to the execution device to complete the corresponding work;

An interactive device, which enables the domestic service robot to display its own working status and exchange information with people;

A storage device, which enables the domestic service robot to store images, sounds, data sensed by the sensing device, and various data information generated by the other devices;

The perception device consists of a camera for taking pictures, an infrared sensor for detecting obstacles, an ultrasonic sensor for measuring distance, a temperature sensor for detecting room temperature, a flame sensor for detecting fire, and a sensor for detecting easy Combustible gas sensor for gas, sound sensor for voice recognition, photosensitive sensor for timekeeping and wake-up, collision sensor for detecting whether it collides with other objects, digital compass for identifying direction, and detection of human body temperature The human body pyrolysis sensor constitutes. The camera is connected to the image processing card. The infrared sensor, ultrasonic sensor, temperature sensor, flame sensor, combustible gas sensor, sound sensor, photosensitive sensor, collision sensor, digital compass, human body pyrolysis sensor are respectively connected with the data acquisition card. The image processing card and the data acquisition card are respectively connected with the main board of the PC.

The execution device is composed of a horn, a vacuum cleaner, and a five-degree-of-freedom manipulator. The horn is connected with the control device, and the vacuum cleaner is installed at the bottom of the housekeeping service robot and connected with the control device. The five-degree-of-freedom manipulator consists of a chassis, an arm, an elbow, a claw, and five DC servo motors. The arm is installed on the chassis of the domestic service robot, and the five DC servo motors are respectively installed on the arm, elbow, and claw of the manipulator, and are connected with the DC servo motor drive circuit and the control device.

The home entertainment function is composed of an MP3 player and two small speakers; the home appliance control function is composed of a universal color TV remote controller and a universal air conditioner remote controller; The functions of household statistics (statistics of family income and expenditure, and online payment) are completed by application programs developed with VC++6.0, and they are respectively installed in the storage device.

The receiving device is composed of a mobile phone short message module, an Internet wireless network card, a touch screen, and a liquid crystal display, which are respectively connected with the main board of the PC.

The sending device is composed of a wireless remote controller, a mobile phone short message module, and an Internet wireless network card, and the signal sent is received by the receiving device and sent to the control device.

The control device is composed of a PC mainboard, a data acquisition card, and a Image processing card composition. Described data acquisition card is a kind of circuit board that can carry out data transmission and signal acquisition well based on 32-bit PCI data bus structure, and it comprises driver program and design tool, and driver program also supports VC++6.0, Win98/2000 And the dynamic link library of Win NT4.0.

The touch screen, liquid crystal display and small keyboard are respectively installed on the surface of the domestic service robot, and are connected with the main board of the PC and the control device.

The housekeeping service robot is driven by a chemical battery, and the chemical battery is connected to the main board of the PC.

The operating steps of the domestic service robot of the present invention are:

(1) Sensing signal acquisition, the wireless remote controller, mobile phone SMS module, Internet wireless network card, and small keyboard send command signals, and the receiving device receives the command and sends it to the sensing device;

(2) perception signal transmission, the perception device converts the perceived signal into binary data by the data acquisition card, and transmits it to the PC main board;

(3) Control signal processing, the PC main board analyzes and processes the sent command signal and the sensed signal, and sends the control command to the execution device;

(4) Command execution, the execution device receives the control command, and executes anti-theft monitoring, safety inspection, item handling, home appliance control, cleaning and sanitation operations; the sending device sends the execution results, alarm signals, and working conditions through the mobile phone SMS module and the Internet wireless network card to family members away from home.

Compared with the prior art, the invention has the advantages of high intelligence and powerful functions, and can replace people to complete part of housekeeping services.

Description of drawings

Fig. 1 is a schematic diagram of the working principle of the domestic service robot of the present invention;

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

Fig. 3 is a software function block diagram of the domestic service robot of the present invention;

Fig. 4 is the working principle diagram of the manipulator of the domestic service robot of the present invention;

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

Fig. 6 is a main functional diagram of the housekeeping service of the housekeeping service robot of the present invention.

Detailed ways

The housekeeping service robot of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments:

It can be seen from Figure 1 that the domestic service robot can be controlled by a wireless remote control, a mobile phone SMS module, an Internet wireless network card, and a small keyboard. Its chassis is equipped with two drive wheels and two guide wheels. Its external surface is equipped with wireless cameras to recognize faces and environments, infrared sensors to detect obstacles, ultrasonic sensors to measure distances, temperature sensors to detect room temperature, flame sensors to alarm fires, flammable gas sensors to detect flammable gases, sound sensors to recognize voices, and photosensitive The sensor wakes up the time, the collision sensor avoids obstacles, and the compass recognizes the direction. Through the Internet wireless network card, small keyboard, touch screen, liquid crystal display, MP3 and two small speakers, as well as the universal color TV remote control and universal refrigerator remote control, it can also realize home entertainment, home appliance control, and medical condition respectively. Surveillance, education of children, online payments. In addition, the five-degree-of-freedom manipulator, the vacuum cleaner and the loudspeaker installed on the chassis can respectively complete the work of object handling, cleaning and voice prompting.

It can be seen from Fig. 2 that the main board of the PC adopts YAI845GL*01 small main board produced by Acer, the CPU is Celeron 4 1.7G, the display chip supports AGP4X, the internal memory is 256MB HY128DDR, and the external memory adopts IBM 10G mobile hard disk. The data acquisition card selects the PCI-64AD card produced by EVOC, which is a 32-bit PCI bus with 64 single-ended or 32 double-ended analog input channels, 12-bit precision AD conversion, 16 digital input channels, and 16 digital outputs aisle. The camera is an XC18A wireless camera, and the image processing card is a VR36A video receiver. The Internet wireless network card selects TWL-1500GW wireless AP and TWL-12-USB wireless network card of LanReady Company. In addition, the infrared sensor, ultrasonic sensor, temperature sensor, flame sensor, combustible gas sensor, sound sensor, photosensitive sensor, collision sensor, digital compass, and human body pyrolysis sensor are also sensing devices of the domestic service robot of the present invention, which are respectively installed in The surface of the housekeeping service robot is connected with the main board of the PC and the data acquisition card.

Figure 3 shows the 30 functions of the housekeeping service robot software, including anti-theft monitoring, safety inspection, item handling, home appliance control, cleaning and sanitation, as well as disease monitoring (notifying experts of illnesses, experts inquiring about illnesses), children's education (typing learning, Word learning, text reading aloud, mathematical calculation), various healthy electronic games, home entertainment (MP3 player), expenditure management and other software are all developed with VC++6.0.

It can be seen from FIG. 4 that the five-degree-of-freedom manipulator is the execution device of the domestic service robot of the present invention. The five-degree-of-freedom manipulator is installed on the chassis of the domestic service robot, which consists of a chassis, arms, elbows, claws, and DC servo motors. Described arm is installed on the base frame, and arm is connected with claw by elbow, and 5 DC servo motors are installed on the arm, elbow, claw of manipulator respectively, and are connected with control device. In addition, the vacuum cleaner is also installed under the chassis of the domestic service robot, and is connected with the main board of the PC and the data acquisition card. The loudspeaker is installed on the surface of the domestic service robot and connected with the main board of the PC.

The internet wireless network card, the wireless remote controller and the short message module of the mobile phone are the receiving devices of the housekeeping service robot of the present invention, which are respectively connected with the main board of the PC. Wherein the small keyboard, the Internet wireless network card, and the mobile phone short message module constitute the sending device of the domestic service robot of the present invention.

The display selects a touch screen and a liquid crystal display, is installed on the surface of the domestic service robot of the present invention, and is connected with the main board of the PC.

The battery is connected to the main board of the PC, and a rechargeable Ni-MH battery is used.

The workflow of intelligent security (anti-theft monitoring and security inspection) is shown in Figure 5. When a trigger event occurs, the trigger signal is sent from the trigger and sent to the main board port of the PC in the form of binary data after being encoded by the encoder. The main board of the PC obtains the event code through the program, analyzes and recognizes it, and then starts the corresponding event according to the program setting. Alarm action (different trigger events have different processing methods), record the time, name and alarm action of the trigger event in the log table for reference.

In addition to the above-mentioned intelligent security functions, housekeeping service functions also have important application prospects. Because people's work pressure and working hours continue to increase at present, the care of the elderly, children, and patients will become a very urgent problem, and the service functions provided by domestic service robots can well alleviate the above situation. The services provided by the domestic service robot mainly include family entertainment, disease monitoring, children's education, time alarm and wake-up call, expenditure management and other functions, as 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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