CN103217910A - Robot and control system thereof - Google Patents
Robot and control system thereof Download PDFInfo
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- CN103217910A CN103217910A CN2012100151553A CN201210015155A CN103217910A CN 103217910 A CN103217910 A CN 103217910A CN 2012100151553 A CN2012100151553 A CN 2012100151553A CN 201210015155 A CN201210015155 A CN 201210015155A CN 103217910 A CN103217910 A CN 103217910A
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- robot
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- control system
- communication unit
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33192—Radio link, wireless
Abstract
The invention relates to a control system which is used for controlling the working condition of a robot. The control system comprises the robot and a control unit. The control unit comprises an input module which is used for receiving input information of a user and a transmission module which is used for transmitting the input information of the user to the robot. The robot comprises a communication unit, a storage unit and a central processing unit (CPU), wherein the communication unit is communicated with the transmission module and is used for receiving input information transmitted by the transmission module, the storage unit is used for storing a preset program, and the CPU is electrically connected with the communication unit and the storage unit and is used for controlling the working condition of the robot according to the input information received by the communication unit and the preset program. The control unit and the robot are separated from each other. The invention further relates to the robot which is communicated with the control unit which can be separated from the robot. By means of the control system and the robot, inputting of control information to the robot can be achieved only through the control unit by the user, and a comfortable operating mode is provided for the user.
Description
Technical field
The present invention relates to a kind of robot.
The present invention relates to a kind of control system, particularly a kind of control system that the duty of robot is controlled.
Background technology
Along with the development of technology, the degree of intelligent robotization is more and more higher, and is when finishing related work automatically, more and more with user's interaction.Existing robots is generally by being arranged on the input information that operation interface on the robot housing receives the user, and the robot current working state is informed the user in the mode of screen display, realizes the interaction with the user.Because operation interface is arranged on the housing of robot, when the feasible quantity of information that need import as the user was big, the user need carry out the operation of long period to robot, just can finish the input process of information.This kind input process requires the relative for a long time robot of user to keep a certain posture, makes that the input of information is rather difficult.In addition, when the user need pay close attention to the robot current working state, the user must find the position of robot, check the display message of the operation interface on the robot housing then, just can learn the robot current working state, thereby cause the user need spend more time handle machine people, make troubles to the user.
At problems of the prior art, need a kind of robot that solves above-mentioned weak point of design, and the control system that the duty of robot is controlled.
Summary of the invention
The technical matters that the present invention solves is: a kind of control system that the duty of robot is controlled is provided.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of control system is used for the duty of control robot, described control system comprises robot and controls the unit, wherein, the described unit of controlling comprises: load module, reception user's input information; Transport module passes to robot with user's input information; Described robot comprises: communication unit, communicate with described transport module, and receive the input information that transport module transmits; Storage unit, the storage initialize program; CPU (central processing unit) electrically connects with communication unit and storage unit, according to the input information of communication unit reception and the duty of initialize program control robot; Describedly control the unit and robot is separated from each other.
Preferably, the described unit of controlling is a portable set.
Preferably, described portable set is a kind of in laptop computer, panel computer, mobile phone or the hand-held controller.
Preferably, the described unit of controlling is a fixed equipment.
Preferably, communicate by wireless mode between described transport module and the described communication unit.
Preferably, communicating by letter between described transport module and the described communication unit followed a kind of in WIFI, WAPI, GSM, GPRS, CDMA, 3G, infrared protocol or the Bluetooth protocol.
Preferably, communicate by wired mode between described transport module and the described communication unit.
Preferably, communicate by network cable between described transport module and the described communication unit, follow network communication protocol.
Preferably, communicate by USB between described transport module and the described communication unit, follow the usb communication agreement.
Preferably, described communication unit comprises at least one in USB interface, internet interface or the iPhone special purpose interface.
Preferably, the described information of controlling the unit by the transmission of transport module receiving communication unit, and notify the user, described input information is user's a feedback information.
Preferably, described input information is the running parameter of robot.
Preferably, described load module is a speech recognizing device, described speech recognizing device identification user's audio frequency input.
Preferably, described load module is a touch-screen, and described touch-screen receives user's touch input.
Preferably, a kind of in the artificial striding type mower of described machine, automatic mower or the suction cleaner.
Preferably, described storage unit comprises removable formula memory element.
Preferably, when removable formula memory element was connected with robot, CPU (central processing unit) was stored to removable formula memory element with the status information in the robot course of work.
Preferably, removable formula storage element stores user's presupposed information, when removable formula memory element was connected with robot, CPU (central processing unit) was according to the duty of described presupposed information control robot.
Preferably, described presupposed information is the running parameter of robot or at least one in the refresh routine, and described refresh routine is the renewal version of described initialize program.
Preferably, when transport module and communication unit established a communications link, described control system start-up routine update functions was upgraded described initialize program.
The technical matters that the present invention also solves is: a kind of robot is provided, and described robot can communicate with the remote control unit.
For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of robot comprises: storage unit, storage initialize program; Communication unit receives input information, and with described input information output; CPU (central processing unit) electrically connects with storage unit and communication unit, according to the duty of initialize program and described input information control robot; Described communication unit communicates with the unit of controlling that separates with robot, receives the input information of controlling unit output.
Preferably, described communication unit and controlling between the unit communicates by wireless mode.
Preferably, described communication unit is controlled communicating by letter between the unit and is followed a kind of in WIFI, WAPI, GSM, GPRS, CDMA, 3G, infrared protocol or the Bluetooth protocol with described.
Preferably, described controlling between unit and the described communication unit communicates by wired mode.
Preferably, described controlling between unit and the described communication unit communicates by network cable, follows network communication protocol.
Preferably, described controlling between unit and the described communication unit communicates by USB, follows the usb communication agreement.
Preferably, described communication unit comprises at least one in USB interface, internet interface or the iPhone special purpose interface.
Preferably, a kind of in the artificial striding type mower of described machine, automatic mower or the suction cleaner.
Preferably, described storage unit comprises removable formula memory element.
Preferably, when removable formula memory element was connected with robot, CPU (central processing unit) was stored to removable formula memory element with the status information in the robot course of work.
Preferably, removable formula storage element stores user's presupposed information, when removable formula memory element was connected with robot, CPU (central processing unit) was according to the duty of described presupposed information control robot.
Preferably, described presupposed information is the running parameter of robot or at least one in the refresh routine, and described refresh routine is the renewal version of described initialize program.
Preferably, when communication unit when controlling the unit and establish a communications link, control unit or robot start-up routine update functions, upgrade described initialize program.
Beneficial effect of the present invention is: control system provided by the invention, control the unit by being provided with robot is separated, make the user control the unit and can finish input, for the user provides a more comfortable mode of operation ROBOT CONTROL information by this.Robot provided by the invention, owing in the robot housing, be provided with communication unit, and this communication unit can communicate with the unit of controlling that separates with robot, the input information of unit is controlled in reception, the inconvenience of having avoided user's direct control robot to bring has realized better user experience.
Description of drawings
Technical matters, technical scheme and the beneficial effect that above-described the present invention solves can be by the following detailed description that can realize preferable specific embodiment of the present invention, describes in conjunction with the accompanying drawings simultaneously and clearly obtains.
Identical label in accompanying drawing and the instructions is used to represent element identical or that be equal to symbol.
Fig. 1 is the synoptic diagram of the control system of better embodiment of the present invention;
Fig. 2 is the communication module figure of first better embodiment of control system shown in Figure 1;
Fig. 3 is the communication module figure of second better embodiment of control system shown in Figure 1;
Fig. 4 is the communication module figure of the 3rd better embodiment of control system shown in Figure 1;
Fig. 5 is the communication module figure of the 4th better embodiment of control system shown in Figure 1;
Fig. 6 is a load module synoptic diagram of controlling first better embodiment of unit shown in Figure 1;
Fig. 7 is a load module synoptic diagram of controlling second better embodiment of unit shown in Figure 1;
Fig. 8 is the synoptic diagram of another better embodiment of robot shown in Figure 1;
Fig. 9 is the process flow diagram of the program updates function of control system shown in Figure 1;
Figure 10 is a synoptic diagram of controlling first better embodiment of unit shown in Figure 1;
Figure 11 is an operation interface synoptic diagram of controlling the unit shown in Figure 10;
Figure 12 is a synoptic diagram of controlling second better embodiment of unit shown in Figure 1;
Figure 13 is an operation interface synoptic diagram of controlling the unit shown in Figure 11.
1 machine, 14 display modules
3 CPU (central processing unit), 16 main control modules
5 storage unit, 18 logging modles
6 removable formula memory element 20 transport modules
7 communication units, 22 network cables
10 control unit 24 data lines
12 load modules
Embodiment
About detailed description of the present invention and technology contents, conjunction with figs. is described as follows, yet appended accompanying drawing only provides reference and explanation, is not to be used for the present invention is limited.
Control system shown in Figure 1 comprises machine 1 and controls unit 10, controls unit 10 and is separated from each other with machine 1, and can communicate by letter each other.Machine 1 comprises: communication unit 7, storage unit 5, CPU (central processing unit) 3.Communication unit 7 with control unit 10 and communicate, receive and control the input information that unit 10 transmits; Storage unit 5 is used to store initialize program; CPU (central processing unit) 3 electrically connects with communication unit 7 and storage unit 5, according to the input information of communication unit 7 receptions and the duty of initialize program control robot 1.Control unit 10 and comprise load module 12, display module 14, main control module 16, logging modle 18, transport module 20.Load module 12 electrically connects with logging modle 18, receive user's input information, and the information translation that the user is imported is that corresponding canned data is stored in the logging modle 18.Display module 14 electrically connects with main control module 16, according to the relevant information of control demonstration of main control module 16.Main control module 16 electrically connects with logging modle 18 and transport module 20, reading and recording module 18 canned datas, and the information that reads passed to transport module 20, control transmission module 20 is given robot 1 with related information transmission.When the information that transport module 20 transmission is relevant is given robot 1, receive the information that the communication unit 7 from robot 1 transmits, and the information that receives passed to main control module 16, realize the user to the control of robot 1 and with the interaction of robot 1.Because controlling the housing of unit 10 and robot 1 is separated from each other; the operator can will control unit 10 according to the needs of oneself and move to the optional position and come manipulation robot 1 in real time or the running parameter of robot 1 is provided with; and need not make the user more convenient with robot 1 shutdown, mobile robot 1 to suitable position to controlling of robot 1.It will be appreciated by persons skilled in the art that when controlling unit 10, control unit 10 and can only comprise load module 12 and transport module 20, thereby simplify the structure of controlling unit 10, reduce the cost of controlling unit 10 only as the transferring device of user profile.
To shown in Figure 5, the communication mode between transport module 20 and the communication unit 7 can be communication or wire communication mode as Fig. 2.
Among Fig. 2 and Fig. 3, the communication mode between transport module 20 and the communication unit 7 adopts the wire communication mode.Wherein, Figure 2 shows that between transport module 20 and the communication unit 7 and establish a communications link by network cable 22; Figure 3 shows that between transport module 20 and the communication unit 7 and establish a communications link by data line 24.When establishing a communications link by the internet network between transport module 20 and the communication unit 7, transport module 20 all needs to be provided with corresponding Internet interface with communication unit 7, network communication protocol is followed in communication between the two, as TCP/IP (Transmission Control Protocol/Internet Protocol) agreement, HTTP (Hypertext Transfer Protocol) agreement etc.When establishing a communications link by data line between transport module 20 and the communication unit 7, the agreement of following depends on the interface shape of the data line that is adopted.General comparatively general data line interface form is USB interface, PS/2 interface or iPhone special purpose interface.If transport module 20 and/or communication unit 7 are provided with USB interface, the usb communication agreement is followed in communicating by letter between transport module 20 and the communication unit 7; When if transport module 20 and/or communication unit 7 are provided with the data line of PS/2 interface shape, the PS/2 interface protocol is followed in communicating by letter between transport module 20 and the communication unit 7.When transport module 20 or communication unit 7 are provided with the iPhone special purpose interface, generally the iPhone special purpose interface is converted to USB interface and realizes data transmission, therefore communicating by letter between transport module 20 and the communication unit 7 also followed the usb communication agreement in the case.
Communication mode between transport module 20 and the communication unit 7 also can be communication.The mode of radio communication can according to the difference of communication mode, be followed corresponding wireless communication protocol for infrared, bluetooth or wireless network.Control when adopting infrared technique to establish a communications link between unit 10 and the communication unit 7, follow corresponding infrared protocol, connect standard IrPHY, infrared connected reference agreement IrLAP and infrared connection management agreement IrLMP and TinyTP, IrOBEX, IrCOMM, IrLAN, IrTran-P and IrBus etc. as the Infrared Physics layer.Infrared Transmission can realize low-angle (in the 30 degree cone angles), short distance, and point-to-point straight line data transmission, so strong security can play good privacy functions to the information of user's input.The transfer rate of Infrared Transmission is higher simultaneously, can save the time that the user waits for data transmission.When adopting Bluetooth technology to establish a communications link between transport module 20 and the communication unit 7, follow corresponding Bluetooth protocol.The relative Infrared Transmission of Bluetooth transmission can reach farther transmission range, and transmission is more reliable.Set up when communicating to connect by wireless network between transport module 20 and the communication unit 7, follow corresponding wireless network communication protocol, as communication protocols such as WIFI, WAPI, GSM, GPRS, CDMA, 3G.As shown in Figure 4 and Figure 5 for communicating by wireless network between transport module 20 and the communication unit 7.By this type of wireless network foundation communication each other, can be so that the transmission of Information distance be farther, the user can freely control robot 1 in a wider context, satisfying on convenient, the comfortable basis of user profile input, can realize remote control robot 1, further improve user experience.
In the above-mentioned transmission mode, comprised the short range transmission mode,, also comprised the long-distance transmissions mode, as cable network transmission, wireless network transmissions as by data line transmission, Infrared Transmission, Bluetooth transmission.Wherein, in-plant transmission mode, the information that makes the user can needs be inputed to robot 1 in comfortable arbitrarily position inputs in advance controls unit 10, then by in-plant transmission mode, with the very short time, pass to robot 1 quickly, thereby break away from robot 1 constraint own the information input process, the user is freed at one's side from robot 1, improved the comfortableness and the convenience of user profile input.The long-distance transmissions mode then on the basis of comfortableness that improves the user profile input and convenience, has further realized the remote control of user to robot 1, thoroughly breaks away from 1 couple of user's of robot constraint, realizes user's freedom.
As previously mentioned, the user can realize the information of robot 1 is imported by controlling unit 10, thereby realizes the control to robot 1.It is varied to control the user's input information form that unit 10 can receive.User's input information can be the running parameter of machine, as the frequency of operation of robot 1, once a day, two days once, three days one inferior; The working language of robot 1, Chinese, English, German etc.; The energy of robot 1 uses pattern, low-power mode, normal mode; The speed of travel of robot 1,5m/min, 10m/min; And other related work parameter.
Control in unit 10 and the process that robot 1 intercoms mutually, control unit 10 on the one hand the information of user's input is passed to robot 1, robot 1 also can pass to the user with its current working state information on the other hand.Robot 1 can be the battery status information of robot 1 to controlling the information transmitted unit 10, as battery low-voltage; The warning information of robot 1 is shut down as robot 1 etc.When robot 1 passes to above-mentioned status information when controlling unit 10, the display module 14 of controlling unit 10 shows above-mentioned status information.At the information that display module 14 shows, the user can adjust the duty of robot 1 by the corresponding feedback information of load module 12 inputs, realizes the instant control of user to robot 1.
As shown in Figure 8, the storage unit 5 of machine 1 also comprises removable formula memory element 6.Removable formula memory element 6 can be SD card, SM card, memory stick, mmc card, CF card, XD image card, USB flash disk, removable formula hard disk, punch card etc.Removable formula memory element 6 can be used to expand the capacity of the storage unit 5 of machine 1, also can be set to store user's presupposed information.User's presupposed information can be the running parameter of machine 1 or at least one in the refresh routine, and refresh routine is the renewal version of the initialize program of storage in the storage unit 5.User's presupposed information also can be other any information of user's pre-stored.When removable formula memory element 6 was connected with machine 1, CPU (central processing unit) 3 was according to the duty of described presupposed information control machine 1.
In a concrete embodiment, removable formula memory element 6 is set to preset the memory element of refresh routine.When removable formula memory element 6 was connected with machine 1, CPU (central processing unit) 3 was controlled the duty of machine 1 according to refresh routine, thereby has realized that by removable formula memory element 6 user upgrades initialize program in the machine 1.
In another concrete embodiment, removable formula memory element 6 is set to preset the memory element of the running parameter of robot 1.When removable formula memory element 6 is connected with robot 1, CPU (central processing unit) 3 is according to the duty of the running parameter control robot 1 that presets in the removable formula memory element 6, thereby realized the setting of user to robot 1 running parameter by removable formula memory element 6.
By foregoing description as can be known, by the setting of removable formula memory element 6, can realize the input of user to the control information of robot 1.
In another concrete embodiment, removable formula memory element 6 is not stored the storage unit of any information.When removable formula memory element 6 was connected with robot 1, CPU (central processing unit) 3 was stored to removable formula memory element 6 with the status information in robot 1 course of work.Status information in robot 1 course of work comprises the failure message of robot 1, the battery information of robot 1, the load information of robot 1, the routing information of robot 1 etc.When the user need understand status information in robot 1 course of work, removable formula memory element 6 is taken out from robot 1 housing, and be connected on the corresponding fetch equipment, can know the status information in the course of work of robot 1 by the information that reads removable formula memory element 6.By grasp to the status information in the course of work of robot 1, can improve the controlled variable of robot 1 and the setting of control program, make the work of robot 1 efficient more, reasonable.
As shown in Figure 9, step S0 detects the communication connection status of controlling between unit 10 and the robot 1.Enter step S1, judge whether to establish a communications link.Judged result enters step S2 when being; Otherwise judged result is returned step S0 for not the time.Detect among the step S2 and control the recent program version that exists in unit 10 or the network.Enter step S3, record recent program version number.Enter step S4, the initialize program version in detection machine people 1 the storage unit 5.Enter step S6, record initialize program version number.Enter step S8, relatively recent program version number and initialize program version number.Enter step S10, judge whether initialize program version number is lower than recent program version number, when judged result when being, enter step S12, when judged result for not the time, return step S0.Among the step S12, whether the prompting user upgrades initialize program.When the user selects not, return step S0, when the user selects to be, enter step S16.Among the step S16, control unit 10 recent program is stored to logging modle 18.Enter step S18, the recent program in the main control module 16 reading and recording modules 18, and with wire transmission mode or wireless transmission method recent program is passed to the communication unit 7 of robot 1 by transport module 20.Enter step S20, the input of the information of CPU (central processing unit) 3 receiving communication units 7, and this input information moved deposit to storage unit 5, refresh initialize program, realize the renewal of initialize program.Certainly, also step S12 can be set, when being, directly enter step S16, the initialize program of storage unit 5 is upgraded in the judged result of step S10.It will be appreciated by persons skilled in the art that first execution in step S4 and S6, again execution in step S2 and S3, promptly detect the initialize program version earlier, and record initialize program version number, the recent program version detected again, and record recent program version number, also can realize the present invention.
The alleged robot 1 of the present invention can be automatic mower, and automatic cleaner is by the fully-automatic equipment or the semiautomatic equipments such as striding type mower of operator's true-time operation.The alleged unit 10 of controlling of the present invention can be portable set, perhaps fixed equipment.Described portable set is a kind of in laptop computer, panel computer, mobile phone or the hand-held controller.Can carry, make things convenient for mobile, user-friendly characteristics based on portable set, control unit 10 and be preferably portable set.
Describe robot 1 in detail below in conjunction with Figure 10 to Figure 11 and be automatic mower, control unit 10 and be smart mobile phone, the user controls the overall process of automatic mower by smart mobile phone.Smart mobile phone can or use the mobile phone etc. of Android system for the iPhone mobile phone, in the present embodiment, is that the iPhone mobile phone is that example describes to control unit 10.Because the iPhone mobile phone adopts the touch-screen type input mode, therefore control unit 10 receives the user by touch-screen input information.Simultaneously, because the iPhone mobile phone can be realized and extraneous information interaction by multiple mode such as wireless, wired, therefore both can pass through aforesaid wireless mode between iPhone mobile phone and the automatic mower, can communicate by aforesaid wired mode again, in the present embodiment, only being that example describes by the gsm communication mode between iPhone mobile phone and the automatic mower.Correspondingly, transport module 20 and communication unit 7 all comprise mobile communication module, and this mobile communication module comprises receiving trap and dispensing device, and concrete composition form has multiple, and typical composition form is that SIM card and antenna are formed.
As shown in figure 10, the iPhone mobile phone wherein comprises the function software " Robot Mower " that automatic mower is controlled by the subscriber customized program icon that multiple function software is installed.The user touches " Robot Mower ", enters the operation interface of " Robot Mower ".As shown in figure 11, the operation interface of " Robot Mower " comprises the setting and the program updates function of multiple parameter, and the parameter setting comprises uses pattern, the speed of travel, the isoparametric setting of steering angle to working language, frequency of operation, energy.Below introduce parameter setting up procedure and program updates function respectively in detail.
In the parameter setting up procedure, the user finishes the relevant parameters setting by the relevant position on the touching display screen.Whenever finish a parameter setting, logging modle 18 recording users of iPhone mobile phone are to the content that is provided with of this parameter, i.e. input information.The input information that is provided with when user's desire all after setting completed, by touching " affirmations ", setting completed for the affirmation input information.User's input information after setting completed, in the main control module 16 reading and recording modules 18 of iPhone mobile phone the record input information, and with all input informations be packaged into one control text message pass to the GSM network through the transport module 20 of iPhone mobile phone.The communication unit 7 of automatic mower receives the control text message that transmits from transport module 20 through the GSM network.After decoding, exports to the control text message that communication unit 7 will receive the CPU (central processing unit) 3 of automatic mower.The duty of the information that CPU (central processing unit) 3 is transmitted according to communication unit 7 and the initialize program control automatic mower of storage unit 5 stored.
CPU (central processing unit) 3 detects the duty of mower constantly, as the speed of travel, load size, energy content of battery state etc. in the process of the duty of control automatic mower.Above-mentioned duty satisfies when pre-conditioned, as stop walking, run into heavy load, when the energy content of battery is low, CPU (central processing unit) 3 is packaged into the state text message with above-mentioned status information, sends to communication unit 7.The state text message passes to the GSM network through communication unit 7.The transport module 20 of iPhone mobile phone is received from the state text message that the communication unit 7 of motor mower transmits through the GSM network, and transport module 20 is exported to main control module 16 after the state text message that receives is decoded.Main control module 16 passes to logging modle 18 with the duty of the automatic mower that the state text message comprises, and on display module 14, promptly on the display screen of iPhone mobile phone, prompting receives short message.When the user selects to read short message, can read detailed state text message, thereby learn the duty of automatic mower.Realize thus the real-time duty of automatic mower is reported to the user through the iPhone mobile phone, make the user can understand the duty of automatic mower whenever and wherever possible.The user can import the feedback information of user to specific duty by the aforementioned parameters setting up procedure, and pass to automatic mower through transport module 20 after learning the duty of automatic mower, realizes the real-time control to automatic mower.
Among Figure 11 when user touching " program updates ", the start-up routine update functions.Behind the program updates function on, the main control module 16 of iPhone mobile phone detects the recent program version of " the Robot Mower " that exist in the webservers by transport module 20, and detected recent program version number is recorded in the logging modle 18.Main control module 16 sends the control text message that detects the initialize program version by transport module 20 to the communication unit 7 of automatic mower simultaneously.Communication unit 7 further should be controlled text message and pass to CPU (central processing unit) 3.Initialize program version in the CPU (central processing unit) 3 detection of stored unit 5 writes down initialize program version number, and initialize program version number is packaged into the state text message, passes to the transport module 20 of iPhone mobile phone through communication unit 7.Transport module 20 obtains the state text message decoding that receives initialize program version number, and initialize program version number is passed to main control module 16.Main control module 16 compares initialize program version number and recent program version number, and judges whether initialize program version number is lower than recent program version number.When judging that initialize program version number is lower than recent program version number, by display module 14 prompting users " upgrading initialize program? ", and selection "Yes" and "No" are provided.When the user selected "Yes", the iPhone mobile phone was downloaded recent program from the webserver, and recent program is stored in the logging modle 18.After recent program was downloaded and finished, main control module 16 read recent program from logging modle 18, and recent program is passed to the communication unit 7 of automatic mower through transport module 20.The information that communication unit 7 the transmits transport module 20 acquisition recent program of decoding passes to recent program CPU (central processing unit) 3 then.CPU (central processing unit) 3 is replaced by the recent program that communication unit 7 transmits with the initialize program of storage in the storage unit 5, thereby realizes the renewal to the initialize program of automatic mower.
A kind of embodiment that the present invention also provides is that robot 1 is an automatic mower, controls unit 10 and is computer.As well known to the skilled person, the mode that the computer information of carrying out is imported is generally keyboard.Computer and extraneous data exchange ways can also can be the remote mode of intelligence transmission of internet network for short-range wireless mode transmission such as infrared, bluetooths.In the present embodiment, be preferably between computer and the automatic mower and communicate by the internet network.Automatic mower and computer can be connected with the internet network by WIFI person's network cable, realize communication each other.When connecting, a wireless router is set in the perform region of automatic mower, can realizes message pick-up and the transmission of automatic mower in whole perform region by the WIFI mode.When being connected with the internet network by network cable, the charging station of automatic mower is provided with the internet interface, when automatic mower returns charging station and docks successfully with charging station, can realize and the communicating to connect of internet network.Below, in conjunction with Figure 12 to Figure 13 the user controls automatic mower by computer process is described.
As shown in figure 12, the program icon of subscriber customized multiple function software is installed on the computer desktop, wherein comprises the function software of the function software " Robot Mower " that automatic mower is controlled.The user enters the operation interface of " Robot Mower ", as shown in figure 13 by click " Robot Mower ".The operation interface of " Robot Mower " comprises the setting and the program updates function of multiple parameter, does not repeat them here.
In the parameter setting up procedure, the user clicks relevant parameters by mouse field is set, by keyboard input relevant parameters.In the process that each parameter is provided with, logging modle 18 recording users of computer are to the content that is provided with of this parameter, i.e. input information.The input information that is provided with when user's desire all after setting completed, by click " affirmations ", setting completed for the affirmation input information.User's input information after setting completed, the input information of record in the main control module 16 reading and recording modules 18 of computer, and all input informations are packaged into a control data bag passes to the internet network through transport module 20.The communication unit 7 of automatic mower receives the control data bag that transmits from transport module 20 through the internet network.After decoding the packet that receives, exports to communication unit 7 CPU (central processing unit) 3 of automatic mower.The duty of the information that CPU (central processing unit) 3 is transmitted according to communication unit 7 and the initialize program control automatic mower of storage unit 5 stored.
CPU (central processing unit) 3 detects the duty of mower constantly, as the speed of travel, load size, energy content of battery state etc. in the process of the duty of control automatic mower.Above-mentioned duty satisfies when pre-conditioned, as stop walking, run into heavy load, when the energy content of battery is low, CPU (central processing unit) 3 is packaged into state data packets with above-mentioned status information, sends to communication unit 7.State data packets passes to the internet network through communication unit 7.The transport module 20 of computer is received from the state data packets of communication unit 7 transmission of motor mower through the internet network.Transport module 20 is exported to main control module 16 after the state data packets that receives is decoded.Main control module 16 passes to logging modle 18 with the duty of the automatic mower that state data packets comprises, and on display module 14, promptly on the display screen of computer.When the user selects to read short message, can read the status information of detailed automatic mower, thereby learn the duty of automatic mower.Realize thus the real-time duty of automatic mower is reported to the user through computer.The user can import the feedback information of user to specific duty by the aforementioned parameters setting up procedure, and pass to automatic mower through transport module 20 after learning the duty of automatic mower, realizes the real-time control to automatic mower.
Among Figure 13 as user during by click " program updates ", the start-up routine update functions.Behind the program updates function on, the main control module 16 of computer detects the recent program version of " the Robot Mower " that exist in the webservers by transport module 20, and detected recent program version number is recorded in the logging modle 18 of computer.Main control module 16 sends the control data bag that detects the initialize program version by transport module 20 to the communication unit 7 of automatic mower simultaneously.Communication unit 7 is decoded the control data bag and is obtained control information from computer, and control information is passed to CPU (central processing unit) 3.Initialize program version in the CPU (central processing unit) 3 detection of stored unit 5 writes down initialize program version number, and initialize program version number is packaged into state data packets, passes to the transport module 20 of computer through communication unit 7.Transport module 20 obtains the state data packets decoding that receives initialize program version number, and initialize program version number is passed to main control module 16.Main control module 16 compares initialize program version number and recent program version number, and judges whether initialize program version number is lower than recent program version number.When judging that initialize program version number is lower than recent program version number, by display module 14 prompting users " upgrading initialize program? ", and selection "Yes" and "No" are provided.When the user selected "Yes", computer was downloaded recent program from the webserver, and recent program is stored in the logging modle 18.After recent program was downloaded and finished, main control module 16 read recent program from logging modle 18, and recent program is passed to the communication unit 7 of automatic mower through transport module 20.The information that communication unit 7 the transmits transport module 20 acquisition recent program of decoding passes to recent program CPU (central processing unit) 3 then.CPU (central processing unit) 3 is replaced by the recent program that communication unit 7 transmits with the initialize program of storage in the storage unit 5, thereby realizes the renewal to the initialize program of automatic mower.
When robot 1 be automatic cleaner, by the fully-automatic equipment or the semiautomatic equipments such as striding type mower of operator's true-time operation, control unit 10 and be panel computer or hand-held controller, robot 1 with control between the unit 10 when realizing mutual communication by aforementioned other communication mode, specific implementation and aforementioned two embodiments are basic identical, do not repeat them here.
Claims (33)
1. control system is used for the duty of control robot, and described control system comprises robot and control the unit, wherein,
The described unit of controlling comprises:
Load module, reception user's input information;
Transport module passes to robot with user's input information;
Described robot comprises:
Communication unit communicates with described transport module, receives the input information that transport module transmits;
Storage unit, the storage initialize program;
CPU (central processing unit) electrically connects with communication unit and storage unit, according to the input information of communication unit reception and the duty of initialize program control robot;
It is characterized in that: describedly control the unit and robot is separated from each other.
2. control system according to claim 1 is characterized in that: the described unit of controlling is a portable set.
3. control system according to claim 2 is characterized in that: described portable set is a kind of in laptop computer, panel computer, mobile phone or the hand-held controller.
4. control system according to claim 1 is characterized in that: the described unit of controlling is a fixed equipment.
5. control system according to claim 1 is characterized in that: communicate by wireless mode between described transport module and the described communication unit.
6. control system according to claim 5 is characterized in that: communicating by letter between described transport module and the described communication unit followed a kind of in WIFI, WAPI, GSM, GPRS, CDMA, 3G, infrared protocol or the Bluetooth protocol.
7. control system according to claim 1 is characterized in that: communicate by wired mode between described transport module and the described communication unit.
8. control system according to claim 7 is characterized in that: communicate by network cable between described transport module and the described communication unit, follow network communication protocol.
9. control system according to claim 7 is characterized in that: communicate by USB between described transport module and the described communication unit, follow the usb communication agreement.
10. control system according to claim 7 is characterized in that: described communication unit comprises at least one in USB interface, internet interface or the iPhone special purpose interface.
11. control system according to claim 1 is characterized in that: the described information of controlling the unit by the transmission of transport module receiving communication unit, and notify the user, described input information is user's a feedback information.
12. control system according to claim 1 is characterized in that: described input information is the running parameter of robot.
13. control system according to claim 1 is characterized in that: described load module is a speech recognizing device, described speech recognizing device identification user's audio frequency input.
14. control system according to claim 1 is characterized in that: described load module is a touch-screen, and described touch-screen receives user's touch input.
15. control system according to claim 1 is characterized in that: a kind of in the artificial striding type mower of described machine, automatic mower or the suction cleaner.
16. control system according to claim 1 is characterized in that: described storage unit comprises removable formula memory element.
17. control system according to claim 16 is characterized in that: when removable formula memory element was connected with robot, CPU (central processing unit) was stored to removable formula memory element with the status information in the robot course of work.
18. control system according to claim 16, it is characterized in that: removable formula storage element stores user's presupposed information, when removable formula memory element was connected with robot, CPU (central processing unit) was according to the duty of described presupposed information control robot.
19. control system according to claim 18 is characterized in that: described presupposed information is the running parameter of robot or at least one in the refresh routine, and described refresh routine is the renewal version of described initialize program.
20. control system according to claim 1 is characterized in that: when transport module and communication unit established a communications link, described control system start-up routine update functions was upgraded described initialize program.
21. a robot comprises:
Storage unit, the storage initialize program;
Communication unit receives input information, and with described input information output;
CPU (central processing unit) electrically connects with storage unit and communication unit, according to the duty of initialize program and described input information control robot;
It is characterized in that: described communication unit communicates with the unit of controlling that separates with robot, receives the input information of controlling unit output.
22. robot according to claim 21 is characterized in that: described communication unit and controlling between the unit communicates by wireless mode.
23. robot according to claim 22 is characterized in that: described communication unit is controlled communicating by letter between the unit and is followed a kind of in WIFI, WAPI, GSM, GPRS, CDMA, 3G, infrared protocol or the Bluetooth protocol with described.
24. robot according to claim 21 is characterized in that: described controlling between unit and the described communication unit communicates by wired mode.
25. robot according to claim 24 is characterized in that: described controlling between unit and the described communication unit communicates by network cable, follows network communication protocol.
26. robot according to claim 24 is characterized in that: described controlling between unit and the described communication unit communicates by USB, follows the usb communication agreement.
27. robot according to claim 24 is characterized in that: described communication unit comprises at least one in USB interface, internet interface or the iPhone special purpose interface.
28. robot according to claim 21 is characterized in that: a kind of in the artificial striding type mower of described machine, automatic mower or the suction cleaner.
29. robot according to claim 21 is characterized in that: described storage unit comprises removable formula memory element.
30. robot according to claim 29 is characterized in that: when removable formula memory element was connected with robot, CPU (central processing unit) was stored to removable formula memory element with the status information in the robot course of work.
31. robot according to claim 30, it is characterized in that: removable formula storage element stores user's presupposed information, when removable formula memory element was connected with robot, CPU (central processing unit) was according to the duty of described presupposed information control robot.
32. control system according to claim 31 is characterized in that: described presupposed information is the running parameter of robot or at least one in the refresh routine, and described refresh routine is the renewal version of described initialize program.
33. robot according to claim 21 is characterized in that: when communication unit when controlling the unit and establish a communications link, control unit or robot start-up routine update functions, upgrade described initialize program.
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| CN2012100151553A CN103217910A (en) | 2012-01-18 | 2012-01-18 | Robot and control system thereof |
| PCT/CN2012/087728 WO2013107266A1 (en) | 2012-01-18 | 2012-12-27 | Robot and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012100151553A CN103217910A (en) | 2012-01-18 | 2012-01-18 | Robot and control system thereof |
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| CN103217910A true CN103217910A (en) | 2013-07-24 |
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| WO (1) | WO2013107266A1 (en) |
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