WO2018148873A1 - Smart robot based on position information and control method therefor - Google Patents
Smart robot based on position information and control method therefor Download PDFInfo
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- WO2018148873A1 WO2018148873A1 PCT/CN2017/073569 CN2017073569W WO2018148873A1 WO 2018148873 A1 WO2018148873 A1 WO 2018148873A1 CN 2017073569 W CN2017073569 W CN 2017073569W WO 2018148873 A1 WO2018148873 A1 WO 2018148873A1
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- the invention relates to the field of robot control, and in particular to an intelligent robot based on position information and a control method thereof.
- robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like.
- robots may lack effective interaction with users. For example, the robot cannot get back to the user in time.
- the present invention provides an intelligent robot based on location information, comprising: a communication module, configured to communicate with a user's mobile terminal, receive a user instruction, and feed back a corresponding instruction result to the mobile terminal, wherein The user instruction includes returning a user position from the current location of the smart robot to the mobile terminal; the sensing module is configured to acquire sensing data of the intelligent robot, where the sensing data includes location information and speed information. And a power module; a control module, configured to acquire a direction and a distance of the mobile terminal in real time according to the user instruction and the sensing data, and generate a motor control signal; and a motor module, configured to use the motor control signal according to the motor control signal And operate.
- a communication module configured to communicate with a user's mobile terminal, receive a user instruction, and feed back a corresponding instruction result to the mobile terminal, wherein The user instruction includes returning a user position from the current location of the smart robot to the mobile terminal
- the sensing module is configured to acquire sensing data of the intelligent robot, where
- the communication module is a Bluetooth communication module.
- the communication module is an infrared communication module.
- the sensing module includes: an infrared sensing unit for sensing the smart a barrier distance between the robot and the obstacle and a user distance from the mobile terminal, and generating the position information; a charge detecting unit for sensing the power amount information of the intelligent robot; and a turbine detecting unit And for sensing the speed information of the intelligent robot.
- control module includes: a user instruction receiving unit for receiving the user instruction from the mobile terminal; and a sensing data processing unit for receiving and processing the device from the sensing module Sensing data; an underlying motor control unit for generating the motor control signal; and an instruction result generating unit for generating the instruction result accordingly.
- the present invention also provides an intelligent robot control method based on location information, comprising: communicating with a user's mobile terminal to receive a user instruction, wherein the user instruction includes returning from the current location of the intelligent robot to the mobile terminal a user location; acquiring sensing data of the smart robot, the sensing data includes location information, speed information, and power information; and acquiring a direction and a distance of the mobile terminal in real time according to the user instruction and the sensing data And generating a motor control signal; and operating in accordance with the motor control signal and feeding back a corresponding command result to the mobile terminal.
- the step of communicating with the user's mobile terminal includes communicating using a Bluetooth module.
- the step of communicating with the user's mobile terminal includes communicating using an infrared module.
- the step of acquiring sensing data of the intelligent robot includes: sensing an obstacle distance between the intelligent robot and an obstacle, and a user distance from the mobile terminal, and generating a location Positioning information; sensing the power amount information of the intelligent robot; and sensing the speed information of the intelligent robot.
- the obtaining the direction and distance of the mobile terminal in real time according to the user instruction and the sensing data, and generating a motor control signal comprises: receiving and processing the sensing data; generating The motor control signal; and correspondingly generating the command result.
- the position information-based intelligent robot and the control method thereof provided by the invention can effectively realize the interaction operation between the user and the robot, and are fast from the current position of the intelligent robot in response to the user instruction. Returns the user's location to the mobile terminal accurately.
- FIG. 1 is a block diagram of an intelligent robot based on location information in accordance with an embodiment of the present invention.
- FIG. 2 is a block diagram of the control module of Figure 1.
- FIG. 3 is a block diagram of the sensing module of Figure 1.
- FIG. 4 is a flow chart showing a method for controlling an intelligent robot based on position information according to an embodiment of the present invention.
- FIG. 1 is a block diagram of an intelligent robot 100 based on location information in accordance with an embodiment of the present invention.
- the location information based intelligent robot 100 may include a communication module 102 for communicating with a user's mobile terminal (not shown), receiving user instructions, and feeding back corresponding instruction results to the mobile terminal. .
- the user instructions may include returning to a user location of the mobile terminal from a current location of the intelligent robot.
- the communication module can be a Bluetooth communication module.
- the communication module can be an infrared communication module.
- the location information-based intelligent robot 100 may further include a sensing module 108 for acquiring sensing data of the smart robot 100, the sensing data including location information, speed information, and power amount information.
- the location information based intelligent robot 100 may further include a control module 106 for acquiring the direction and distance of the mobile terminal in real time according to the user instruction and the sensing data, and generating a motor control signal.
- the position based information based intelligent robot 100 may also include a motor module 104 for operating in accordance with the motor control signals.
- control module 106 can include a user instruction receiving unit 202 for receiving the user instruction from the mobile terminal, and a sensing data processing unit 204 for receiving and processing the transmission from the The sensing data of the sensing module 108; an underlying motor control unit 206 for generating the motor control signal; and an instruction result generating unit for generating the instruction result accordingly.
- FIG. 3 is a block diagram of the sensing module 108 of FIG.
- the sensing module 108 can include: an infrared sensing unit 302 for sensing an obstacle distance between the intelligent robot and an obstacle and a user distance from the mobile terminal, and The location information is generated; the charging detection unit 304 is configured to sense the power amount information of the intelligent robot; and the turbine detecting unit 306 is configured to sense the speed information of the intelligent robot.
- FIG. 4 is a flow chart of a location based intelligent robot control method 400 in accordance with an embodiment of the present invention.
- the location information based intelligent robot control method 400 may include the following steps:
- Step 410 Communicate with a user's mobile terminal to receive a user instruction, wherein the user instruction includes returning to a user location of the mobile terminal from a current location of the intelligent robot.
- the step 410 of communicating with a user's mobile terminal can include communicating using a Bluetooth module.
- the step 410 of communicating with a user's mobile terminal can include communicating using an infrared module.
- Step 420 Acquire sensor data of the smart robot, where the sensor data includes location information, Speed information, power information.
- the step 420 of acquiring sensor data of the smart robot may include: sensing a barrier distance between the smart robot and an obstacle and a user distance from the mobile terminal, and Generating the location information; sensing the power amount information of the smart robot; and sensing the speed information of the smart robot.
- Step 430 Acquire a direction and a distance of the mobile terminal in real time according to the user instruction and the sensing data, and generate a motor control signal.
- the obtaining the direction and distance of the mobile terminal in real time according to the user instruction and the sensing data, and generating the motor control signal may include: receiving and processing the sensing data. Generating the motor control signal; and generating the command result accordingly.
- Step 440 Operate according to the motor control signal, and feed back the corresponding command result to the mobile terminal.
- the position information-based intelligent robot and the control method thereof provided by the present invention can effectively realize the interaction operation between the user and the robot, and quickly and accurately return from the current position of the intelligent robot to the user position of the mobile terminal in response to the user instruction. .
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Abstract
Description
本发明涉及机器人控制领域，并且特别涉及一种基于位置信息的智能机器人及其控制方法。The invention relates to the field of robot control, and in particular to an intelligent robot based on position information and a control method thereof.
当今，智能机器人越来越普及。随着机器人的小型化和低成本化，也逐渐进入普通用户的家庭生活中。例如，根据机器人的功能，通常可分为清扫机器人、擦窗机器人、服务机器人、看护机器人等。然而，机器人可能缺少与用户之间的有效互动。例如，机器人无法及时准确回到用户身边。Today, smart robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like. However, robots may lack effective interaction with users. For example, the robot cannot get back to the user in time.
因此，需要一种改进的智能机器人及其控制方法。Therefore, there is a need for an improved intelligent robot and its control method.
发明内容Summary of the invention
为实现本目的，本发明提供一种基于位置信息的智能机器人，包括：通信模块，用于与用户的移动终端进行通信，接收用户指令，并将对应的指令结果反馈给所述移动终端，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置；传感模块，用于获取所述智能机器人的传感数据，所述传感数据包括位置信息、速度信息、电量信息；控制模块，用于根据所述用户指令和所述传感数据来实时获取所述移动终端的方向和距离，并且产生电机控制信号；以及电机模块，用于根据所述电机控制信号而运作。To achieve the object, the present invention provides an intelligent robot based on location information, comprising: a communication module, configured to communicate with a user's mobile terminal, receive a user instruction, and feed back a corresponding instruction result to the mobile terminal, wherein The user instruction includes returning a user position from the current location of the smart robot to the mobile terminal; the sensing module is configured to acquire sensing data of the intelligent robot, where the sensing data includes location information and speed information. And a power module; a control module, configured to acquire a direction and a distance of the mobile terminal in real time according to the user instruction and the sensing data, and generate a motor control signal; and a motor module, configured to use the motor control signal according to the motor control signal And operate.
在一个实施例中，所述通信模块为蓝牙通信模块。In one embodiment, the communication module is a Bluetooth communication module.
在一个实施例中，所述通信模块为红外通信模块。In one embodiment, the communication module is an infrared communication module.
在一个实施例中，所述传感模块包括：红外传感单元，用于感测所述智能 机器人与障碍物之间的障碍距离和与所述移动终端之间的用户距离，并且产生所述位置信息；充电检测单元，用于感测所述智能机器人的所述电量信息；以及轮机检测单元，用于感测所述智能机器人的所述速度信息。In one embodiment, the sensing module includes: an infrared sensing unit for sensing the smart a barrier distance between the robot and the obstacle and a user distance from the mobile terminal, and generating the position information; a charge detecting unit for sensing the power amount information of the intelligent robot; and a turbine detecting unit And for sensing the speed information of the intelligent robot.
在一个实施例中，所述控制模块包括：用户指令接收单元，用于接收来自所述移动终端的所述用户指令；传感数据处理单元，用于接收并且处理来自所述传感模块的所述传感数据；底层电机控制单元，用于产生所述电机控制信号；以及指令结果生成单元，用于相应产生所述指令结果。In one embodiment, the control module includes: a user instruction receiving unit for receiving the user instruction from the mobile terminal; and a sensing data processing unit for receiving and processing the device from the sensing module Sensing data; an underlying motor control unit for generating the motor control signal; and an instruction result generating unit for generating the instruction result accordingly.
本发明还提供一种基于位置信息的智能机器人控制方法，包括：与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置；获取所述智能机器人的传感数据，所述传感数据包括位置信息、速度信息、电量信息；根据所述用户指令和所述传感数据来实时获取所述移动终端的方向和距离，并且产生电机控制信号；以及根据所述电机控制信号而运作，并将对应的指令结果反馈给所述移动终端。The present invention also provides an intelligent robot control method based on location information, comprising: communicating with a user's mobile terminal to receive a user instruction, wherein the user instruction includes returning from the current location of the intelligent robot to the mobile terminal a user location; acquiring sensing data of the smart robot, the sensing data includes location information, speed information, and power information; and acquiring a direction and a distance of the mobile terminal in real time according to the user instruction and the sensing data And generating a motor control signal; and operating in accordance with the motor control signal and feeding back a corresponding command result to the mobile terminal.
在一个实施例中，所述与用户的移动终端进行通信的步骤包括：利用蓝牙模块进行通信。In one embodiment, the step of communicating with the user's mobile terminal includes communicating using a Bluetooth module.
在一个实施例中，所述与用户的移动终端进行通信的步骤包括：利用红外模块进行通信。In one embodiment, the step of communicating with the user's mobile terminal includes communicating using an infrared module.
在一个实施例中，所述获取所述智能机器人的传感数据的步骤包括：感测所述智能机器人与障碍物之间的障碍距离和与所述移动终端之间的用户距离，并且产生所述位置信息；感测所述智能机器人的所述电量信息；以及感测所述智能机器人的所述速度信息。In one embodiment, the step of acquiring sensing data of the intelligent robot includes: sensing an obstacle distance between the intelligent robot and an obstacle, and a user distance from the mobile terminal, and generating a location Positioning information; sensing the power amount information of the intelligent robot; and sensing the speed information of the intelligent robot.
在一个实施例中，所述根据所述用户指令和所述传感数据来实时获取所述移动终端的方向和距离，并且产生电机控制信号的步骤包括：接收并且处理所述传感数据；产生所述电机控制信号；以及相应产生所述指令结果。In one embodiment, the obtaining the direction and distance of the mobile terminal in real time according to the user instruction and the sensing data, and generating a motor control signal comprises: receiving and processing the sensing data; generating The motor control signal; and correspondingly generating the command result.
本发明所提供的基于位置信息的智能机器人及其控制方法能够有效实现用户与机器人之间的互动操作，响应于用户指令而从智能机器人的当前位置快速 准确返回到移动终端的用户位置。The position information-based intelligent robot and the control method thereof provided by the invention can effectively realize the interaction operation between the user and the robot, and are fast from the current position of the intelligent robot in response to the user instruction. Returns the user's location to the mobile terminal accurately.
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.
图1所示是根据本发明实施例的基于位置信息的智能机器人的框图。1 is a block diagram of an intelligent robot based on location information in accordance with an embodiment of the present invention.
图2所示是图1中的控制模块的框图。Figure 2 is a block diagram of the control module of Figure 1.
图3所示是图1中的传感模块的框图。Figure 3 is a block diagram of the sensing module of Figure 1.
图4所示是根据本发明实施例的基于位置信息的智能机器人控制方法的流程图。4 is a flow chart showing a method for controlling an intelligent robot based on position information according to an embodiment of the present invention.
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
图1所示是根据本发明实施例的基于位置信息的智能机器人100的框图。1 is a block diagram of an
如图1所示，基于位置信息的智能机器人100可包括通信模块102，用于与用户的移动终端(未示出)进行通信，接收用户指令，并将对应的指令结果反馈给所述移动终端。所述用户指令可包括从所述智能机器人的当前位置返回到所述移动终端的用户位置。在一个实施例中，所述通信模块可以是蓝牙通信模块。在另一个实施例中，所述通信模块可以是红外通信模块。As shown in FIG. 1, the location information based
基于位置信息的智能机器人100还可以包括传感模块108，用于获取所述智能机器人100的传感数据，所述传感数据包括位置信息、速度信息、电量信息。
The location information-based
基于位置信息的智能机器人100还可以包括控制模块106，用于根据所述用户指令和所述传感数据来实时获取所述移动终端的方向和距离，并且产生电机控制信号。The location information based
基于位置信息的智能机器人100还可以包括电机模块104，用于根据所述电机控制信号而运作。The position based information based
图2所示是图1中的控制模块106的框图。在一个实施例中，所述控制模块106可包括：用户指令接收单元202，用于接收来自所述移动终端的所述用户指令；传感数据处理单元204，用于接收并且处理来自所述传感模块108的所述传感数据；底层电机控制单元206，用于产生所述电机控制信号；以及指令结果生成单元，用于相应产生所述指令结果。2 is a block diagram of the
图3所示是图1中的传感模块108的框图。3 is a block diagram of the
在一个实施例中，所述传感模块108可包括：红外传感单元302，用于感测所述智能机器人与障碍物之间的障碍距离和与所述移动终端之间的用户距离，并且产生所述位置信息；充电检测单元304，用于感测所述智能机器人的所述电量信息；以及轮机检测单元306，用于感测所述智能机器人的所述速度信息。In one embodiment, the
图4所示是根据本发明实施例的基于位置信息的智能机器人控制方法400的流程图。4 is a flow chart of a location based intelligent
如图4所示，基于位置信息的智能机器人控制方法400可包括以下步骤：As shown in FIG. 4, the location information based intelligent
步骤410：与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置。Step 410: Communicate with a user's mobile terminal to receive a user instruction, wherein the user instruction includes returning to a user location of the mobile terminal from a current location of the intelligent robot.
在一个实施例中，所述与用户的移动终端进行通信的步骤410可包括：利用蓝牙模块进行通信。In one embodiment, the
在一个实施例中，所述与用户的移动终端进行通信的步骤410可包括：利用红外模块进行通信。In one embodiment, the
步骤420：获取所述智能机器人的传感数据，所述传感数据包括位置信息、 速度信息、电量信息。Step 420: Acquire sensor data of the smart robot, where the sensor data includes location information, Speed information, power information.
在一个实施例中，所述获取所述智能机器人的传感数据的步骤420可包括：感测所述智能机器人与障碍物之间的障碍距离和与所述移动终端之间的用户距离，并且产生所述位置信息；感测所述智能机器人的所述电量信息；以及感测所述智能机器人的所述速度信息。In one embodiment, the
步骤430：根据所述用户指令和所述传感数据来实时获取所述移动终端的方向和距离，并且产生电机控制信号。Step 430: Acquire a direction and a distance of the mobile terminal in real time according to the user instruction and the sensing data, and generate a motor control signal.
在一个实施例中，所述根据所述用户指令和所述传感数据来实时获取所述移动终端的方向和距离，并且产生电机控制信号的步骤430可包括：接收并且处理所述传感数据；产生所述电机控制信号；以及相应产生所述指令结果。In one embodiment, the obtaining the direction and distance of the mobile terminal in real time according to the user instruction and the sensing data, and generating the motor control signal may include: receiving and processing the sensing data. Generating the motor control signal; and generating the command result accordingly.
步骤440：根据所述电机控制信号而运作，并将对应的指令结果反馈给所述移动终端。Step 440: Operate according to the motor control signal, and feed back the corresponding command result to the mobile terminal.
有利地，本发明所提供的基于位置信息的智能机器人及其控制方法能够有效实现用户与机器人之间的互动操作，响应于用户指令而从智能机器人的当前位置快速准确返回到移动终端的用户位置。Advantageously, the position information-based intelligent robot and the control method thereof provided by the present invention can effectively realize the interaction operation between the user and the robot, and quickly and accurately return from the current position of the intelligent robot to the user position of the mobile terminal in response to the user instruction. .
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。 The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.
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- 2017-02-15 WO PCT/CN2017/073569 patent/WO2018148873A1/en not_active Ceased
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| US20060155436A1 (en) * | 2004-12-14 | 2006-07-13 | Honda Motor Co., Ltd. | Route generating system for an autonomous mobile robot |
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| CN204613741U (en) * | 2015-03-18 | 2015-09-02 | 广东工业大学 | A trolley that can automatically follow a mobile terminal |
| CN105005305A (en) * | 2015-07-22 | 2015-10-28 | 上海思依暄机器人科技有限公司 | Controlled robot, remote control device, robot system and applicable method |
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