Structure and system of smart home robot

Abstract

The invention provides a structure and system of a smart home robot. The core structure of the smart home robot comprises an omnidirectional mobile service robot, an indoor cooperative unmanned aerial vehicle, a smart home center, a central control system and a sensor network deployed in a building structure. The robot is provided with an omni-directional mobile chassis service robot, an indoor unmanned aerial vehicle with the height of 0.6-1.5 m and provided with a video navigation module, a sensor network deployed in a building structure, a central control system and a communication module, and a robot body, the sensor network and an intelligent home center adopt a resource sharing positioning system. A dynamic task distribution mechanism and a health care system are adopted. The intelligent home robot disclosed by the invention can be further combined with an intelligent home system to give priority to a whole-house intelligent control function, and becomes a human-computer interaction terminal, namely a whole-house intelligent robot, with a flexible moving function; and the connection and localization service capability of the medical platform with the connection capability of the health monitoring terminal can be increased according to the intelligent health care function, a health care service robot is created, and the intelligent home robot has multiple application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of smart home and service robots, and in particular to a whole-house collaborative service system based on a multimodal smart terminal and a control method thereof. Background Art

[0002] The existing smart home systems in buildings and houses have the following technical defects: fixed sensors have monitoring blind spots, mobile robots based on independent systems need to be equipped with redundant sensors, which leads to high costs, indoor drones lack effective coordination with peripheral equipment, and the use of smart home systems to analyze family members' behavior habits is single-dimensional. This is reflected in the fact that service robots have no connection with the smart home system and the smart building management system, and cannot work together, which also restricts the development of space intelligence.

[0003] However, existing home service robots have difficulty moving due to the complex and changeable indoor environment, and the lack of communication with smart homes and environmental perception systems leads to functional redundancy and high costs.

[0004] Smart home robots that work in collaboration with smart home environment systems and robot / drone mobile carriers have become an important product research and development direction. Summary of the invention

[0005] The purpose of the present invention is to provide a structure and system of a smart home robot (whole-house smart robot), whose core structure includes five parts: an omnidirectional mobile service robot, an indoor collaborative drone, a smart home hub, a central control system, and a sensor network deployed on the building structure. It adopts a resource sharing positioning system, a dynamic task allocation mechanism, and a health care system.

[0006] The omnidirectional mobile service robot has a height of 0.6 to 1.5 meters. It can be designed to be a fixed height within this height range, or it can be designed as a robot with a lifting platform (the total height when lowered to the lowest state is not less than 0.6 meters, and the total height when raised to the highest height is not more than 1.5 meters), or a foldable body (the total height after folding is not less than 0.6 meters, and the total height after unfolding is not more than 1.5 meters). The robot body is used as a carrying platform with a modular functional cabin, a disinfection cabin, a storage cabin, a retractable and hidden indoor collaborative unmanned cabin box, and two robotic arms with a certain degree of freedom. The robot's mobile chassis is a wheeled omnidirectional mobile chassis. The robot chassis and fuselage are equipped with laser radar, ultrasonic, and infrared detectors to detect the spatial position state, the shape and relative position of obstacles for obstacle avoidance, and can dynamically construct SLAM, and has a UWB precise positioning module. The robot has a multimodal human-computer interaction interface, supports voice and touch screen control, or uses projection to capture human gestures and behaviors for interactive control. The robot has a communication module and a robot body control system, which can be controlled autonomously or as a collaborative unit to accept unified control of the central control system. The omnidirectional mobile service robot chassis has a built-in rechargeable lithium battery and an automatic return charging base.

[0007] The indoor cooperative drone adopts a foldable rotor structure and is equipped with a visual inertial odometer and a millimeter-wave obstacle avoidance radar. The indoor cooperative drone is automatically folded and hidden in the cabin box inside the fuselage of the omnidirectional mobile service robot. When it needs to work, the cabin box slowly pops out and serves as the take-off and landing platform of the indoor cooperative drone. Each omnidirectional mobile service robot can be equipped with one or two indoor cooperative drones, and the two drones can work in relay mode or simultaneously.

[0008] The smart home hub is a distributed edge computing node that can be connected to the cloud. It is an environmental sensor fusion platform for buildings and residential interiors, and is installed or connected to a data twin modeling system. The smart home hub connects and controls indoor smart home systems and devices. It can not only provide the environment and device status to smart home robots, but also authorize smart home robots to control smart home devices, and work with smart home robots to create complex smart scenes and functional applications, such as home security scenes and health monitoring applications.

[0009] The sensor network deployed in the building structure is composed of a series of sensors, edge computing gateways, and communication units with the ability to perceive the indoor environment, the status of smart home robots and indoor collaborative drones, the activity status of people and animals, and the health status of people. It can be independently deployed and installed in buildings and residences, and can also call sensors in existing smart home systems and smart building systems through data interfaces.

[0010] The central control system is the brain of the smart home robot. The central control system is responsible for receiving and processing information from various sensors, such as environmental data and the robot's own status. After processing, this information is used to guide the robot's behavior and decision-making. Based on the processed information, the central control system will reason and make decisions according to the preset program or algorithm. These decisions involve multiple aspects such as the robot's movement, task execution, and environmental adaptation. Based on the decision results, the central control system sends specific control instructions to the robot's actuators. These instructions guide the actuators to complete the specified actions and functions, such as moving, rotating, grabbing objects, and sending indoor collaborative drone reconnaissance. The central control system is also responsible for coordinating the actions of various parts of the robot to ensure that they can work together to complete complex tasks. In addition, by continuously receiving and processing environmental information, the central control system can enable the robot to adapt to different environmental conditions and task requirements. The central control system is installed in the body of the smart home robot and can be deployed to the cloud at the same time for remote and cloud control.

[0011] The smart home robot of the present invention has the following three technical innovations: 1. Utilize existing home devices (smart door locks / surveillance cameras / Wi-Fi hotspots) to establish a SLAM benchmark, and mobile devices only need to be equipped with lightweight positioning sensors; Dynamic task allocation mechanism: 2. Ground robots are responsible for continuous monitoring and physical interaction, and drones perform rapid response and high-altitude inspections; Health care system: millimeter-wave radar non-contact vital signs monitoring, abnormal behavior pattern recognition algorithm, and three-level emergency response protocol.

[0012] The smart home robot of the present invention can be further combined with the smart home system to focus on the whole-house smart control function, becoming a human-computer interaction terminal with flexible mobility function - a whole-house smart robot. It can also increase the connection capability of the health monitoring terminal and the connection and localized service capability of the medical platform for the smart health care function, and build it into a health and elderly care service robot. The smart home robot has multiple application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0014] Figure 1 , Smart home robot system architecture diagram. In the figure: 1. Sensor network deployed in building structure 2. Indoor cooperative drone 3. Omnidirectional mobile service robot 4. Central control system 5. Omnidirectional mobile robot connected to smart home hub network 6. Smart home hub 7. Sensor for detecting robot position status 8. Smart home system equipment

[0015] Figure 2, Schematic diagram of the mechanical structure of the smart home robot. In the figure: 2, indoor cooperative drone; 4, central control system; 9, camera; 10, human-machine interaction interface (screen); 11, mechanical arm; 12, liftable fuselage; 13, ultrasonic radar; 14, disinfection cabin; 15, storage cabin (retractable cabin box of the second drone); 16, robot body control system; 17, communication module; 18, omnidirectional mobile chassis; 19, laser radar; 20, storage cabin (retractable cabin box of the first drone)

[0016] Figure 3 , Multi-device collaborative positioning flow chart

[0017] Figure 4 , Health monitoring logic flow chart DETAILED DESCRIPTION

[0018] like Figure 1 As shown, a sensor network 1 needs to be deployed in buildings and residential spaces. Usually, at least one sensor 7 for detecting the position status of the robot is deployed in each room and irregular space. The sensor 7 for detecting the position status of the robot can sense the radio waves emitted by the omnidirectional mobile service robot 3, or establish direct wireless communication with the omnidirectional mobile service robot 3 to obtain the relative position and status of the omnidirectional mobile service robot 3.

[0019] The main body of the omnidirectional mobile service robot 3 has one or two indoor cooperative drones 2 built in. The central control system 4 is installed in the main body of the omnidirectional mobile service robot 3 and is connected to the cloud and the remote network to realize remote control.

[0020] The omnidirectional mobile service robot 3 is wirelessly connected 5 to the smart home hub 6 of the smart home system. The smart home hub 6 is connected to and controls the indoor smart home system equipment 8. It can not only provide the environment and equipment status to the omnidirectional mobile service robot 3, but also authorize the omnidirectional mobile service robot 3 to control the smart home equipment 8, and jointly create complex intelligent scenes and functional applications with the omnidirectional mobile service robot 3, such as home security scenes and health monitoring applications.

[0021] like Figure 2As shown, the main structure of the omnidirectional mobile service robot includes a liftable fuselage 12 and an omnidirectional mobile chassis 18. The top of the liftable fuselage 12 includes a head composed of a human-machine interaction interface (screen) 10 and a camera 9. The trunk has two mechanical arms 11. The lower part of the fuselage has two symmetrically distributed storage compartments, which serve as the first drone telescopic cabin box 15 and the second drone telescopic cabin box 20 respectively, and is equipped with a disinfection cabin 14. The lower part of the fuselage also has a built-in communication module 17, a robot body control system 16, and a central control system 4. In addition, the fuselage and the omnidirectional mobile chassis are equipped with at least one laser radar 19, as well as multiple ultrasonic radars 13 arranged around them. The omnidirectional mobile chassis is equipped with a rechargeable lithium battery and an automatic return charging device.

[0022] Smart home robots can be installed and deployed in residential buildings and spaces such as homes, apartments, hotels, homestays, and nursing homes. Because they contain fixed and mobile sensing devices and work together, they have strong positioning capabilities (such as Figure 3 As shown). The positioning and status of the omnidirectional mobile service robot 3 and the indoor cooperative drone 2 are instantly acquired; the location of environmental space changes and events is accurately located and recorded, and the on-site video and environmental and human health data are transmitted; the location of indoor personnel, pets and specific moving objects (such as mobile phones, sweeping robots) are continuously monitored and the status is recorded, and the human health status is monitored through the human health monitoring sensor (millimeter wave radar) of the omnidirectional mobile service robot 3 and the connected health detection equipment (such as blood pressure monitors, blood glucose meters, weight scales, smart watches), and the human behavior analysis model is combined to identify emergency situations such as falls and trigger alarms.

[0023] like Figure 4As shown in the figure, there are three types of health monitoring logics for smart home robots. The first is daily patrol monitoring. Smart home robots patrol according to preset schedules and routes, which can be regarded as robot electronic patrols. The robot feature sensors deployed in buildings and residences will respond and record and analyze the detected smart home robots, and verify and combine with the sensor data of the robot body to obtain more accurate positioning information; the purpose of robot patrol is to detect whether the room is safe (to prevent illegal intrusion, whether there are dangerous situations such as flooding and fire), detect and analyze whether the human behavior state conforms to normal rules, and use it to predict some major diseases in advance to ensure the health of people; for some people who need special care and care, such as the elderly and patients, the millimeter wave radar is activated to continuously monitor the human breathing and heartbeat, and the data is transmitted to the family health management system and telemedicine platform after the robot is managed, as a timely reference for family doctors to provide health guidance and treatment plans for the elderly and patients. During daily inspections and monitoring, when there are blind spots at high places or when the robot detects something, or when a robot malfunctions, a collaborative drone can be activated to conduct on-site verification and filming, providing multi-angle on-site videos for medical staff to review. During daily inspections and monitoring, if abnormal health or life-threatening situations are found in people, the emergency button status is triggered by the background, entering the emergency monitoring and alarm process in the second health monitoring logic.

[0024] The second is emergency monitoring and alarm. When the data of networked health equipment in buildings and residential spaces reaches the alarm value (such as the heart rate alarm of an electronic watch), or the personnel manually press the emergency button, or the system background triggers the emergency button mode, the robot locates the alarm point and quickly moves to the location, unfolds the emergency material cabin (which stores emergency equipment and medicine), and conducts an inquiry dialogue with the person in an emergency state, and dials the preset emergency contact number, or connects to a video call. If the smart home robot is connected to the remote medical health platform, the platform will activate the emergency plan and establish a green channel for rescue according to the situation; at this time, the coordinated drone also takes off to a suitable height for hovering and circling shooting, providing flexible perspective recording and transmission of images. The data of emergency monitoring and alarm is transmitted to the central control system as the basis for its comprehensive decision-making.

[0025] The third type is sensor-related verification and alarm. Data anomalies or alarms from building space environment sensors (such as abnormal detection alarms from door magnetic sensors), detection anomalies and alarms from robot body sensors, and data anomalies and alarms from smart home system sensors will all send instructions to the robot to detect the alarm. After locating the alarm point, the robot rushes to the scene. The on-site video situation and data anomalies and alarm data from the sensors are transmitted to the central control system. The central control system decides whether to activate the emergency button. If yes, the second emergency monitoring and alarm process is started.

[0026] During the sensor association verification and alarm, if an illegal intrusion by a person is detected, multiple devices can collaborate to build the intruder's movement trajectory, automatically activate the security alarm mode in the smart home system, perform sound and light deterrence, and notify the security platform at the same time.

Claims

1. The present invention provides a structure and system of a smart home robot, the core structure of which includes an omnidirectional mobile service robot, an indoor cooperative drone, a smart home hub, a central control system, and a sensor network deployed on a building structure. The robot has an omnidirectional mobile chassis service robot, an indoor drone with a height of 0.6 to 1.5 meters and equipped with a video navigation module, a sensor network deployed on a building structure, a central control system, and a communication module. The robot body, the sensor network, and the smart home hub adopt a resource sharing positioning system, a dynamic task allocation mechanism, and a health care system.

2. The structure and system of the smart home robot as described in claim 1, its core structure includes five parts: an omnidirectional mobile service robot, an indoor collaborative drone, a smart home hub, a central control system, and a sensor network deployed on the building structure.

3. The structure and system of the smart home robot as claimed in claim 1, characterized in that The service robot with an omnidirectional mobile chassis has a height of 0.6 to 1.5 meters. It can be designed as a fixed height within this height range, or as a robot body with a lifting platform (the total height when lowered to the lowest state is not less than 0.6 meters, and the total height when raised to the highest state is not more than 1.5 meters), or a foldable body (the total height after folding is not less than 0.6 meters, and the total height after unfolding is not more than 1.5 meters). The robot body serves as a carrying platform with multiple modular functional component cabins such as a disinfection cabin, a storage cabin, a retractable and hidden indoor collaborative drone cabin box, etc.

4. The structure and system of the smart home robot as claimed in claim 1, characterized in that The indoor cooperative drone adopts a foldable rotor structure and is equipped with a visual inertial odometer and a millimeter-wave obstacle avoidance radar. The indoor cooperative drone is automatically folded and hidden in the cabin box inside the fuselage of the omnidirectional mobile service robot. When it needs to work, the cabin box slowly pops out and serves as the take-off and landing platform of the indoor cooperative drone. Each omnidirectional mobile service robot can be equipped with one or two indoor cooperative drones, and the two drones can work in relay mode or simultaneously.

5. The structure and system of the intelligent home robot as claimed in claim 1, characterized in that The sensor network deployed in buildings and residential structures consists of a series of sensors, edge computing gateways, and communication units with the ability to perceive indoor environments, the status of smart home robots and indoor collaborative drones, the activity status of people and animals, and the health status of people. It can be independently deployed and installed in buildings and residences, and can also call existing smart home systems and smart building systems through data interfaces.

6. The structure and system of the intelligent home robot as claimed in claim 1, characterized in that the intelligent The home hub is a distributed edge computing node that can be connected to the cloud. It is an environmental sensor fusion platform for buildings and residential interiors, and is installed or connected to a data twin modeling system. The smart home hub connects and controls indoor smart home systems and devices. It can not only provide the environment and device status to smart home robots, but also authorize smart home robots to control smart home devices, and work with smart home robots to create complex smart scenes and functional applications, such as home security scenes and health monitoring applications.

7. The structure and system of the smart home robot as claimed in claim 1, wherein the positioning method thereof comprises: Use environmental fixed cameras to establish visual benchmarks, fuse IMU odometer and lidar data, and dynamically calibrate positioning error compensation algorithms.

8. The structure and system of the intelligent home robot as claimed in claim 1, characterized in that Utilize existing home devices (smart door locks / surveillance cameras / WiFi hotspots) to establish a SLAM benchmark, and mobile devices only need to be equipped with lightweight positioning sensors.

9. The structure and system of the intelligent home robot as claimed in claim 1, characterized in that Dynamic task allocation mechanism: Ground robots are responsible for continuous monitoring and physical interaction, while drones perform rapid response and high-altitude inspections.

10. The structure and system of the intelligent home robot according to claim 1, characterized in that Health care system: millimeter-wave radar non-contact vital signs monitoring, abnormal behavior pattern recognition algorithm, and three-level emergency response protocol.

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