Robot system and simultaneous performance control method thereof

• US 10,052,760 B2
• Filed: 06/11/2014
• Issued: 08/21/2018
• Est. Priority Date: 11/22/2013
• Status: Active Grant

• Current Assignee: Suzhou Aoguan Robotization Equipment Co., Ltd.
• Original Assignee: Hangzhou Doublewell Intelligent Technology Co., Ltd.
• Inventors: Yan, Yifeng, Zhang, Hui, Ding, Xiaogang, Cheng, Mingxuan
• Primary Examiner(s): Mancho, Ronnie M
• Application Number:
  US15/038,053
• Publication Number:
  US 20160346920A1
• Time in Patent Office: 1,532 Days
• Field of Search: 700245, 700248
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

A robot system and a simultaneous performance control method thereof, comprising a primary robot and at least one secondary robot. Both the primary robot and the secondary robot respectively comprise a control module (101), a storage module (102), a wireless communication module (103) and an operation execution module (104). The control module (101) is connected to the storage module (102), the wireless communication module (103) and the operation execution module (104), respectively. The robot system and the simultaneous performance control method thereof can implement automatic performance of multiple robots, reduce dependency on a user, and function as a learning tool to provide a lifelike language learning environment for a learner.

Claims

1. A robot system, characterized in that, it comprises:

a primary robot and at least one secondary robot, wherein the primary robot and the secondary robot respectively comprise a control module, a storage module, a wireless communication module and an operation execution module, wherein the control module is connected to the storage module, the wireless communication module and the operation execution module, respectively, for controlling all parts to work coordinately;

wherein the storage module is used for storing programs for simultaneous performance;

wherein each said wireless communication module is used for enabling a communication connection between the primary robot and the at least one secondary robot;

wherein the control module of the primary robot is used for requesting the secondary robot to report an ordered list of the programs, then comparing the received list with local stored program number after the primary robot and the at least one secondary robot establish a communication connection;

the wireless communication module of the primary robot is further used for performing transmission of unstored program to and from the secondary robot;

the control module of the primary robot is further used for determining under a default strategy, after the transmission of unstored program is finished, which simultaneous performance the robot system is going to give, and sending the number of the performance to be given to the secondary robot;

wherein each said wireless communication module is also used for respectively resetting clocks to zero and establishing a reference point of synchronous clock signal of the primary robot and the at least one secondary robot after the control module of the primary robot sends the number of the performance to be given to the secondary robot;

wherein each said control module is also used for reading and executing programs corresponding to the performance, and generating control signals of different time-points relative to the reference point of synchronous clock signal for the operation execution module; and

wherein each said operation execution module is used for executing different performance actions according to the control signals of different time-points.

2. The robot system according to claim 1, characterized in that:

the operation execution module includes at least one of an audio operation execution unit and a motor operation execution unit;

wherein the audio operation execution unit includes an audio processing device connected with the control module and a loudspeaker connected with the audio processing device; and

wherein the motor operation execution unit includes a mechanical moving device, a motor connected with the mechanical moving device, and a motor driving device connected with the control module and the motor.

3. The robot system according to claim 2, characterized in that:

the operation execution module includes an audio operation execution unit and a motor operation execution unit, and further includes an indicator light unit, wherein the indicator light unit comprises an eye indicator light and a mouth indicator light which are respectively connected with the control module;

wherein the eye indicator light blinks under the control of the control module during the operating of the audio operation execution unit or the motor operation execution unit; and

wherein the mouth indicator light blinks under the control of the control module during the operating of the audio operation execution unit.

4. The robot system according to claim 3, characterized in that:

the primary robot and the secondary robot further comprise an obstacle detecting module, and the obstacle detecting module comprises at least one of an infrared sensor and an ultrasonic sensor, wherein the infrared sensor and/or the ultrasonic sensor are/is connected with the control module, for detecting obstacle and junction of higher and lower surface during the operations of the motor operation execution unit, and for sending the detection signal to the control module;

wherein the control module is also used for sending turning round or back-off command to the motor driving device after receiving the detection signal, the motor driving device is used for driving the motor, and the mechanical moving device is used for achieving turning round or back-off of the primary robot or secondary robot.

5. The robot system according to claim 1, characterized in that:

the primary robot and the secondary robot further comprise an interface module connected with the control module, for receiving programs transmitted from outside and storing it within the storage module, so as to realize program updating of the robot system.

10. The robot system according to claim 2, characterized in that:

the operation execution module includes at least one of an audio operation execution unit and a motor operation execution unit;

wherein the audio operation execution unit includes an audio processing device connected with the control module and a loudspeaker connected with the audio processing device; and

wherein the motor operation execution unit includes a mechanical moving device, a motor connected with the mechanical moving device, and a motor driving device connected with the control module and the motor.

11. The robot system according to claim 10, characterized in that:

the operation execution module includes an audio operation execution unit and a motor operation execution unit, and further includes an indicator light unit, wherein the indicator light unit comprises an eye indicator light and a mouth indicator light which are respectively connected with the control module;

wherein the eye indicator light blinks under the control of the control module during the operating of the audio operation execution unit or the motor operation execution unit; and

wherein the mouth indicator light blinks under the control of the control module during the operating of the audio operation execution unit.

12. The robot system according to claim 11, characterized in that:

the primary robot and the secondary robot further comprise an obstacle detecting module, and the obstacle detecting module comprises at least one of an infrared sensor and an ultrasonic sensor, wherein the infrared sensor and/or the ultrasonic sensor are/is connected with the control module, for detecting obstacle and junction of higher and lower surface during the operations of the motor operation execution unit, and for sending the detection signal to the control module;

wherein the control module is also used for sending turning round or back-off command to the motor driving device after receiving the detection signal, the motor driving device is used for driving the motor, and the mechanical moving device is used for achieving turning round or back-off of the primary robot or secondary robot.

6. A simultaneous performance control method of a robot system, wherein the robot system comprises a primary robot and at least one secondary robot, characterized in that, the method comprises steps as follows:

the primary robot and the secondary robot establishing a communication connection between a primary robot and the at least one secondary robot by wireless communication;

the primary robot requesting the secondary robot to report an ordered list of the programs, then comparing the received list with local stored program number after the primary robot and the at least one secondary robot establish a communication connection, and performing transmission of unstored program to and from the secondary robot,

the primary robot determining which simultaneous performance the robot system is going to give under a default strategy, and sending the number of the performance to be given to the secondary robot;

the primary robot and the secondary robot respectively resetting clocks to zero and establishing a reference point of synchronous clock signal for simultaneous performance via wireless communication by the primary robot and the secondary robot;

the primary robot and the secondary robot respectively reading and executing corresponding programs for the performance according to the reference point of synchronous clock signal by the primary robot and the secondary robot, and generating control signals of different time-points relative to the reference point of synchronous clock signal; and

the primary robot and the secondary robot respectively executing different operations according to the control signal according to the control signals of different time-points by the operation execution modules of the primary robot and the secondary robot.

7. The method according to claim 6, characterized in that:

the step of respectively giving performance according to the control signal by means of the operation execution modules of the primary robot and the secondary robot comprises steps as follows;

respectively giving audio performance according to the control signal by means of the operation execution modules of the primary robot and the secondary robot; and

/or

respectively giving motor performance according to the control signal by means of the operation execution modules of the primary robot and the secondary robot.

8. The method according to claim 7, characterized in that:

the step of respectively giving performance according to the control signal by means of the operation execution modules of the primary robot and the secondary robot further comprises steps as follows;

respectively giving audio performance and motor performance according to the control signal by the operation execution modules of the primary robot and the secondary robot; and

controlling corresponding eye indicator light to blink during audio operation or motor operation of the primary robot and the secondary robot; and

controlling corresponding mouth indicator light to blink during audio performance of the primary robot and the secondary robot.

9. The method according to claim 8, characterized in that, the method further comprises steps as follows:

detecting obstacle and junction of higher and lower surface by means of an obstacle detecting module when the primary robot and the secondary robot give motor performance, wherein the obstacle detecting module comprises at least one of an infrared sensor and an ultrasonic sensor; and

executing turning round or back-off operation if the obstacle detecting module of the primary robot or the secondary robot detects an obstacle or a junction of higher and lower surface.