CN108393861A - A kind of man-machine interactive intelligent robot - Google Patents
A kind of man-machine interactive intelligent robot Download PDFInfo
- Publication number
- CN108393861A CN108393861A CN201810139570.7A CN201810139570A CN108393861A CN 108393861 A CN108393861 A CN 108393861A CN 201810139570 A CN201810139570 A CN 201810139570A CN 108393861 A CN108393861 A CN 108393861A
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- CN
- China
- Prior art keywords
- man
- intelligent robot
- machine interactive
- interactive intelligent
- assembly
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of man-machine interactive intelligent robots, include mainly head assembly, middle part assembly and chassis assembly；Head assembly is flexibly connected by slide construction with the middle part assembly；Chassis assembly is locked and connected with middle part assembly by screw；The head assembly includes overhead guard and the plate that is slidably installed, and the overhead guard is fixed on described be slidably installed on plate；Substrate is installed at the top of the middle part assembly, sliding rail is fixed on the substrate, is fixed with sliding block on the board bottom face that is slidably installed, the sliding block is slidably mounted on the sliding rail.Optical projection system is used on intelligent robot by the present invention using simple mechanical structure, and is carried out by floor projection and people interactive, makes man-machine to advance more forward on Interactive Experience.
Description
Technical field
The invention belongs to intelligent robot technology fields, and in particular to a kind of man-machine interactive intelligent robot.
Background technology
The existing human-computer interaction interface for the intelligent robot of functions such as educating/accompanying and attending to mostly continues to use traditional liquid crystal display
Screen is carrier, imitates the local appearance expression of the mankind, such as blink, smile, mainly logical in human-computer interaction and service process
The modes such as liquid crystal display touch screen, voice are crossed to interact.
The human-computer interaction form content of such robot is more single, can not with people carry out deeper into various dimensions interaction
It links up, such as imparts knowledge to students, plays games, i.e., cannot carry out depth interaction with crowd, and interactive process is recreational also not high.
Invention content
The purpose of the present invention is to solve the defects of intelligent robot human-computer interaction means are single, content is dull, carry
The robot of human-computer interaction interaction is gone out while having been carried out using multiple means such as action recognitions on display, voice, floor projection
Structure realizes more effectively lively man-machine interaction mode, while also having auxiliary fire-extinguishing function concurrently.
The present invention provides a kind of man-machine interactive intelligent robots, include mainly head assembly, middle part assembly and chassis
Assembly；Head assembly includes overhead guard and the plate that is slidably installed, and overhead guard, which is fixed on, to be slidably installed on plate；It is equipped at the top of the assembly of middle part
Substrate is fixed with sliding rail on substrate, and the board bottom that is slidably installed is fixed with sliding block on face, and sliding block is slidably mounted on sliding rail.
Further, projecting apparatus is installed on the slide construction, institute can be slided out to along sliding rail with the head assembly
The position that middle part assembly does not block is stated, ground is projected.
Further, the plate that is slidably installed has notch section on the position below the camera lens positioned at the projecting apparatus,
It is provided with protective plate on the notch section.
As preferred means, camera one is installed in the overhead guard and above projector lens, for carrying out
Recognition of face or environment measuring.
As preferred means, installed on the almost the same direction of projector lens, at projector position in overhead guard
There is camera two.
As further preferred means, at least one sound pick-up is installed outside overhead guard, is used for auditory localization or sound
Identification.
Further, synchronous pulley system is installed between substrate and the plate that is slidably installed, the belt of synchronous pulley system
Drive section is fixedly connected with the plate that is slidably installed.
As preferred means, the lower surface of substrate is equipped with electromagnetism pin.As preferred means, the lower surface of substrate is equipped with
Extinguishing device.
As preferred means, overhead guard edge uses flexible material welt so that the seam between head assembly and middle part assembly
Gap is between 1-3 mm.
Further, it is provided with laser radar in chassis assembly.
Further, extinguishing device includes the outer nozzle of extinguishing device, external pyrotechnics sensor, extinguishing device lower nozzle and interior
Set pyrotechnics sensor.
The present invention provides the intelligent robot structure that a kind of head can carry out sliding projection, have sliding equipment with it is synchronous
The smooth sliding of projecting apparatus may be implemented in belt transmission system.Simultaneously using camera, laser radar, ultrasonic radar as machine
" vision system " of people, is furthermore achieved the intelligence of human-computer interaction.
Description of the drawings
Fig. 1 is the intelligent robot forward direction stereochemical structure small-angle strabismus perspective diagram of the present invention；
Fig. 2 is the intelligent robot side stereoscopic schematic diagram (projection structure unfolded state) of the present invention；
Fig. 3 is the intelligent robot sliding equipment vertical view of the present invention；
Fig. 4 is the intelligent robot sliding equipment sectional view of the present invention.
Reference sign：
1, head assembly；1-1, projecting apparatus；1-2, protective plate one；1-3, sound pick-up；1-4, camera one；1-5, camera
Two；1-6, lens or sheet glass；
2, middle part assembly；The outer nozzle of 2-1, extinguishing device；2-2, external pyrotechnics sensor；2-3, position sensor；
3, chassis assembly；3-1, laser radar；3-2, ultrasonic radar；3-3, driving wheel assembly；3-4, universal wheel；3-5, drive
Dynamic system；
4-1, substrate；4-2, be slidably installed plate；4-3, sliding rail；4-4, sliding block；4-5, synchronous pulley system；4-6, stroke limit
Position mechanism；
5-1, motor；5-2, extinguishing device；5-3, electromagnetism pin；5-4, extinguishing device lower nozzle；5-5, built-in pyrotechnics sensing
Device；
S, view field.
Specific implementation mode
Present invention is further described in detail below in conjunction with the accompanying drawings.
The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not as a limitation of the invention.
In addition, in the drawings and embodiments the use of element/component of same or like label is for representing same or like portion
Point.
As shown in Figures 1 to 4, a kind of man-machine interactive intelligent robot of the invention includes mainly head assembly 1, middle part
Assembly 2 and chassis assembly 3.Head assembly 1 is flexibly connected by slide construction with the middle part assembly 2.The chassis assembly 3 with
The middle part assembly 2 is locked and connected by screw.
Head assembly 1 includes overhead guard and the plate 4-2 that is slidably installed, and overhead guard, which is fixed on, to be slidably installed on plate 4-2.Middle part assembly 2
Top substrate 4-1 is installed, sliding rail 4-3 is fixed on substrate 4-1, sliding block 4-4 is fixed on the bottom surfaces plate 4-2 that are slidably installed,
Sliding block 4-4 is slidably mounted on sliding rail 4-3.
Overhead guard is transparent or translucent material.Projecting apparatus 1-1, one 1-4 of camera, two 1- of camera are installed inside overhead guard
5。
Projecting apparatus 1-1 is mounted on overhead guard inner housing, can slide out to middle part assembly 2 not along sliding rail 4-3 with head assembly 1
The position blocked, projects ground.Acute angle is formed between the camera lens and ground of projecting apparatus 1-1, on the ground view field S
Picture dimension be preferably 32 cun of -120 cun of square.
Protective plate 1-2, which is arranged, to be slidably installed on the notch section of plate 4-2, and below the camera lens of projecting apparatus 1-1, to throwing
Shadow instrument camera lens has protective effect, it is preferable to use the high translucent material such as glass, PMMA, PC is made.Protective plate 1-2 can also be whole
Using the non-transparent material such as PVC, the hollow out below projector lens, the embedded transparent members such as lens or sheet glass 1-6, it is ensured that
Projecting apparatus light path it is unimpeded, while foreign matter or finger can be prevented to be caught in the binding site of overhead guard and middle casing again.
One 1-4 of camera is mounted in overhead guard and above projector lens, for carrying out recognition of face or environment inspection
The work such as survey can realize personage's following function with auxiliary robot.Recognition of face uses the prior art.
Camera two is installed on the almost the same direction of projector lens, at the positions projecting apparatus 1-1 in overhead guard
1-5 after skidding off with slide construction, goes out to be placed in the bookish pattern and word in robot projection region for identification
Hold, and the word on books is read by voice system.Can also in view field image or body be acquired and divide
The purpose of analysis, execution identifies.Picture and text identification uses the prior art.
At least one sound pick-up 1-3 is installed, sound pick-up 1-3 is used to pick up the sound of external people, carries out language outside overhead guard
Sound identifies and auditory localization, people's word is recognized accurately, and direction, the position of people are found by the transmission direction of sound.
Synchronous pulley system 4-5, the active of synchronous pulley system 4-5 are installed between substrate 4-1 and the plate 4-2 that is slidably installed
Wheel, driven wheel are mounted on substrate 4-1, and the drive section of the belt of synchronous pulley system 4-5 and the plate 4-2 that is slidably installed are fixed and connected
It connects.Synchronous pulley system 4-5 can drive the plate 4-2 that is slidably installed to move back and forth.
It is also equipped with position sensor 2-3 and journey stop gear 4-6 between substrate 4-1 and the plate 4-2 that is slidably installed.
The lower surface of substrate 4-1 is equipped with motor 5-1, electromagnetism pin 5-3 and extinguishing device 5-2.The output shaft of motor 5-1 is worn
Substrate 4-1 is crossed, is connect with the driving wheel of synchronization belt transmission system 4-5.
Position sensor 2-3 is used to detect the location information for the plate 4-2 that is slidably installed, to control motor 5-1 main storys or reversion,
Realize the reciprocating motion for the plate 4-2 that is slidably installed.Electromagnetism pin 5-3 is controlled by contact closed type relay, and when being slidably installed, plate 4-2 is slided
It when going out to the position of electromagnetism pin 5-3, touches relay power-off and bounces electromagnetism pin 5-3, to the plate 4-2 lockings that will be slidably installed.
When locking, stall occurs for motor, and signal control motor 5-1 power-off is sent out by current sensor.When being slidably installed, plate 4-2 is reset to
When position, journey stop gear 4-6 is touched, to control motor 5-1 power-off.
Meanwhile electromagnetism pin 5-3 is used for after head overhead guard (head assembly) returns to home position, head assembly is with respect to middle part
Assembly locks, and prevents robot head assembly from accidentally slipping out, protects robot parts not by extrinsic damage, or prevent to surrounding
Crowd forms insecurity.
The component being slidably installed under plate 4-2 is hidden in the shell of middle part assembly 2.
Extinguishing device 5-2 is also equipped in middle part assembly 2, extinguishing device 5-2 includes the outer nozzle 2-1 of extinguishing device, outer
Set pyrotechnics sensor 2-2, extinguishing device lower nozzle 5-4 and built-in pyrotechnics sensor 5-5.The outer nozzle 2-1 of extinguishing device and external
In the shell of the detecting head insertion middle part assembly 2 of pyrotechnics sensor 2-2.Extinguishing device lower nozzle 5-4 and built-in pyrotechnics sensor
5-5 is mounted on extinguishing device 5-2, is preferably mounted at the lower parts extinguishing device 5-2.When built-in pyrotechnics sensor 5-5 detects machine
After device people inside is on fire, control extinguishing device lower nozzle 5-4 auto sprayings fire extinguishing ensures the safety of robot itself.When external
Pyrotechnics sensor 2-2 senses that outside is on fire, and robot can go forward and control extinguishing device trypsin method 2-1 to put out a fire automatically.
Preferably, the outer nozzle 2-1 of extinguishing device can be according to the angle of the highly automated adjusting spout of burning things which may cause a fire disaster.
As a preferred embodiment, overhead guard edge using flexible rubber the flexible materials welt such as silica gel so that head assembly
Gap between 1 and middle part assembly 2 between 1-3 mm, prevents head assembly 1 from having foreign matter to sandwich wherein when sliding, together
When also can prevent finger from accidentally stretching into the binding site of overhead guard and middle casing, damage.
As a preferred embodiment, robot of the invention can control motor 5-1 power-off, by pushing overhead guard to realize manually
The plate 4-2 that is slidably installed is skidded off or is resetted.
The chassis assembly 3 is locked and connected with the middle part assembly 2 by screw.
Laser radar 3-1, ultrasonic radar 3-2, driving wheel assembly 3-3, universal wheel 3-4 and drive are provided in chassis assembly 3
Dynamic system 3-5.Laser radar 3-1 carries out virtual partition to view field S can identify projection by scanning projection region S
The accurate location of people or object in the S of region, robot can make corresponding action according to the location information, and it is mutual such as to carry out voice
Move or drive projecting apparatus 1-1 to skid off and projected or move ahead or avoid etc..
Ultrasonic radar 3-2 avoids bumping against for perceiving robot at a distance from interactive objects or barrier.
Drive system 3-5 is power driven system, and control driving wheel assembly 3-3 advances, retreats or turns to.Universal wheel 3-4 is quilt
It is dynamic to follow structure, provide support and balance for robot.
The present invention provides the intelligent robot structure that a kind of head can carry out sliding projection, have sliding equipment with it is synchronous
The smooth sliding of projecting apparatus may be implemented in belt transmission system.Simultaneously using camera, laser radar, ultrasonic radar as machine
" vision system " of people, is furthermore achieved the intelligence of human-computer interaction.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
The present invention is not limited to above to the description of embodiment, those skilled in the art according to disclosure of the present invention,
The creative work improvement and modification that be carried out need not be passed through on the basis of the present invention, all should protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of man-machine interactive intelligent robot, it is characterised in that：
Include mainly head assembly, middle part assembly and chassis assembly；
The head assembly includes overhead guard and the plate that is slidably installed, and the overhead guard is fixed on described be slidably installed on plate；
Substrate is installed at the top of the middle part assembly, sliding rail is fixed on the substrate, is consolidated on the board bottom face that is slidably installed
There are sliding block, the sliding block to be slidably mounted on the sliding rail surely.
2. a kind of man-machine interactive intelligent robot according to claim 1, it is characterised in that：
Projecting apparatus is installed on the slide construction, the middle part assembly can be slided out to along sliding rail with the head assembly and do not hidden
The position of gear, projects ground.
3. a kind of man-machine interactive intelligent robot according to claim 2, it is characterised in that：
The plate that is slidably installed has notch section on the position below the camera lens positioned at the projecting apparatus, is arranged on the notch section
There is protective plate.
4. a kind of man-machine interactive intelligent robot according to claim 1, it is characterised in that：
Camera one is installed in the overhead guard and above projector lens, for carrying out recognition of face or environment inspection
It surveys.
5. a kind of man-machine interactive intelligent robot according to claim 1, it is characterised in that：
Camera two is installed on the almost the same direction of projector lens, at projector position in the overhead guard.
6. a kind of man-machine interactive intelligent robot according to claim 1, it is characterised in that：
At least one sound pick-up is installed outside the overhead guard.
7. a kind of man-machine interactive intelligent robot according to claim 1, it is characterised in that：
Synchronous pulley system, the drive section of the belt of the synchronous pulley system are installed between the substrate and the plate that is slidably installed
Plate is fixedly connected with being slidably installed.
8. a kind of man-machine interactive intelligent robot according to claim 1, it is characterised in that：
The lower surface of the substrate is equipped with electromagnetism pin.
9. a kind of man-machine interactive intelligent robot according to claim 1, it is characterised in that：
The lower surface of the substrate is equipped with extinguishing device.
10. a kind of man-machine interactive intelligent robot according to any one of claim 1 to 9, it is characterised in that：
The overhead guard edge uses flexible material welt so that the gap between head assembly and middle part assembly is between 1-3 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139570.7A CN108393861A (en) | 2018-02-11 | 2018-02-11 | A kind of man-machine interactive intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139570.7A CN108393861A (en) | 2018-02-11 | 2018-02-11 | A kind of man-machine interactive intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108393861A true CN108393861A (en) | 2018-08-14 |
Family
ID=63096429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810139570.7A Pending CN108393861A (en) | 2018-02-11 | 2018-02-11 | A kind of man-machine interactive intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393861A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972590A (en) * | 2018-09-14 | 2018-12-11 | 苏州博众机器人有限公司 | A kind of robot head structure and robot |
| CN110038242A (en) * | 2019-03-05 | 2019-07-23 | 威特龙消防安全集团股份公司 | A kind of unmanned warehouse transfer robot fire prevention and control system and method for disposal |
| CN110060443A (en) * | 2019-03-05 | 2019-07-26 | 威特龙消防安全集团股份公司 | A kind of unmanned warehouse fire preventing control method and its system using safe house |
| CN112870596A (en) * | 2021-01-29 | 2021-06-01 | 湖南擎谱数字科技有限公司 | Mobile robot capable of automatically detecting and extinguishing fire and fire extinguishing method thereof |
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| CN106695826A (en) * | 2016-12-26 | 2017-05-24 | 深圳前海勇艺达机器人有限公司 | Robot device with scanning and reading functions |
| CN106737750A (en) * | 2017-01-13 | 2017-05-31 | 合肥优智领英智能科技有限公司 | A kind of man-machine interactive intelligent robot |
| CN107030733A (en) * | 2017-06-19 | 2017-08-11 | 合肥中科奥威智能科技有限公司 | A kind of wheeled robot |
| CN206840145U (en) * | 2017-04-28 | 2018-01-05 | 天津市新正防爆电器有限公司 | A kind of robot explosion-proof casing |
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2018
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| JP2012183621A (en) * | 2011-03-07 | 2012-09-27 | Hirosaki Kikai Kaihatsu:Kk | Gripper head for prepared slide |
| CN106695826A (en) * | 2016-12-26 | 2017-05-24 | 深圳前海勇艺达机器人有限公司 | Robot device with scanning and reading functions |
| CN106737750A (en) * | 2017-01-13 | 2017-05-31 | 合肥优智领英智能科技有限公司 | A kind of man-machine interactive intelligent robot |
| CN206840145U (en) * | 2017-04-28 | 2018-01-05 | 天津市新正防爆电器有限公司 | A kind of robot explosion-proof casing |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972590A (en) * | 2018-09-14 | 2018-12-11 | 苏州博众机器人有限公司 | A kind of robot head structure and robot |
| CN110038242A (en) * | 2019-03-05 | 2019-07-23 | 威特龙消防安全集团股份公司 | A kind of unmanned warehouse transfer robot fire prevention and control system and method for disposal |
| CN110060443A (en) * | 2019-03-05 | 2019-07-26 | 威特龙消防安全集团股份公司 | A kind of unmanned warehouse fire preventing control method and its system using safe house |
| CN112870596A (en) * | 2021-01-29 | 2021-06-01 | 湖南擎谱数字科技有限公司 | Mobile robot capable of automatically detecting and extinguishing fire and fire extinguishing method thereof |
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Effective date of registration: 20190225 Address after: 230088 Room 1102-A002, 11th floor, Zhongxin Building, Northeast corner of the junction of Innovation Avenue and Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant after: HEFEI HONGHUIDA TECHNOLOGY CO.,LTD. Address before: 230088 Room 507, E1 Building, Innovation Industrial Park, 2800 Innovation Avenue, Hefei High-tech Zone, Anhui Province Applicant before: Hefei Zhongke Aowei Intelligent Technology Co.,Ltd. |
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