CN110164439A - Intellect service robot - Google Patents

Abstract

The invention discloses a kind of intellect service robots, including fuselage, mechanical arm and wheel chassis；Control module, AR remote assistance module, speech recognition module, visual identity module, detection module and wireless module are provided in fuselage, the brain that control module is equivalent to people can send work order coordinated for modules, by the cooperative cooperating between each module, it can be realized flexibly movement, carry sort articles, voice dialogue and environment and face identification functions.So that intellect service robot of the invention can be applied to a variety of living scenes and provide existing manual service, enable people's lives closer to intelligence.

Description

Intelligent Service Robot

technical field

The present invention relates to the technical field of robots, and more specifically relates to an intelligent service robot.

Background technique

At present, with the progress and development of society, intelligent management services are becoming more and more common, and mechanical operations are more and more widely used. With the development of industry, robots are used to help people achieve dangerous operations and tasks. However, these robots are mainly used in Working in a structured environment can only work in a specific mode. However, with the development of technology and the needs of human's daily life, robots are faced with a series of challenges such as unstructured and complex problems. Therefore, in order for the robot to simulate a certain home environment and serve people in daily life, it should have certain human-computer interaction capabilities, be able to intelligently recognize objects according to voice commands, and then perform autonomous positioning and navigation, and be able to Avoid obstacles in the environment, and then grab the specified items and hand them over to the specified person, realizing the replacement of some manual services in daily life.

Therefore, how to expand the service scope and increase the service function of the intelligent robot is an urgent problem to be solved by those skilled in the art.

Contents of the invention

In view of this, the present invention provides an intelligent service robot, including a fuselage, a mechanical arm and a wheel chassis; the fuselage is provided with a control module, an AR remote assistance module, a voice recognition module, a visual recognition module, a detection module and a wireless module , the control module is equivalent to the human brain and can send work instructions for the cooperation of each module. Through the cooperation between the modules, it can realize flexible movement, handling and sorting objects, voice dialogue, and environment and face recognition functions. The intelligent service robot of the present invention can be applied to various life scenes to provide existing artificial services, making people's lives closer to intelligence.

In order to achieve the above object, the present invention adopts the following technical solutions:

An intelligent service robot, comprising: a body, a mechanical arm and a bottom wheel motion module;

The upper part of the fuselage is provided with a touch display screen; the fuselage is provided with a control module, an AR remote assistance module, a speech recognition module, a visual recognition module, a detection module, and a wireless communication module; the AR remote assistance module is connected to the The visual recognition module is electrically connected; the AR remote assistance module, the voice recognition module, the detection module, the wireless communication module and the touch display are all electrically connected to the control module;

The mechanical arm is installed on both symmetrical sides of the fuselage; the mechanical arm is electrically connected to the control module;

The bottom wheel movement module is installed on the bottom of the fuselage; the bottom wheel movement module includes a wheel, a following module and a cleaning module; the following module and the cleaning module are electrically connected to the control module; the wheels pass through The wheel motors are electrically connected to the control module.

Preferably, the voice recognition module includes a microphone and a sound box; the microphone collects voice information, converts it into character strings and characters, and outputs it in text format; the sound box receives instructions from the control module, plays voice information, and passes the The voice recognition module can perform voice control on the robot to realize voice dialogue with people; it can record the content of the meeting, automatically convert the content of the meeting into text form and send the text through the wireless communication module; send and play it through the control module Send instructions to speakers, play music, etc.

Preferably, the visual recognition module includes a camera, collects surrounding environment information and face information and performs path planning and identity verification, and sends the path planning and the identity verification results to the touch display screen for display; the camera Shoot and collect the surrounding environment information, send the shooting results and filter and send or display the screening results according to the user's requirements; automatically plan the travel route according to the surrounding environment information to deliver books and meals and other services; collect face information and stored identity authentication information Make a comparison, confirm the identity of the authenticator and complete the corresponding operation according to his authority setting.

Preferably, the detection module includes an air detection device to measure air dry humidity and gas composition, determine toxic gas content and air quality level, and issue dry humidity reminder and indoor air quality safety warning in time.

Preferably, the touch display screen includes a fingerprint identification module, which stores fingerprint information and performs fingerprint verification to confirm whether the verification personnel have the authority to retrieve the information stored by the robot.

Preferably, the manipulator is a scalable high-precision manipulator, the manipulator has 6+1 degrees of freedom, and reaches the movement position through the forward solution and inverse solution algorithms; the manipulator combines the visual recognition module to perform target Positioning and distance calculation, and then use the algorithm to realize the positioning, picking and sorting of items.

Preferably, the cleaning module includes a vacuum cleaner, the control module controls the motor of the vacuum cleaner and controls the movement of the robot to achieve comprehensive dust collection; the following module includes a UWB base station; the moving target wears a UWB tag, The UWB base station realizes the positioning of the moving object, and sends the position information to the control module, and the control module sends a following instruction to control the wheel motor to realize the following of the moving object.

Preferably, the robot has a semi-automatic mode and a fully automatic mode; in the fully automatic mode, the user selects the working scene of the robot, and the robot matches the corresponding service items and performs autonomous services; in the semi-automatic mode, the user The robot service item is selected, and the robot executes the service item.

Preferably, the robot communicates with a mobile terminal through the wireless communication module, and the mobile terminal controls the robot through an APP.

Preferably, the AR remote assistance module displays the processed image collected by the visual recognition module to the remote assistance personnel in a near-eye manner.

It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses an intelligent service robot that integrates various functional modules, including a body, a mechanical arm and a bottom wheel movement module. A functional module that can realize voice dialogue, facial recognition authentication, fingerprint recognition verification, item sorting, indoor air detection, follow-up and wireless communication, and can control the robot to complete various service items through voice or the APP installed on the mobile terminal, realizing the robot's Multi-scenario and multi-functional services.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 accompanying drawing is the external structure schematic diagram of intelligent service robot provided by the present invention;

Figure 2 is a schematic diagram of the internal module structure of the robot provided by the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The embodiment of the present invention discloses an intelligent service robot, including: a body 1, a mechanical arm 2 and a bottom wheel movement module 3;

The upper part of the fuselage 1 is provided with a touch screen 11; the fuselage 1 is provided with a control module, an AR remote assistance module, a speech recognition module, a visual recognition module 12, a detection module 13, and a wireless communication module; the AR remote assistance module and the visual recognition module 12 electrical connection; AR remote assistance module, voice recognition module, detection module 13, wireless communication module and touch screen 11 are all electrically connected to the control module;

The mechanical arm 2 is installed on the symmetrical sides of the fuselage 1; the mechanical arm 2 is electrically connected to the control module;

The bottom wheel movement module 3 is installed on the bottom of the fuselage 1; the bottom wheel movement module 3 includes a wheel 31, a following module and a cleaning module; the following module and the cleaning module are electrically connected to the control module; the wheels 31 are electrically connected to the control module through a wheel motor.

In order to further optimize the above-mentioned technical scheme, the voice recognition module includes a microphone 141 and a sound box 142; the microphone 141 collects voice information, and converts it into character strings and text, and outputs it in text format; The module can perform voice control on the robot to realize voice conversations with people; it can record the content of the meeting, automatically convert the content of the meeting into text form and send the text through the wireless communication module; send the playback instruction to the speaker 142 through the control module, and play music etc.

In order to further optimize the above-mentioned technical solution, the visual recognition module 12 includes a camera, collects surrounding environment information and face information and performs path planning and identity verification, and sends the path planning and identity verification results to the touch display screen 11 for display; Surrounding environment information, send shooting results and filter and send or display screening results according to user requirements; automatically plan travel routes based on surrounding environment information to deliver books and meals and other services; collect face information and store identity authentication information for comparison, Confirm the identity of the authenticator and complete the corresponding operations according to their authority settings.

In order to further optimize the above-mentioned technical solution, the detection module 13 includes an air detection device to measure air dry humidity and gas composition, determine the toxic gas content and air quality level, issue dry humidity reminders and indoor air quality safety warnings in time, and display the judgment results on On the touch screen 11, reminders and early warning signals are sent to the mobile terminal through the wireless communication module.

In order to further optimize the above technical solution, the touch display screen 11 includes a fingerprint identification module, which stores fingerprint information and performs fingerprint verification to confirm whether the verification personnel have the authority to retrieve the information stored by the robot.

In order to further optimize the above-mentioned technical solution, the robotic arm 2 is a scalable high-precision robotic arm, and the robotic arm 2 has 6+1 degrees of freedom, and reaches the movement position through the forward solution and inverse solution algorithms; the robotic arm 2 combines the visual recognition module 12 to perform target Positioning and distance calculation, and then use the algorithm to realize the positioning, picking and sorting of items.

In order to further optimize the above technical solution, the cleaning module includes a vacuum cleaner, and the control module controls the motor of the vacuum cleaner and controls the movement of the robot to achieve comprehensive dust collection; the following module includes a UWB base station; the moving target wears a UWB tag, and the UWB base station realizes the positioning of the moving target , and send the position information to the control module, and the control module sends a following command to control the wheel motors to follow the moving target.

In order to further optimize the above technical solution, the robot has a semi-automatic mode and a fully automatic mode; in the fully automatic mode, the user selects the working scene of the robot, and the robot matches the corresponding service items and performs autonomous services; in the semi-automatic mode, the user selects the robot service item, The robot performs this service item.

In order to further optimize the above technical solution, the robot communicates with the mobile terminal through the wireless communication module, and the mobile terminal controls the robot through the APP.

In order to further optimize the above technical solution, the AR remote assistance module displays the images collected by the visual recognition module to the remote assistance personnel in a near-eye manner through processing and visualization.

In order to further optimize the above-mentioned technical solution, a robot mode or a service option is selected through the touch screen 11 .

In order to further optimize the above-mentioned technical solution, the speech recognition module selects the hidden Markov model and extracts the feature parameters of Mel cepstral coefficients for training, and recognizes the collected speech. The specific steps are:

S1: acquiring a voice signal through the microphone 141;

S2: Preprocessing of voice signals, mainly including framing and windowing;

S3: Extract features with Mel cepstral coefficients;

S4: Statistical calculation with HMM model;

S5: Express the recognition result in text form.

In order to further optimize the above technical solution, the robotic arm 2 grabs the target object, which mainly includes the following steps:

S1: The visual recognition module 12 obtains the three-dimensional coordinate information of the target object through features such as the color, shape, and texture of the target object;

S2: Obtain the coordinate value of the target object relative to the robot arm 2 after coordinate transformation;

S3: Calculate the inverse kinematics solution of the 6+1 degrees of freedom robotic arm 2, obtain the angles of each joint of the robotic arm 2, and grasp the target object according to a specific trajectory.

In order to further optimize the above technical solution, for face recognition authentication, the PCA method is mainly used, and the main steps are as follows:

S1: Establish a training library for the face images of people with permission, and the face images in the library must meet the requirements for identifying specific people;

S2: Calculate the eigenface vector and its eigenface space, put the collected face sample picture to be identified and authenticated into the eigenface space, and calculate its coordinate coefficient;

S3: Compare the differences between the samples to be recognized and the coordinate coefficients in the training library, calculate the Euclidean distance between the faces of the samples to be recognized and the faces in the training set, and obtain the recognition result.

In order to further optimize the above technical solution, the visual recognition module 12 transmits the collected environmental information to the AR device, and reproduces the 3D scene on the AR device, and can also send control commands to the control module through the AR device, and the control module controls each module to cooperate , to complete the control command together.

In order to further optimize the above-mentioned technical solution, the detection module 13 uses an air quality sensor to monitor the safety of indoor air quality. A constant light source (such as an infrared light emitting diode) is provided inside the sensor. When the air passes through the light, the particles in it will scatter it. Attenuation of light intensity is caused, and its relative attenuation rate is proportional to the concentration of particles. A light detector (such as a phototransistor) is provided on the other side diagonally to the light source, which can detect the light reflected by the particles, and according to The reflected light intensity outputs a PWM signal (pulse width modulation signal) to determine the concentration of particulate matter. For particulate matter of different particle sizes (such as PM10 and PM2.5), it can output multiple different signals to distinguish them. Therefore, the concentration and size of particulate matter in the air can be judged by the obtained attenuation rate and PWM signal, thereby judging the air quality.

In order to further optimize the above technical solution, the detection module 13 uses a gas chromatograph to detect indoor air quality.

In order to further optimize the above technical solution, the bottom wheel movement module 3 is provided with a charging interface 4 .

Example

The working scenarios of robots include homes, libraries, archives, unmanned supermarkets, hotels, offices and canteens, etc. Home use intelligent service robot, the robot has the functions of picking and delivering, automatic tidying, automatic cleaning, follow-up and pet entertainment, through voice control or mobile terminal control, using the flexible picking function of the robotic arm and the remote guidance of the AR remote assistance module The planning function and the visual recognition module identify items, plan the path, and realize the robot's pick-up and delivery; use the mechanical arm and visual recognition function to realize the function of placing and sorting objects; use the vacuum cleaner of the cleaning module to realize the indoor cleaning function, and pass the inspection. The module reminds and alarms the indoor air quality to improve the indoor air quality in time; uses the following module to realize the robot's following movement of people; uses the voice recognition module and the mechanical arm to realize music playback and simple dancing.

The intelligent service robot works in the library. It has the functions of organizing bookshelves, cleaning regularly, AR assisting readers in selecting and picking up books, and helping readers find seats. AR assists readers in selecting and picking up books: Readers use the mobile terminal APP to control the intelligent service robot, obtain the environmental information it collects, display the environmental information near the eyes, select and select the book they want to read, and the intelligent service robot locates the target book plan Take the book along the route and deliver it to the reader's location; help readers find a seat: use the visual recognition module to collect location information, filter whether there is any vacancy, and display the vacancy on the touch screen or send it to the mobile terminal through the wireless communication module.

The intelligent service robot works in the archives, and has the functions of organizing archives, AR assisting in finding and taking files, and detecting the authority of archivists in the field. Authorization of archivists in the detection field: use the visual recognition module to collect face information and compare it with the stored portrait information of corresponding authority for authentication. If the authentication is qualified, the corresponding authority will be retrieved and displayed on the touch screen. The intelligent service robot will Follow the control instructions.

Intelligent service robots work in unmanned supermarkets, and have the functions of automatic replenishment, regular cleaning, goods sorting, and timely delivery. Automatic replenishment: Use the visual recognition module to collect environmental information, screen the vacant positions and determine the information of the goods in the vacant positions, and pick up the corresponding goods and place them in the vacant positions to realize automatic replenishment.

The intelligent service robot works in the hotel and has the functions of making beds and cleaning rooms.

The intelligent service robot works in the office and has the functions of distributing sent documents, recording meeting contents, following along, faxing and generating schedule reminders. Follow along: Install two UWB base stations side by side on the front side and one UWB base station in the middle of the back on the bottom wheel movement module. The three are at the same level as the signal receiving end and are distributed in an equilateral triangle. The three UWB base stations receive signals at the same time. The wireless signal sent by the UWB tag worn by the human body, at the same time, the two UWB base stations on the left and right transmit the distance data to the middle UWB base station. Through the installation distance between the three UWB base stations and the distance data from the UWB tag, the trilateration positioning algorithm is used. Determine the angle and distance to realize autonomous follow-up.

The intelligent service robot works in the canteen and has the functions of automatic table arrangement, automatic food delivery and post-meal cleaning. Automatic table arrangement: Collect environmental information through the visual recognition module, scan and filter the free location information, match the free location according to the number of diners, and display it on the touch screen to realize automatic table arrangement.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. An intelligent service robot, characterized in that, comprising: a body (1), a mechanical arm (2) and a bottom wheel motion module (3); The upper part of the fuselage (1) is provided with a touch display screen (11); the fuselage (1) is provided with a control module, an AR remote assistance module, a voice recognition module, a visual recognition module (12), a detection module (13 ), a wireless communication module; the AR remote assistance module is electrically connected to the visual recognition module (12); the AR remote assistance module, the voice recognition module, the detection module (13), the wireless communication module and the touch display screen (11) are electrically connected to the control module; The mechanical arm (2) is installed on both symmetrical sides of the fuselage (1); the mechanical arm (2) is electrically connected to the control module; The bottom wheel movement module (3) is installed on the bottom of the fuselage (1); the bottom wheel movement module (3) includes a wheel (31), a following module and a cleaning module; the following module and the cleaning module It is electrically connected with the control module; the wheel (31) is electrically connected with the control module through a wheel motor. 2. The intelligent service robot according to claim 1, wherein the voice recognition module includes a microphone (141) and a sound box (142); the microphone (141) collects voice information, and converts it into a character string and text , the output is in text format; the speaker (142) receives the instruction of the control module and plays the voice information. 3. The intelligent service robot according to claim 1, characterized in that, the visual recognition module (12) includes a camera, collects surrounding environment information and face information and performs path planning and identity verification, and the path planning and The identity verification result is sent to the touch screen (11) for display. 4. The intelligent service robot according to claim 1, characterized in that the detection module (13) includes an air detection device for measuring air dry humidity and gas composition, and determining toxic gas content and air quality level. 5. The intelligent service robot according to claim 1, characterized in that, the touch display screen (11) includes a fingerprint recognition module, and the fingerprint recognition module stores fingerprint information and performs fingerprint verification. 6. The intelligent service robot according to claim 1, characterized in that, the mechanical arm (2) is a scalable high-precision mechanical arm, and the mechanical arm (2) has 6+1 degrees of freedom, and the positive solution and The inverse solution algorithm arrives at the motion position. 7. The intelligent service robot according to claim 1, wherein the cleaning module comprises a vacuum cleaner, the control module controls the vacuum cleaner; the following module comprises a UWB base station. 8. The intelligent service robot according to claim 1, wherein the robot has a semi-automatic mode and a fully automatic mode. 9. The intelligent service robot according to claim 1, wherein the robot communicates with a mobile terminal through the wireless communication module, and the mobile terminal controls the robot through an APP.