CN205734966U - A kind of electronic control system towards household small-size intelligent robot - Google Patents
A kind of electronic control system towards household small-size intelligent robot Download PDFInfo
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- CN205734966U CN205734966U CN201620112415.2U CN201620112415U CN205734966U CN 205734966 U CN205734966 U CN 205734966U CN 201620112415 U CN201620112415 U CN 201620112415U CN 205734966 U CN205734966 U CN 205734966U
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Abstract
The utility model discloses a kind of electronic control system towards household small-size intelligent robot.System includes: interactive information acquisition module, and it is configured to gather outside and interactively enters information, and described interactive information acquisition module comprises voice collecting unit and touch sensor；Interaction process module, it is configured to analyze described outside and interactively enters information and export corresponding speech response control information and action response control information；Voice-output unit, its speech response being configured to control information output matching according to described speech response；Robot limb control unit, it is configured to export at described voice-output unit respond the robot limb control signal of control information output matching according to described action while described speech response and make corresponding actions with the limbs of driven machine people.Action can be realized while carrying out interactive voice according to robot of the present utility model electronic control system mutual, there is wider array of range of application and more preferable Consumer's Experience.
Description
Technical field
This utility model relates to robot field, in particulars relate to a kind of electricity towards household small-size intelligent robot
Sub-control system.
Background technology
Development and the continuous progress of artificial intelligence technology along with computer technology.Small-sized in domestic environments
The application of intelligent robot is more extensive, towards the small intelligent robot of domestic just in fast development.
The existing small scale robot towards domestic, is only capable of realizing button opening and closing or interactive voice, still can not pass through it
His mode, it is achieved the polynary communication of user and small scale robot.The most existing robot still can not reach language
Sound interaction exports limb action simultaneously mutual with realize on limb action.This not only limit machine
The range of application of people, and greatly reduce the Consumer's Experience of robot.
Therefore, in order to improve the Consumer's Experience of robot, expand the range of application of robot, need badly a kind of towards
The electronic control system of household small-size intelligent robot.
Utility model content
In order to improve the Consumer's Experience of robot, expanding the range of application of robot, this utility model provides one
Plant the electronic control system towards household small-size intelligent robot, including:
Interactive information acquisition module, it is configured to gather the outside information that interactively enters, described interactive information collection mould
Block comprises voice collecting unit and touch sensor, and described voice collecting cell location is for gathering extraneous voice letter
Breath, described touch sensor is configured to gather external touch pressure data；
Interaction process module, it is configured to analyze described outside and interactively enters information and export corresponding speech response
Control information is responded in control information and action, and described speech response controls information and described action is responded and controlled
Information is mutually matched；
Voice-output unit, its speech response being configured to control information output matching according to described speech response；
Robot limb control unit, it is configured to export the same of described speech response at described voice-output unit
Time according to described action respond control information output matching robot limb control signal with driven machine people's
Limbs make corresponding actions.
In one embodiment, described interaction process module comprises networked interactive unit, and described networked interactive unit is joined
It is set to the data interaction realizing described interaction process module with robot network's service end, described interaction process module
It is configured under the auxiliary of described robot network's service end, generate described mutual response control information.
In one embodiment, described system comprises master system and lower computer system, described master system
And described lower computer system respectively comprises one piece of independent master control borad, described interactive information acquisition module, institute
State interaction process module and described voice-output unit is built in described master system, described robot
Limb control unit is built in described lower computer system.
In one embodiment, the master control borad of described master system is master control based on full will double-core A20 processor
Plate, the master control borad of described master system is integrated with wireless networking module, Mike's noise reduction module and audio frequency and puts
Big module.
In one embodiment, described system also comprises attitude transducer, and described attitude transducer is built into described
In lower computer system, described attitude transducer is configured to supervisory-controlled robot current pose, described robot limb control
Cell location processed is to export corresponding described robot limb control signal based on described robot current pose.
In one embodiment, the master control borad of described lower computer system is based on STMicw Electronics microcontroller STM32
Master control borad, the master control borad of described lower computer system is integrated with six axle attitude transducer MPU6500 and electricity
Machine drives module.
In one embodiment, described system also comprises electricity quantity display module, and described electricity quantity display module is built into
In described lower computer system, wherein:
The master control borad of described master system is configured to gather and send the information about power that robot is current；
The electricity that described electricity quantity display module is configured to according to the output of described information about power is corresponding shows.
In one embodiment, described system also comprises interactive display module, and described interactive display module is built into
In described lower computer system, wherein:
The master control borad of described master system is configured to gather and send the interaction mode that robot is current, described friendship
State includes recording state, voice/action output state and semantic parsing state mutually；
The interaction mode that described interactive display module is configured to according to the output of described interaction mode is corresponding shows.
In one embodiment, described system also includes vision sensor and VPU, wherein:
Described vision sensor is configured to gather external image information；
Described VPU is configured to analyze and process described external image information and image analysis processing is tied
Fruit is sent to described interaction process module；
Described interaction process module is configured to comprehensively to analyze described outside and interactively enters information and described image divides
Analysis result also exports corresponding speech response control information and action response control information.
Can realize dynamic while carrying out interactive voice according to robot of the present utility model electronic control system
Making mutual, compared with the robot control system of prior art, its volume is little, simple in construction, has wider array of
Range of application and preferably Consumer's Experience.
Further feature of the present utility model or advantage will illustrate in the following description.Further, this utility model
Partial Feature or advantage will be become apparent by description, or by implementing this utility model and quilt
Understand.The purpose of this utility model and certain advantages can be by institutes in description, claims and accompanying drawing
The step particularly pointed out realizes or obtains.
Accompanying drawing explanation
Accompanying drawing is used for providing being further appreciated by of the present utility model, and constitutes a part for description, with this
The embodiment of utility model is provided commonly for explaining this utility model, is not intended that restriction of the present utility model.?
In accompanying drawing:
Fig. 1 is according to this utility model one embodiment system structure sketch；
Fig. 2 is according to this utility model one embodiment system master plate interface distribution schematic diagram.
Detailed description of the invention
Describing embodiment of the present utility model in detail below with reference to drawings and Examples, this practicality is new whereby
The enforcement personnel of type can fully understand how application technology means are to solve technical problem for this utility model, and reaches
Become the process that realizes of technique effect and be embodied as this utility model according to the above-mentioned process that realizes.Need explanation
It is that, as long as not constituting conflict, each embodiment in this utility model and each feature in each embodiment can
To be combined with each other, the technical scheme formed is all within protection domain of the present utility model.
The existing small scale robot towards domestic, is only capable of realizing button opening and closing or interactive voice, still can not pass through it
His mode, it is achieved the polynary communication of user and small scale robot.The most existing robot still can not reach language
Sound interaction exports limb action simultaneously mutual with realize on limb action.This not only limit machine
The range of application of people, and greatly reduce the Consumer's Experience of robot.
In order to improve the Consumer's Experience of robot, expanding the range of application of robot, this utility model provides one
Plant the electronic control system towards household small-size intelligent robot.
Robot of the present utility model electronic control system key component includes interactive information acquisition module, friendship
Processing module, voice-output unit and robot limb control unit mutually.
As it is shown in figure 1, interactive information acquisition module 110 is configured to gather outside interactively enters information.Mutual letter
Breath acquisition module 110 comprises voice collecting unit 111 and touch sensor 112, voice collecting unit 111
Being configured to gather extraneous voice messaging, touch sensor 112 is configured to gather external touch pressure data.
Interaction process module 120 is configured to analyze outside and interactively enters information and export the control of corresponding speech response
Control information is responded in information and action, and speech response controls information and mutual of control information is responded in action
Join.
Voice-output unit 130 is configured to control the speech response of information output matching according to speech response；
Robot limb control unit 140 is configured to respond the robot limb of control information output matching according to action
Body control signal makes corresponding actions with the limbs of driven machine people.
Export the voice interactively entering information analysis result corresponding with outside to return due to interaction process module 120 simultaneously
Information should be controlled and control information is responded in action, and speech response controls information and action is responded and controlled letter
Breath is mutually matched.Therefore robot can make the action supporting with speech response while making speech response
Respond.This has expanded the range of application of robot the most significantly, and improves the Consumer's Experience of robot.
Consider that analyzing outside interactively enters information and generate speech response control information and action response control
Information needs to carry out substantial amounts of data process.In order to reduce the performance requirement of interaction process module, reduce robot
The volume of control system and cost, in an embodiment of the present utility model, in interaction process module 120
It is configured with networked interactive unit 121.
Networked interactive unit 121 is arranged for carrying out interaction process module 120 and robot network's service end 100
Data interaction, interaction process module 120 is configured under the auxiliary of robot network's service end 100 generate alternately
Respond control information.Thus be equivalent to the data processing operation that will originally need interaction process module 120 to complete
Robot network's service end 100 has been given to complete, it addition, originally need to be stored in interaction process module 120
Data information can also be stored in robot network's service end 100.The performance requirement quilt of interaction process module 120
Being substantially reduced, its volume and cost have obtained effective control.
Further, in the embodiment shown in fig. 1, robot electronic control system also comprises attitude transducer 150,
Attitude transducer 150 is configured to supervisory-controlled robot current pose, and robot limb control unit 140 is configured to base
Corresponding robot limb control signal is exported in robot current pose.Robot thus can be avoided to ignore
Self attitude current performs action by force, thus avoids movement posture mistake or disequilibrium the situation such as to fall down
Occur.It addition, monitoring data are directly sent to robot limb control unit 140 by attitude transducer 150,
Interaction process module is the attitude of quick obtaining current robot when control information is responded in generation action, thus reduces
The data processing amount of interaction process unit.
In order to effectively control the volume of robot electronic control system to realize the miniaturization of robot, in this practicality
In a novel embodiment, have employed the mode each functional module being integrated on master control borad.In view of each merit
The energy power supply requirement of module, data processing needs and difference functionally, in this utility model one embodiment,
Robot electronic control system is configured to master system and lower computer system two parts.Master system with
And lower computer system respectively comprises one piece of independent master control borad, master system and the outside of lower computer system
Circuit original paper is connected on respective master control borad.So by resource on the premise of ensureing the integrated level that system is overall
There is the module of conflict separately, thus ensure that the stable and high effective operation of system.
In an embodiment of the present utility model, make to analyze as follows:
First system of considering interactively enters information and generates corresponding speech response control information in analysis outside
And action is required to carry out larger amount of data fortune when responding control information, generation robot limb control signal
Calculate；
Generate robot limb control signal (driven machine people's limbs) and need the power supply support of relatively high power；
Control information output voice according to speech response and collection outside interactively enters information data operand very
Greatly.
Therefore, interactive information acquisition module, interaction process module and voice-output unit are constructed at host computer
In system；Robot limb control unit and attitude transducer are constructed in lower computer system.Host computer system
System realizes outside and interactively enters the collection analysis of information, speech response control information and action response control information
Generation and the output of speech response；Action is responded control information and is sent to the next owner by host computer master control borad
Control plate, lower computer system realizes the generation of robot limb control signal and the driving of robot limb.So
Allow for generating robot limb control signal and driven machine people's limbs obtain relatively independent data and process
Hardware and power supply support.
As it is shown in figure 1, interactive information acquisition module 110, interaction process module 120 and voice-output unit
130 are built in master system 101, robot limb control unit 140 and attitude transducer 150
It is built in lower computer system 102.
Further, understand, for the ease of user, the state of charge that robot is current.Implement at this utility model one
In example, system also comprises electricity quantity display module, and electricity quantity display module is configured to show the electricity letter that robot is current
Breath.Show that the data processing amount needed is the highest in view of electricity and however it is necessary that certain power drives support (drives
Light emitting diode), during therefore electricity quantity display module is built into lower computer system, wherein:
The master control borad of master system is configured to gather and send the information about power that robot is current；
The electricity that electricity quantity display module is configured to according to information about power output is corresponding shows.
Further, understand, for the ease of user, the interaction mode that robot is current.Implement at this utility model one
In example, system also comprises interactive display module, and interactive display module is configured to show the mutual shape that robot is current
State.Show that the data processing amount needed is the highest in view of interaction mode and however it is necessary that certain power drives support
(driven for emitting lights diode), during therefore interactive display module is built into lower computer system, wherein:
The master control borad of master system is configured to gather and send the interaction mode that robot is current, interaction mode bag
Include recording state, voice/action output state and semantic parsing state；
The interaction mode that interactive display module is configured to according to interaction mode output is corresponding shows.
Concrete, in this utility model one embodiment, the master control borad of master system is based on full will double-core
The master control borad of A20 processor, the master control borad of master system is integrated with wireless networking module (WiFi), wheat
Gram noise reduction module and audio amplification block.Utilize A20 processor carry out outside interactively enter information analysis,
Speech response controls information and the generation of action response control information；WiFi networking module is utilized to realize and machine
The data interaction of device people's network service end；Utilize Mike's noise reduction module and the mike reality being connected on master control borad
The collection of existing extraneous voice messaging；Audio amplification block and the speaker that is connected on master control borad is utilized to realize language
The output that sound is responded.
As in figure 2 it is shown, host computer master control borad 210 is master control borad based on full will double-core A20 processor, its plate
Carry wifi networking module, Mike's noise reduction and audio amplification block and power management module.Host computer master control borad 210
The interface provided has:
Capacitance touch interface 212, three-wire interface, line sequence is power supply (VCC) ground connection (GND) output (OUT),
It is connected to touch modules 204；
Serial communication interface 216, three-wire interface, line sequence is ground connection (GND) up (RX) descending (TX),
It is connected to the serial communication interface 227 of slave computer master control borad 217；
Speaker interface 213, two line interfaces, line sequence is that audio signal just (Speaker+) audio signal is born
(Speaker-) (in this utility model one embodiment, have 2 speaker interface), it is connected to raise
Sound device 205；
Microphone interface 211, two line interfaces, line sequence is MICP (Mic+) MICN (Mic-),
It is connected to mike 203；
Charge port 214, two line interfaces, line sequence is power supply (VCC) ground connection (GND), and it is connected to machine
People's charge port 201 also connects power management module 215；
The battery charging inlet of power management module 215, two line interfaces, line sequence is that power supply input (DCIN) connects
Ground (GND), it is connected to lithium battery 202.
Host computer master control borad 210 a size of 60mm*40mm, mike 203 is the electret wheat of diameter 6mm
Gram, speaker 205 is the speaker that the high bass of diameter 25mm is coaxial, and touch modules 204 is 2mm*2mm
Touch modules.
Concrete, in this utility model one embodiment, the master control borad of lower computer system is based on STMicw Electronics
The master control borad of microcontroller STM32, the master control borad of lower computer system is integrated with six axle attitude transducers
MPU6500 and motor drive module.Microcontroller STM32 is utilized to generate robot limb control signal；
Utilize six axle attitude transducer MPU6500 supervisory-controlled robot current pose；Motor drive module is utilized to drive machine
Device people's limb action.
As in figure 2 it is shown, slave computer master control borad 220 is master control based on STMicw Electronics microcontroller STM32
Plate.Slave computer master control borad 220 is internally integrated power management module, power supply display module, interaction mode display mould
Block, six axle attitude transducer MPU6500 and motor drive.
Concrete, the interface that slave computer master control borad 220 provides has:
Power interface, two line interfaces, line sequence is VCC GND, and the voltage stabilizing chip 223 of power management module leads to
Cross power interface to be connected with the power management module 215 of lithium battery 202 and host computer master control borad 210；
Serial communication interface 227, three-wire interface, line sequence is GND RX TX, host computer master control borad 210 and
Realize data by serial communication between slave computer master control borad 220 to transmit；
Three road motor interfaces, every road is two line interfaces, and line sequence is that motor just (Motor+) motor is negative (Motor-),
Motor drive (224,225,226) by the motor of three road motor interface driven machine people (231,232,
233) (three motors are respectively one arm motor of two thigh motor) operates to realize robot motion；
System charge display interface, four-wire interface, line sequence connects for output (IO) output (IO) output (IO)
Ground (GND), be connected to electricity display lamp 206 (electricity display lamp is multi-color LED (LED) lamp,
Three I/O interface corresponding red R respectively, green G, blue B)；
Interactive display interface, two line interfaces, line sequence is PWM GND, is connected to mutual display lamp 207 and (hands over
Display lamp is respiratory nasal lamp mutually).
Slave computer master control borad 220 a size of 55mm*35mm, mutual display lamp 207 is the LED of diameter 3mm
Lamp, electricity display lamp 206 is the LED of diameter 3mm.
System upper and lower computer master control borad 210 and 220 is controlled by a physical switch.System boot process is:
System electrification, host computer master control borad 210 completes networking, initializes；
The mutual display lamp 207 of slave computer master control borad 220 is in breathing state and waits at the beginning of host computer master control borad 210
Beginning completes.
Interaction:
Host computer master control borad 210 has initialized, upper and lower computer master control borad 210 and 220 by serial ports (216,
227) normal delivery data；
Mike 203 gathers audio signal, through giving host computer master control borad 210 to noise reduction and the amplification of audio frequency
Process chip A20, A20 by networking module, voice messaging passed to robot network's service end, machine
Voice messaging is made and is judged and will determine that result is passed A20, A20 back and controlled to raise one's voice accurately by people's network service end
Device 205 feeds back to user speech and responds, and simultaneously control information is responded in action by A20 (needs perform to move
Make), information about power and interaction mode information be sent to slave computer master control borad 220 by serial ports；
Slave computer master control borad 220 receives the control instruction of A20 by serial ports, completes electricity and shows, shows alternately,
The multi-modal interactive action such as leg and hand motion.
During electricity shows, system charge is represented by RGB tri coloured lantern: it is not enough that R represents electricity, B generation
Table electricity is normal, and it is sufficient that G represents electricity.Host computer master control borad 210 informs user's electricity by speaker simultaneously
Situation.During mutual display, the LED controlled by PWM: normal bright prompting user now robot
Being in recording state, prompting user's now robot voice output of often going out, flash for prompting user robot is in networking
Carry out semantic parsing.
In order to expand the range of application of robot further, improve the Consumer's Experience of robot, at this utility model
In one embodiment, robot electronic control system also comprises vision sensor, outside vision sensor is configured to gather
Boundary's image information.Outside just can be comprehensively analyzed in so interaction process module configuration of robot electronic control system
Interactively enter information and external image information and export corresponding speech response control information and action response
Control information.
Analysis in view of external image information has higher data processing amount, therefore, at this utility model one
In embodiment, system also includes VPU, and VPU is configured to analyze and process external image letter
Breath is also sent to interaction process module image analysis processing result.Outside interaction process module is configured to comprehensively analyze
Portion interactively enters information and image analysis processing result and exports corresponding speech response control information and move
Make to respond control information.
To sum up, robot of the present utility model electronic control system can realize dynamic while carrying out interactive voice
Making mutual, compared with the robot control system of prior art, its volume is little, simple in construction, has wider array of
Range of application and preferably Consumer's Experience.
Although embodiment disclosed in the utility model is as above, but described content is only to facilitate understand this
Utility model and the embodiment that uses, be not limited to this utility model.System described in the utility model
Also can there be other various embodiments.In the case of without departing substantially from this utility model essence, it is familiar with the technology of this area
Personnel are when making various corresponding change or deformation according to this utility model, but these change or deformation accordingly
All should belong to scope of the claims of the present utility model.
Claims (9)
1. towards an electronic control system for household small-size intelligent robot, including:
Interactive information acquisition module, it is configured to gather outside and interactively enters information, described interactive information acquisition module comprises voice collecting unit and touch sensor, and described voice collecting cell location is for gathering extraneous voice messaging, and described touch sensor is configured to gather external touch pressure data；
Interaction process module, it is configured to analyze described outside and interactively enters information and export corresponding speech response and control information and control information is responded in action, and described speech response controls information and described action is responded control information and is mutually matched；
Voice-output unit, its speech response being configured to control information output matching according to described speech response；
Robot limb control unit, it is configured to export at described voice-output unit respond the robot limb control signal of control information output matching according to described action while described speech response and make corresponding actions with the limbs of driven machine people.
System the most according to claim 1, it is characterized in that, described interaction process module comprises networked interactive unit, described networked interactive cell location is the data interaction realizing described interaction process module with robot network's service end, and described interaction process module is configured to generate described speech response under the auxiliary of described robot network's service end and controls information and/or described action response control information.
System the most according to claim 1 and 2, it is characterized in that, described system comprises master system and lower computer system, described master system and described lower computer system respectively comprise one piece of independent master control borad, described interactive information acquisition module, described interaction process module and described voice-output unit are built in described master system, and described robot limb control unit is built in described lower computer system.
System the most according to claim 3, it is characterized in that, the master control borad of described master system is master control borad based on full will double-core A20 processor, and the master control borad of described master system is integrated with wireless networking module, Mike's noise reduction module and audio amplification block.
System the most according to claim 3, it is characterized in that, described system also comprises attitude transducer, described attitude transducer is built in described lower computer system, described attitude transducer is configured to supervisory-controlled robot current pose, and described robot limb control unit is configured to described robot current pose and exports corresponding described robot limb control signal.
System the most according to claim 5, it is characterized in that, the master control borad of described lower computer system is master control borad based on STMicw Electronics microcontroller STM32, and the master control borad of described lower computer system is integrated with six axle attitude transducer MPU6500 and motor drive modules.
System the most according to claim 3, it is characterised in that described system also comprises electricity quantity display module, described electricity quantity display module is built in described lower computer system, wherein:
The master control borad of described master system is configured to gather and send the information about power that robot is current；
The electricity that described electricity quantity display module is configured to according to the output of described information about power is corresponding shows.
System the most according to claim 3, it is characterised in that described system also comprises interactive display module, described interactive display module is built in described lower computer system, wherein:
The master control borad of described master system is configured to gather and send the interaction mode that robot is current, and described interaction mode includes recording state, voice/action output state and semantic parsing state；
The interaction mode that described interactive display module is configured to according to the output of described interaction mode is corresponding shows.
System the most according to claim 1, it is characterised in that described system also includes vision sensor and VPU, wherein:
Described vision sensor is configured to gather external image information；
Described VPU is configured to analyze and process described external image information and image analysis processing result is sent to described interaction process module；
Described interaction process module is configured to comprehensively analyze described outside and interactively enters information and described image analysis processing result and export corresponding speech response control information and action response control information.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563500A (en) * | 2016-02-04 | 2016-05-11 | 北京光年无限科技有限公司 | Electronic control system oriented to small intelligent household robot and method thereof |
| CN106845628A (en) * | 2017-02-07 | 2017-06-13 | 珠海金萝卜智动科技有限公司 | The method and apparatus that robot generates new command by internet autonomous learning |
| CN107309886A (en) * | 2017-07-10 | 2017-11-03 | 芜湖拓达电子科技有限公司 | A kind of household intelligent robot system |
| CN110069025A (en) * | 2018-01-24 | 2019-07-30 | 可赛尔内存股份有限公司 | The control system of analytical calculation machine periphery ecology complex information |
| CN111844046A (en) * | 2017-03-11 | 2020-10-30 | 陕西爱尚物联科技有限公司 | Robot hardware system and robot thereof |
-
2016
- 2016-02-04 CN CN201620112415.2U patent/CN205734966U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563500A (en) * | 2016-02-04 | 2016-05-11 | 北京光年无限科技有限公司 | Electronic control system oriented to small intelligent household robot and method thereof |
| CN106845628A (en) * | 2017-02-07 | 2017-06-13 | 珠海金萝卜智动科技有限公司 | The method and apparatus that robot generates new command by internet autonomous learning |
| CN111844046A (en) * | 2017-03-11 | 2020-10-30 | 陕西爱尚物联科技有限公司 | Robot hardware system and robot thereof |
| CN107309886A (en) * | 2017-07-10 | 2017-11-03 | 芜湖拓达电子科技有限公司 | A kind of household intelligent robot system |
| CN110069025A (en) * | 2018-01-24 | 2019-07-30 | 可赛尔内存股份有限公司 | The control system of analytical calculation machine periphery ecology complex information |
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