CN106313082A - Accompanying robot - Google Patents
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- CN106313082A CN106313082A CN201611026519.2A CN201611026519A CN106313082A CN 106313082 A CN106313082 A CN 106313082A CN 201611026519 A CN201611026519 A CN 201611026519A CN 106313082 A CN106313082 A CN 106313082A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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Abstract
The invention provides an accompanying robot. The accompanying robot comprises a robot body and a control system arranged in the robot body, the control system comprises an acquisition unit and an interaction unit, the acquisition unit is used for responding a voice interaction request to acquire interaction request information input by an accompanied and attended person, and the interaction unit is used for generating and playing feedback information according to the interaction request information. The accompanying robot can conduct voice interaction with the accompanied and attended person, improves the interestingness and has a good accompanying effect.
Description
Technical field
The present invention relates to robotics, accompany and attend to robot in particular to one.
Background technology
Along with the most progressive of science and technology and the development of robotics, intelligent robot the most gradually enters into thousand
Ten thousand families, market also occur in that many intelligent robots offer convenience and enjoyment to the life of people, and wherein, robot of accompanying and attending to makees
For the one of intelligent robot, play the part of tutorial role, it is possible to auxiliary child etc., by the living and studying of the people that accompanies and attends to, give life
Offer convenience.But the most existing robot of accompanying and attending to interaction effect that is usual and that accompanied and attended between people is bad, easily allows and is accompanied and attended to
Robot of accompanying and attending to is accompanied and attended to and loses interest by people, thus effect of accompanying and attending to is bad, and guardian relieved can not accompany and attend to robot to being accompanied
Protect looking after of people, run counter to the original intention that robot of accompanying and attending to realizes truly accompanying and attending to.
Summary of the invention
The present invention is based on the problems referred to above, it is proposed that a kind of can carry out friendly interactive machine of accompanying and attending to by the people that accompanies and attends to
People.
In view of this, an aspect of of the present present invention proposes one and accompanies and attends to robot, including robot body be arranged on institute
Stating the control system within robot body, described control system includes acquiring unit and interactive unit.
Acquiring unit, asks for voice responsive interaction, obtains by the interactive solicited message of people's input of accompanying and attending to.
Interactive unit, for according to described interactive solicited message, generating and play feedback information.
Further, described acquiring unit includes acquisition module, comparison module and wake module.Described acquisition module, uses
Ask in voice responsive interaction, obtain and waken up up command information by what the people that accompanies and attends to inputted.Described comparison module, be used for comparing described in obtain
Take wake up command information and storage up wake up whether command information mates up.Described wake module, for when obtaining and storage
When waking up command information coupling up, that plays storage wakes up feedback information up, and wakes up voice interface function up.Described acquisition module, also
For after waking up voice interface function up, obtain by the interactive solicited message of people's input of accompanying and attending to.
Further, described control system also includes analytic unit.Described analytic unit, is used for changing described interactive request
Information is Word message, and obtains the key word of described interactive solicited message from described Word message.
Further, described interactive unit includes enquiry module, memorizer, feedback module and module of seeking help.Described inquiry
Module, for inquiring about whether described memorizer stores the reply message of described Keywords matching.Described feedback module, for working as
When storage has the reply message mated with described interactive solicited message, generate and play described feedback information.Described module of seeking help,
For during when the reply message not mate with described interactive solicited message, send described interaction solicited message to guardian's end,
And receive the feedback information from guardian's end, play described feedback information.
Further, described interactive unit includes enquiry module, memorizer, feedback module and retrieval module.Described inquiry
Module, for inquiring about whether described memorizer stores the reply message of described Keywords matching.Described retrieval module, for working as
During the reply message not mated with described interactive solicited message, whether existed and described key by network retrieval server end
The reply message of word coupling.Described feedback module, for having and described interaction when described memorizer or described server end storage
During the reply message that solicited message is mated, generate and play described feedback information.
Further, described interactive unit includes control module and puts broadcasting module.Described control module, for according to described
Key word generates resource program request instruction.Described some broadcasting module, is used for responding described resource program request instruction, play storage with described
The audio-visual resources that interactive solicited message is relevant.
Further, described interactive unit includes control module and photo module.Described control module, for according to described
Key word generates photographing instruction.Described photo module, is used for responding described photographing instruction, shoots and shows and described interactive request
The image that information is relevant.
Further, described interactive unit includes memorizer, acquisition module, judge module and module of seeking help.Described acquisition
Module, storage with described Keywords matching company photographic intelligence for obtaining.Described judge module, for accompanying described in basis
Companion's photographic intelligence, it is judged that can seek help to which guardian, obtains the caregiver information that can seek help.Described inquiry module, uses
In calling the described guardian that can seek help, receive and play the interactive information from this guardian's end.
Further, described interactive unit includes control module and infrared remote control module.Described control module, for basis
Described key word generates household appliance control instruction.Described infrared remote control module, is used for responding described household appliance control instruction, starts or close
Close corresponding household electrical appliances.
Further, described interactive unit includes control module and video calling module.Described control module, for basis
Described key word generates video calling instruction.Described video calling module, is used for responding the instruction of described video calling, opens video
Call function and transmission video calling are asked to guardian's end.
The one that the embodiment of the present invention provides is accompanied and attended to robot, and can be accompanied and attended to and carries out voice interface between people, improves
Interest, has effect of preferably accompanying and attending to.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
Fig. 1 shows the structural representation of the robot of accompanying and attending to that the embodiment of the present invention provides；
Fig. 2 shows the module diagram of the control system of the robot of accompanying and attending to shown in Fig. 1；
Fig. 3 shows the first module diagram of the interactive unit of the robot of accompanying and attending to shown in Fig. 2；
Fig. 4 shows the second module diagram of the interactive unit of the robot of accompanying and attending to shown in Fig. 2；
Fig. 5 shows the three module schematic diagram of the interactive unit of the robot of accompanying and attending to shown in Fig. 2；
Fig. 6 shows the 4th module diagram of the interactive unit of the robot of accompanying and attending to shown in Fig. 2.
Main element symbol description:
1000-accompanies and attends to robot；100-robot body；200-control system；10-interactive unit；11,309-obtains mould
Block；12-comparison module；13-wake module；20-analytic unit；30-interactive unit；301,305-enquiry module；302、306-
Feedback module；303-seeks help module；304,308,312-memorizer；307-retrieves module；310-judge module；311-inquires mould
Block；313-control module；314-point broadcasting module；315-photo module；316-infrared remote control module；317-video calling module.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, robot of accompanying and attending to is become apparent from, intactly retouches
State.Accompanying drawing gives the preferred embodiment of robot of accompanying and attending to.Robot of accompanying and attending to can be realized by many different forms,
It is not limited to embodiment described herein.Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings below
It is not intended to limit the scope of claimed invention, but is merely representative of the selected embodiment of the present invention.Based on the present invention
Embodiment, the every other embodiment that those skilled in the art are obtained on the premise of not making creative work, all
Belong to the scope of protection of the invention.
Embodiment 1
Fig. 1 shows the structural representation of the robot of accompanying and attending to that the embodiment of the present invention provides
Accompany and attend to robot 1000 as it is shown in figure 1, embodiments provide one, including robot body 100 with set
Put in the control system 200 within robot body 100.
What Fig. 1 was merely exemplary provides shape and the structure of a kind of robot body 100, it will be understood that robot body 100
Other shapes and structure can also be chosen as, do not limit.
Seeing also shown in Fig. 2, in the present embodiment, control system 200 includes acquiring unit 10, analytic unit 20 and mutually
Moving cell 30.
Acquiring unit 10 is asked for voice responsive interaction, obtains by the interactive solicited message of people's input of accompanying and attending to.This enforcement
In example, acquiring unit 10 includes acquisition module 11, comparison module 12 and wake module 13.
Acquisition module 11 is asked for voice responsive interaction, obtains and is waken up up command information by what the people that accompanies and attends to inputted.
Specifically, waking up command information described in up is from believing for starting the voice of voice interface function by the people that accompanies and attends to
Breath, as " little Kazakhstan, accompanying me to chat can youngster sky！" etc..Acquisition module 11 responds is asked by the voice interface of the people that accompanies and attends to, and obtains its input
Wake up command information up, and to change this phonetic order information be Word message.
Comparison module 12 for compare acquisition wake up command information and storage up wake up whether command information mates up.
Specifically, described storage wake up up command information be for judge by accompany and attend to people input whether wake up command information up
For starting the Word message of voice interface function.Comparison module 12 relatively described acquisition wake up command information and described storage up
Wake up whether command information mates up.When described acquisition and storage wake up up command information content consistent time, represent and obtain and storage
Wake up up command information coupling.
Wake module 13 for when obtain with storage wake up up command information mate time, what broadcasting stored wakes up feedback letter up
Breath, and wake up voice interface function up.
Specifically, described in, to wake up feedback information up be for representing the voice messaging that voice interface function has turned on, as " having assorted
Can be helped yours, little owner " etc., thus point out the people that accompanied and attended to can start and accompany and attend to and between robot 1000, carry out voice
Interactive.
Acquisition module 11 is additionally operable to after waking up voice interface function up, obtains by the interactive solicited message of people's input of accompanying and attending to.
Specifically, described interactive solicited message is to comprise by the voice messaging of people's demand information of accompanying and attending to, as " my rabbit plays
Where tool goes " etc..After waking up voice interface function up, acquisition module 11 obtains by the interactive solicited message of people's input of accompanying and attending to.
It is text message that analytic unit 20 is used for changing described interactive solicited message, from the text that interactive solicited message is corresponding
Information obtains key word.
Specifically, analytic unit 20 changes described interactive solicited message is text message.According to preset rules from institute's predicate
The text message that sound interaction solicited message is corresponding obtains key word.Described key word includes that Item Title, emotion or demand refer to
Keyword or the vocabulary such as order, such as, described interactive solicited message is " I wants to play happy high building blocks ", then corresponding key word is
" happy high building blocks " and " object for appreciation "；Described interactive solicited message for " " I wants to eat a piece, but what if mother does not allow ", then corresponding
Key word is " snacks ", " mother " and " what if ".
Interactive unit 30 is for according to described interactive solicited message, generating and play feedback information.
Seeing also shown in Fig. 3, in the present embodiment, interactive unit 30 includes enquiry module 301, feedback module 302, asks
Help module 303 and memorizer 304.
Whether enquiry module 301 stores the reply message of Keywords matching for consults memory 304.
Specifically, according to people and guardian or other people the conventional chat conversation content of being accompanied and attended to, memorizer 304 storage has
Organize reply message more.Whether enquiry module 301 consults memory 304 stores at least one answer letter with described Keywords matching
Breath.Described " coupling " refers to there is the information comprising described key word, it will be understood that the kind of the key word comprised and quantity are more
Many these reply messages of expression are the highest with the matching degree of key word.
Feedback module 302 is for when storage has the reply message mated with interactive solicited message, generating and play feedback
Information.
Specifically, when memorizer 304 storage has at least one reply message mated with interactive solicited message, feedback module
302, according to the reply message corresponding to this problem information of storage, generate feedback information, as " snacks are unfavorable for health, so we
If mother should being listened ".Further, feedback module 302 shows this feedback information, thus to carry out voice mutual with the people that accompanied and attended to
Dynamic.
Module of seeking help 303 is for, during when the reply message not mated with interactive solicited message, sending interactive solicited message
To guardian's end, and receive the feedback information from guardian's end, play feedback information.
Specifically, when memorizer 304 does not has to store the reply message mated with interactive solicited message, module 303 of seeking help
Send described interactive solicited message to guardian's end, thus answered by the problem of the people that accompanies and attends to by guardian.In another embodiment,
Module of seeking help 303 sends interactive solicited message text message after analytic unit 20 is changed to guardian's end.
Further, module of seeking help 303 receives the feedback information from guardian's end.Described feedback information is for including monitoring
People to by accompany and attend to people reply word or voice messaging, when this feedback information is Word message, module of seeking help 303 changes this article
Word information is voice messaging.Module of seeking help 303 plays this feedback information, thus carries out voice interface with the people that accompanied and attended to.
Seeing also shown in Fig. 4, in another embodiment, interactive unit 30 also includes enquiry module 305, feedback module
306, retrieval module 307 and memorizer 308.
Whether enquiry module 305 stores the reply message of Keywords matching for consults memory 308.
When carrying out voice interface with the people that accompanied and attended to, first detect and can reply by the people that accompanies and attends to according to locally stored information
Problem, when can not answer the problem by the people that accompanies and attends to according to locally stored information, retrieval server storage relevant information.
Specifically, whether enquiry module 305 consults memory 308 stores the answer letter of the Keywords matching with interactive solicited message
Breath.When memorizer 308 storage has the reply message with the Keywords matching of interactive solicited message, feedback module 306 is according to this
Reply message generates feedback information, and plays described feedback information.
Retrieval module 307 is for, during when the reply message not mated with interactive solicited message, servicing by network retrieval
Whether device end exists the reply message with Keywords matching.
Specifically, when memorizer 308 does not has the reply message of the Keywords matching of storage and interactive solicited message, retrieval
Whether module 307 is existed and the reply message of described Keywords matching by network retrieval server end.When server end exists
During with the reply message of described Keywords matching, retrieval module 307 obtains the answer letter of server end and described Keywords matching
Breath.Feedback module 306 generates feedback information according to this reply message, and plays this feedback information.
See also shown in Fig. 5, in another embodiment, interactive unit 30 include acquisition module 309, judge module 310,
Inquiry module 311 and memorizer 312.
Acquisition module 309 is storage with described Keywords matching company photographic intelligence for obtaining.
Specifically, according to the key word of the interactive solicited message that analytic unit 20 obtains, acquisition module 309 obtains memorizer
The company photographic intelligence with described Keywords matching of storage in 312.Described " coupling " refers to accompany in photo and comprises at least one
The article that key word is corresponding, such as, described interactive solicited message is " which my rabbit toy goes ", and corresponding key word is
" rabbit toy ", then the rabbit toy of memorizer 312 storage and the group photo of mother and this Keywords matching.
Judge module 310 is for according to accompanying photographic intelligence, it is judged that can seek help to which guardian, acquisition can be sought help
Caregiver information.
Specifically, it is judged that module 310 is according to the company photographic intelligence obtained, it is judged that can seek help to which guardian, i.e.
Which should pass on by Man's Demands of accompanying and attending to guardian.Such as, in a upper citing, can seek help to mother.Further,
Judge module 310 obtains this caregiver information of memorizer 312 storage.Described caregiver information includes this tutorial correspondent party
Formula etc..
The guardian that inquiry module 311 can be sought help for calling, receives and plays the interactive letter from this guardian's end
Breath.
Specifically, it is determined that after the guardian that can seek help, inquiry module 311 calls this guardian, transfers and is accompanied and attended to people's
Interactive solicited message is to guardian's end, thus is answered by the problem of the people that accompanies and attends to by guardian.In another embodiment, inquire module
311 send interactive solicited message text message after analytic unit 20 is changed to guardian's end.Inquiry module 311 receive from
The interactive information of guardian's end.Described interactive information is to include guardian's word to being replied by the people that accompanies and attends to or voice messaging, when
When this interactive information is Word message, inquiry module 311 changes this Word message into voice messaging.Inquiry module 311 is play should
Interactive information, thus carry out voice interface with the people that accompanied and attended to.
See also shown in Fig. 6, in the 4th embodiment, interactive unit 30 include control module 313, some broadcasting module 314,
Photo module 315, infrared remote control module 316 or video calling module 317.
Control module 313 is for generating control instruction according to key word.
Specifically, in the present embodiment, described control instruction includes resource program request instruction, photographing instruction, household appliance control instruction
Or video calling instruction, certainly, described control instruction can also include other guide, does not limits.Such as, when described pass
When keyword is for " listening " and " nursery rhymes ", generate resource program request instruction；When described key word is " hot ", generate household appliance control instruction.
Further, some broadcasting module 314 resource response program request instruction, that play storage to interactive relevant the regarding of solicited message
Listen resource.Photo module 315 responds photographing instruction, shoots and shows the image relevant to interactive solicited message.Infrared remote control mould
Block 316 responds household appliance control instruction, starts or closes corresponding household electrical appliances.Video calling module 317 responds video calling instruction, opens
Open video call function and send video calling request to guardian's end.
The one that the embodiment of the present invention provides is accompanied and attended to robot, and can be accompanied and attended to and carries out voice interface between people, improves
Interest, has effect of preferably accompanying and attending to.
The system that the embodiment of the present invention is provided, it realizes principle and the technique effect of generation and preceding method embodiment phase
With, for briefly describing, the not mentioned part of system embodiment part, refer to corresponding contents in preceding method embodiment.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, and not
It is that therefore, other examples of exemplary embodiment can have different values in order to limit.It should also be noted that similar label and word
Female expression similar terms in following accompanying drawing, therefore, is defined in the most a certain Xiang Yi accompanying drawing, then in accompanying drawing subsequently
Need not it be defined further and explains.
In several embodiments provided herein, it should be understood that disclosed device can be by other side
Formula realizes.Device embodiment described above is only that schematically such as, the division of described unit, the most only one are patrolled
Volume function divides, and actual can have other dividing mode when realizing, the most such as, multiple unit or assembly can in conjunction with or can
To be integrated into another system, or some features can be ignored, or does not performs.Another point, shown or discussed each other
Coupling direct-coupling or communication connection can be the INDIRECT COUPLING by some communication interfaces, device or unit or communication link
Connect, can be electrical, machinery or other form.
The described unit illustrated for separating component can be or may not be physically separate, shows for unit
Parts can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple network
On unit.Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (10)
1. accompany and attend to a robot, including robot body be arranged on the control system described robot body within, its spy
Levying and be, described control system includes:
Acquiring unit, asks for voice responsive interaction, obtains by the interactive solicited message of people's input of accompanying and attending to；
Interactive unit, for according to described interactive solicited message, generating and play feedback information.
Robot of accompanying and attending to the most according to claim 1, it is characterised in that described acquiring unit includes acquisition module, compares
Module and wake module,
Described acquisition module, asks for voice responsive interaction, obtains and is waken up up command information by what the people that accompanies and attends to inputted；
Described comparison module, for relatively described acquisition wake up command information and storage up wake up whether command information mates up；
Described wake module, for when obtain with storage wake up up command information mate time, broadcasting store wakes up feedback information up,
And wake up voice interface function up；
Described acquisition module, is additionally operable to after waking up voice interface function up, obtains by the interactive solicited message of people's input of accompanying and attending to.
Robot of accompanying and attending to the most according to claim 1, it is characterised in that described control system also includes analytic unit,
Described analytic unit, being used for changing described interactive solicited message is Word message, and obtains institute from described Word message
State the key word of interactive solicited message.
Robot of accompanying and attending to the most according to claim 3, it is characterised in that described interactive unit includes enquiry module, storage
Device, feedback module and module of seeking help,
Described enquiry module, for inquiring about whether described memorizer stores the reply message of described Keywords matching；
Described feedback module, for when storage has the reply message mated with described interactive solicited message, generating and play institute
State feedback information；
Described module of seeking help, for during when the reply message not mated with described interactive solicited message, sending described interaction please
Ask information to guardian's end, and receive the feedback information from guardian's end, play described feedback information.
Robot of accompanying and attending to the most according to claim 3, it is characterised in that described interactive unit includes enquiry module, storage
Device, feedback module and retrieval module,
Described enquiry module, for inquiring about whether described memorizer stores the reply message of described Keywords matching；
Described retrieval module, for, during when the reply message not mated with described interactive solicited message, taking by network retrieval
Whether business device end exists and the reply message of described Keywords matching；
Described feedback module, for mating with described interaction solicited message when described memorizer or described server end storage have
During reply message, generate and play described feedback information.
Robot of accompanying and attending to the most according to claim 3, it is characterised in that described interactive unit includes control module and program request
Module,
Described control module, for generating resource program request instruction according to described key word；
Described some broadcasting module, is used for responding described resource program request instruction, plays the relevant to described interactive solicited message of storage
Audio-visual resources.
Robot of accompanying and attending to the most according to claim 3, it is characterised in that described interactive unit includes control module and takes pictures
Module,
Described control module, for generating photographing instruction according to described key word；
Described photo module, is used for responding described photographing instruction, shoots and shows the image relevant to described interactive solicited message.
Robot of accompanying and attending to the most according to claim 3, it is characterised in that described interactive unit includes memorizer, obtains mould
Block, judge module and module of seeking help,
Described acquisition module, storage with described Keywords matching company photographic intelligence for obtaining；
Described judge module, for according to described company photographic intelligence, it is judged that can seek help to which guardian, and acquisition can be in the hope of
The caregiver information helped；
Described inquiry module, for calling the described guardian that can seek help, receives and plays the interaction from this guardian's end
Information.
Robot of accompanying and attending to the most according to claim 3, it is characterised in that described interactive unit includes control module and infrared
Remote control module,
Described control module, for generating household appliance control instruction according to described key word；
Described infrared remote control module, is used for responding described household appliance control instruction, starts or closes corresponding household electrical appliances.
Robot of accompanying and attending to the most according to claim 3, it is characterised in that described interactive unit includes control module and regards
Frequency call module,
Described control module, for generating video calling instruction according to described key word；
Described video calling module, is used for responding the instruction of described video calling, opens video call function and send video calling
Request is to guardian's end.
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| CN201611026519.2A CN106313082B (en) | 2016-11-21 | 2016-11-21 | Accompanying robot |
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|---|---|---|---|
| CN201611026519.2A CN106313082B (en) | 2016-11-21 | 2016-11-21 | Accompanying robot |
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| CN106313082B CN106313082B (en) | 2020-04-14 |
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| CN201611026519.2A Expired - Fee Related CN106313082B (en) | 2016-11-21 | 2016-11-21 | Accompanying robot |
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Cited By (7)
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| CN106514612A (en) * | 2017-01-16 | 2017-03-22 | 成都萌宝睿贝健康咨询有限公司 | Intelligent infant accompanying robot |
| CN107145758A (en) * | 2017-05-31 | 2017-09-08 | 上海思依暄机器人科技股份有限公司 | A kind of outgoing method of servicing and device of accompanying and attending to based on domestic robot |
| CN107515944A (en) * | 2017-08-31 | 2017-12-26 | 广东美的制冷设备有限公司 | Exchange method, user terminal and storage medium based on artificial intelligence |
| CN107825428A (en) * | 2017-12-08 | 2018-03-23 | 子歌教育机器人（深圳）有限公司 | Operating system of intelligent robot and intelligent robot |
| CN109623837A (en) * | 2018-12-20 | 2019-04-16 | 北京子歌人工智能科技有限公司 | A kind of partner robot based on artificial intelligence |
| CN112472533A (en) * | 2020-12-02 | 2021-03-12 | 江门市国彬机器人有限公司 | Artificial intelligence walking stick walking robot |
| CN112472538A (en) * | 2020-12-02 | 2021-03-12 | 江门市国彬机器人有限公司 | Artificial intelligence blind-guiding walking robot |
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| CN204976641U (en) * | 2015-08-04 | 2016-01-20 | 北京进化者机器人科技有限公司 | Multi -functional service robot of family |
| CN105856260A (en) * | 2016-06-24 | 2016-08-17 | 深圳市鑫益嘉科技股份有限公司 | On-call robot |
| CN106113062A (en) * | 2016-08-23 | 2016-11-16 | 陈中流 | One is accompanied and attended to robot |
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| CN107145758A (en) * | 2017-05-31 | 2017-09-08 | 上海思依暄机器人科技股份有限公司 | A kind of outgoing method of servicing and device of accompanying and attending to based on domestic robot |
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| CN107825428A (en) * | 2017-12-08 | 2018-03-23 | 子歌教育机器人（深圳）有限公司 | Operating system of intelligent robot and intelligent robot |
| CN109623837A (en) * | 2018-12-20 | 2019-04-16 | 北京子歌人工智能科技有限公司 | A kind of partner robot based on artificial intelligence |
| CN112472533A (en) * | 2020-12-02 | 2021-03-12 | 江门市国彬机器人有限公司 | Artificial intelligence walking stick walking robot |
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