CN108098796A - Electricity business hall intellect service robot device and control method - Google Patents
Electricity business hall intellect service robot device and control method Download PDFInfo
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- CN108098796A CN108098796A CN201810141039.3A CN201810141039A CN108098796A CN 108098796 A CN108098796 A CN 108098796A CN 201810141039 A CN201810141039 A CN 201810141039A CN 108098796 A CN108098796 A CN 108098796A
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- 230000005611 electricity Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000014509 gene expression Effects 0.000 claims abstract description 19
- 230000003993 interaction Effects 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 230000004044 response Effects 0.000 claims description 8
- 238000013439 planning Methods 0.000 claims description 7
- 230000005059 dormancy Effects 0.000 claims description 3
- 244000283207 Indigofera tinctoria Species 0.000 claims description 2
- 238000004891 communication Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 abstract 1
- 102000057593 human F8 Human genes 0.000 abstract 1
- 229940047431 recombinate Drugs 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000008451 emotion Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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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- 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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
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Abstract
The present invention proposes that a kind of electricity business hall intellect service robot device and control method, wherein device include：It is arranged on robot body：Android all-in-one machines, STM32 microcontrollers, messaging interaction module group, expression module group, identification module group and mobile module group；Messaging interaction module group includes：Voice input module, touch-screen input module, display screen and the sound equipment of Android all-in-one machines are connected respectively；Expression module group includes：Connect the display lamp group of STM32 microcontrollers；Identification module group includes：Connect the laser sensor and camera of STM32 microcontrollers；Mobile module group includes：Power supply monitoring module, laser radar, ultrasonic sensor and the driving motor of Raspberry Pi controller are connected respectively；Android all-in-one machines and STM32 microcontrollers pass through Bluetooth communication；STM32 microcontrollers connect Raspberry Pi controller by serial ports；Android all-in-one machines connect cloud server.The present invention makes full use of existing resource to recombinate, adjust and add by rational device, realizes the effect that service quality is substantially improved.
Description
Technical field
The invention belongs to service type robot field more particularly to a kind of electricity business hall intellect service robot device and
Control method.
Background technology
For electricity business hall service robot for user to be guided to carry out business handling, existing business hall service robot is more
For voice answer-back pattern, what some carried display is also that touch screen displays are separately controlled with voice, and voice answer-back can not combine
Touch screen interaction carries out response so that robot seems inflexible, poor user experience.
In the prior art, electricity business hall service robot is fixed setting, this to the building of electricity business hall and
It is higher to fit up layout requirements, if layout is unreasonable or service area, service window have larger adjustment, user is caused to be lined up, wait
Or into business hall position away from service robot, then the installation position of the service robot then may become unsuitable for
Handle the user of service.
The content of the invention
In view of the problems of the existing technology and blank, the present invention use following technical scheme：
A kind of electricity business hall intellect service robot device, which is characterized in that including：It is arranged on robot body：
Android all-in-one machines, STM32 microcontrollers, messaging interaction module group, expression module group, identification module group and mobile module group；Institute
Stating messaging interaction module group includes：Voice input module, touch-screen input module, the display screen of Android all-in-one machines are connected respectively
And sound equipment；The expression module group includes：Connect the display lamp group of STM32 microcontrollers；The identification module group includes：Connection
The laser sensor and camera of STM32 microcontrollers；The mobile module group includes：The power supply of Raspberry Pi controller is connected respectively
Monitoring modular, laser radar, ultrasonic sensor and driving motor；The Android all-in-one machines and STM32 microcontrollers pass through indigo plant
Tooth communicates；The STM32 microcontrollers connect Raspberry Pi controller by serial ports；The Android all-in-one machines connect cloud service
Device.
Preferably, the voice input module is arranged on the crown of robot body；The camera and display lamp group are set
Put the face in robot body；The touch-screen input module and display screen are integrated in a front for being arranged on robot body
In touch screen displays；The front of robot body is additionally provided with the laser sensor and sound equipment；The bottom of the robot body
Portion is provided with chassis, and multiple driving wheels of connection driving motor and at least one universal wheel are provided on the chassis；The shifting
Dynamic model block group is arranged on chassis；The ultrasonic sensor has multiple, is distributed in the circumference on chassis.
Preferably, charging socket and power switch are additionally provided on the chassis.
Preferably, the head on both sides of the robot body, body both sides, the touch screen displays lower part, it is described swash
The top of optical radar is respectively arranged with the LED light strip being connected with STM32 microcontrollers.
And the control method of preferred embodiment scheme according to the present invention, when starting and initialize completion or the power supply monitoring
When module detects that electricity is low, mobile module group is started to work, which is characterized in that is comprised the following steps；
Step A1：Laser radar scanning ambient enviroment determines mobile destination, completes path planning；
Step A2：Driving motor controls driving wheel and universal wheel to drive the movement of robot body；
Step A3：Laser radar determines the relative position with destination in real time, completes the update of path planning；Ultrasonic sensor
Real time distance is carried out to roadblock, to carry out obstacle avoidance aiding；
Step A4：It arrives at, when destination is not charge point, into operating mode；When destination is charge point, control
Charging socket alignment power supply on chassis processed, shuts down after accessing power supply.
Preferably, the operating mode comprises the following steps：
Step B1：Messaging interaction module group starts and completes to initialize, afterwards into dormant state；
Step B2：When laser sensor senses object proximity, the camera is opened, and carries out recognition of face, works as identification
During to face, step B3 is performed；
Step B3：The voice input module is waken up, while touch screen displays are lighted；
Step B4：According to speech input information and/or touch-screen input information, the Android all-in-one machines pass through cloud server
Event response updated in touch screen displays into row information and/or voice output carried out by sound equipment；
Step B5：When in the default time, when no efficient voice input information and touch-screen input information, dormancy shape is reentered
State.
Preferably, during dormant state, the display lamp group and LED light strip are in OFF state.
Preferably, when performing step B3, the display lamp group sends the expression prompting of interaction mode unlatching.
Preferably, when performing step B4, the display lamp group sends different types of according to different types of event response
Expression is prompted.
The present invention is the optimization and improvement to the prior art, by reasonably filling on the basis of existing resource is made full use of
Restructuring is put, adjusts and adds, realizes the effect that service quality is substantially improved, is specially：1st, can depending on, listen the collaboration of two dimensions
Input, output function, make the service function of service robot more abundant, convenient, meet the multiple demand of user；2nd, machine
Device people can make different expressions according to interactive emotion information, improve user's perception and service experience；3rd, robot can be certainly
It moves the movement completed to set point and returns and charge, solve current electricity business hall service robot position adjustment inconvenience
Problem has saved the time cost for handling service user.
Description of the drawings
The present invention is described in more detail with reference to the accompanying drawings and detailed description：
Fig. 1 is device overall structure diagram of the embodiment of the present invention；
Fig. 2 is device schematic view of the mounting position of the embodiment of the present invention；
Fig. 3 is device circuit connection diagram of the embodiment of the present invention；
Fig. 4 is the mobile module group workflow schematic diagram of control method of the embodiment of the present invention；
Fig. 5 is the working condition flow diagram of control method of the embodiment of the present invention；
In figure：1- voice input modules；2- cameras；3- shows lamp group；4- touch screen displays；5- laser sensors；6- sound equipments；
7- laser radars；8- ultrasonic sensors；9-LED light bar；10- power switches；11- charging sockets；12- driving motors.
Specific embodiment
Feature and advantage to allow this patent can be clearer and more comprehensible, and special embodiment below is described in detail below：
As shown in Figure 1, device of the embodiment of the present invention includes：It is arranged on robot body：Android all-in-one machines, STM32 are mono-
Piece machine, messaging interaction module group, expression module group, identification module group and mobile module group；The messaging interaction module group includes：
Voice input module 1, touch-screen input module, display screen and the sound equipment 6 of Android all-in-one machines are connected respectively；The expression module
Group includes：The display lamp group 3 of STM32 microcontrollers and LED light strip 9 are connected respectively；The identification module group includes：Connect STM32
The laser sensor 5 of microcontroller and camera 2；The mobile module group includes：Raspberry Pi is connected respectively（raspbian）Control
Power supply monitoring module, laser radar 7, ultrasonic sensor 8 and the driving motor 12 of device；The Android all-in-one machines and STM32
Microcontroller passes through Bluetooth communication；The STM32 microcontrollers connect Raspberry Pi controller by serial ports；The Android all-in-one machines
Connect cloud server.Particularly, laser sensor 5 uses GY-VL53L0X.
As shown in Fig. 2, voice input module 1 is arranged on the crown of robot body；Camera 2 and display lamp group 3 are set
In the face of robot body；The touch screen that touch-screen input module and display screen are integrated in a front for being arranged on robot body is shown
Show on device 4；The front of robot body is additionally provided with laser sensor 5 and sound equipment 6；The bottom of robot body is provided with bottom
Disk is provided with 2 driving wheels and 2 universal wheels of connection driving motor 12 on chassis；Laser radar 7 is arranged on the upper of chassis
Portion；Ultrasonic sensor 8 has 4, is distributed in the circumference on chassis, wherein 3 foreparts for being arranged on chassis, 1 is arranged on chassis
Rear portion.LED light strip 9 is distributed in the head on both sides of robot body, body both sides, the lower part of touch screen displays 4, laser radar
7 top.Charging socket 11 and power switch 10 are additionally provided on chassis.
As shown in figure 3, in terms of connection relation, in the present embodiment, voice input module 1 connects cloud service by HTTP
Device, by WIFI connection Android all-in-one machines, using 5V power voltage supplies；Sound equipment 6 is the Mini-type audio equipment using 5V power voltage supplies；
Android all-in-one machines use 12V power voltage supplies, also by HTTP connection cloud servers.
The bluetooth module of the serial ports PA2/3 access 3.3V power voltage supplies of STM32 microcontrollers, is realized with Android all-in-one machines
Bluetooth communication；The camera 2 of the special adaptations of STM32 of 5V power voltage supplies is connect through serial ports PB10/11；Through IIC PB8/9 mouthfuls of simulation
Connect the laser sensor 5 of 3.3V power voltage supplies；The Raspberry Pi controller being arranged in chassis is connect through serial ports PC10/11；Through serial ports
PA9/10 connects the display lamp group 3 of 5V power voltage supplies；Through I/O port：PD10/11 and PWM：PA0/1 mouthfuls connect LED light strip 9.
In addition, the mobile module group in the present embodiment is based on 360 degree of laser radars 7, Raspberry Pi controller passes through ROS machines
Figure is built in people's operating platform and immediately positioning（SLAM）Algorithm provides the other positioning of Centimeter Level and the accuracy of map, synchronous acquisition position
And map, by intelligent path navigation D* algorithms and TEB prioritization schemes, carry out path planning and carry out barrier and evade to lead
Boat.
As shown in figure 4, the control method of the present embodiment device, when starting and initialize completion or the detection of power supply monitoring module
To electricity it is low when, mobile module group start to work, which is characterized in that comprise the following steps；
Step A1：Laser radar 7 scans ambient enviroment, determines mobile destination, completes path planning；
Step A2：Driving motor 12 controls driving wheel and universal wheel to drive the movement of robot body；
Step A3：Laser radar 7 determines the relative position with destination in real time, completes the update of path planning；Supersonic sensing
Device 8 carries out real time distance to roadblock, to carry out obstacle avoidance aiding；
Step A4：It arrives at, when destination is not charge point, into operating mode；When destination is charge point, control
Charging socket 11 on chassis processed is directed at power supply, shuts down after accessing power supply.After charging complete, it can restart.
As shown in figure 5, the operating mode of the present embodiment device comprises the following steps：
Step B1：Messaging interaction module group starts and completes to initialize, afterwards into dormant state；
Step B2：When laser sensor 5 senses object proximity, camera 2 is opened, and carries out recognition of face, when recognizing
During face, step B3 is performed；
Step B3：Voice input module 1 is waken up, while touch screen displays 4 are lighted；
Step B4：According to speech input information and/or touch-screen input information, the thing that Android all-in-one machines pass through cloud server
Part response updates into row information in touch screen displays 4 and/or carries out voice output by sound equipment 6；
Specifically, touch screen clicks on the corresponding event that can set out, and carries out interface update；Semantic understanding is carried out during phonetic entry, is analyzed
Go out corresponding event, provide voice response, with update screen interface.The interactive mode of Android all-in-one machines and cloud server
The logic judgment and event matches performed including order.
Step B5：When in the default time（Two minutes）, when no efficient voice inputs information and touch-screen input information, again
Into dormant state.
Wherein, during dormant state, show that lamp group 3 and LED light strip 9 are in OFF state.
When performing step B3, display lamp group 3 sends the expression prompting of interaction mode unlatching.
When performing step B4, display lamp group 3 sends different types of expression according to different types of event response and prompts.
In the present embodiment, speech recognition carries each label, such as environment, event, emotion, such as " I wants new clothes electric
Table " after Android all-in-one machine semantic understandings, draws " environment " label as " electricity consumption business ", and " event " is " new clothes ammeter ",
Corresponding answer can be provided；Such as " thank you ", after semantic understanding, it is " daily question and answer " to draw " environment ", and " emotion " is " high
It is emerging ", facial lamp plate can make different expressions according to that please feel label.
In this example it is shown that lamp group 3 in advance carries out a little expression using the LED dot matrix lamp plates of 2 pieces of low-power consumption 8*8
Battle array coding is numbered every group of expression coding and is stored in STM32 microcontrollers, right when analyzing different affective tags
Display lamp group 3 sends corresponding number, you can makes corresponding expression.
This patent is not limited to above-mentioned preferred forms, anyone can draw other each under the enlightenment of this patent
The electricity business hall intellect service robot device and control method of kind of form, it is all done according to scope of the present invention patent it is equal
It Deng variation and modifies, should all belong to the covering scope of this patent.
Claims (9)
1. a kind of electricity business hall intellect service robot device, which is characterized in that including：It is arranged on robot body：
Android all-in-one machines, STM32 microcontrollers, messaging interaction module group, expression module group, identification module group and mobile module group；Institute
Stating messaging interaction module group includes：Voice input module, touch-screen input module, the display screen of Android all-in-one machines are connected respectively
And sound equipment；The expression module group includes：Connect the display lamp group of STM32 microcontrollers；The identification module group includes：Connection
The laser sensor and camera of STM32 microcontrollers；The mobile module group includes：The power supply of Raspberry Pi controller is connected respectively
Monitoring modular, laser radar, ultrasonic sensor and driving motor；The Android all-in-one machines and STM32 microcontrollers pass through indigo plant
Tooth communicates；The STM32 microcontrollers connect Raspberry Pi controller by serial ports；The Android all-in-one machines connect cloud service
Device.
2. electricity business hall intellect service robot device according to claim 1, it is characterised in that：The phonetic entry
Module is arranged on the crown of robot body；The camera and display lamp group are arranged on the face of robot body；It is described to touch
Screen input module and display screen are integrated in the touch screen displays of a front for being arranged on robot body；The chest of robot body
Before be additionally provided with the laser sensor and sound equipment；The bottom of the robot body is provided with chassis, is set on the chassis
There are multiple driving wheels of connection driving motor and at least one universal wheel；The mobile module group is arranged on chassis；It is described super
Sonic sensor has multiple, is distributed in the circumference on chassis.
3. electricity business hall intellect service robot device according to claim 2, it is characterised in that：On the chassis also
It is provided with charging socket and power switch.
4. electricity business hall intellect service robot device according to claim 3, it is characterised in that：The robot sheet
The head on both sides of body, body both sides, the lower part of the touch screen displays, the top of the laser radar be respectively arranged with
The LED light strip of STM32 microcontrollers connection.
5. the control method of electricity business hall intellect service robot device according to claim 4, when starting and initialize
When completion or the power supply monitoring module detect that electricity is low, mobile module group is started to work, which is characterized in that including following step
Suddenly；
Step A1：Laser radar scanning ambient enviroment determines mobile destination, completes path planning；
Step A2：Driving motor controls driving wheel and universal wheel to drive the movement of robot body；
Step A3：Laser radar determines the relative position with destination in real time, completes the update of path planning；Ultrasonic sensor
Real time distance is carried out to roadblock, to carry out obstacle avoidance aiding；
Step A4：It arrives at, when destination is not charge point, into operating mode；When destination is charge point, control
Charging socket alignment power supply on chassis processed, shuts down after accessing power supply.
6. the control method of electricity business hall intellect service robot device according to claim 5, which is characterized in that described
Operating mode comprises the following steps：
Step B1：Messaging interaction module group starts and completes to initialize, afterwards into dormant state；
Step B2：When laser sensor senses object proximity, the camera is opened, and carries out recognition of face, works as identification
During to face, step B3 is performed；
Step B3：The voice input module is waken up, while touch screen displays are lighted；
Step B4：According to speech input information and/or touch-screen input information, the Android all-in-one machines pass through cloud server
Event response updated in touch screen displays into row information and/or voice output carried out by sound equipment；
Step B5：When in the default time, when no efficient voice input information and touch-screen input information, dormancy shape is reentered
State.
7. the control method of electricity business hall intellect service robot device according to claim 6, it is characterised in that：Dormancy
During state, the display lamp group and LED light strip are in OFF state.
8. the control method of electricity business hall intellect service robot device according to claim 6, it is characterised in that：It performs
During step B3, the display lamp group sends the expression prompting of interaction mode unlatching.
9. the control method of electricity business hall intellect service robot device according to claim 6, it is characterised in that：It performs
During step B4, the display lamp group sends different types of expression according to different types of event response and prompts.
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| CN201810141039.3A CN108098796A (en) | 2018-02-11 | 2018-02-11 | Electricity business hall intellect service robot device and control method |
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Cited By (10)
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| CN109366491A (en) * | 2018-09-21 | 2019-02-22 | 上海瑾锋信息科技有限公司 | A kind of touch screen query machine device people |
| CN109816449A (en) * | 2019-01-28 | 2019-05-28 | 广州供电局有限公司 | A kind of intelligent robot system for power marketing customer service |
| CN110116414A (en) * | 2019-05-22 | 2019-08-13 | 汤佳利 | A kind of shop 4S intelligent comprehensive service robot and its system |
| CN110154056A (en) * | 2019-06-17 | 2019-08-23 | 常州摩本智能科技有限公司 | Service robot and its man-machine interaction method |
| CN110549337A (en) * | 2019-08-30 | 2019-12-10 | 上海有个机器人有限公司 | Distribution robot control system |
| CN110576434A (en) * | 2018-06-08 | 2019-12-17 | 香港商女娲创造股份有限公司 | Robot wake-up system and initialization system and method thereof |
| CN110673610A (en) * | 2019-10-11 | 2020-01-10 | 天津工业大学 | ROS-based factory AGV path planning method |
| WO2020057446A1 (en) * | 2018-09-17 | 2020-03-26 | Huawei Technologies Co., Ltd. | Method and system for generating a semantic point cloud map |
| CN114770514A (en) * | 2022-05-11 | 2022-07-22 | 北京睿知文峰教育科技有限公司 | STM 32-based artificial intelligent robot control method and device |
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Application publication date: 20180601 |