CN107225574A - A kind of domestic robot system based on mobile terminal - Google Patents
A kind of domestic robot system based on mobile terminal Download PDFInfo
- Publication number
- CN107225574A CN107225574A CN201710602724.7A CN201710602724A CN107225574A CN 107225574 A CN107225574 A CN 107225574A CN 201710602724 A CN201710602724 A CN 201710602724A CN 107225574 A CN107225574 A CN 107225574A
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- China
- Prior art keywords
- robot
- harvester
- mobile terminal
- system based
- robot system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of domestic robot system based on mobile terminal, and it includes：Harvester, support, robot, remote control and communication module, the harvester are fixed on the bracket, the audio and video information at family scene where for gathering it, and are sent to the remote control；The support is arranged in the robot, for fixing the harvester and cooperateing with the robot to complete the angular adjustment to the harvester；The communication module is arranged in the robot, and the robot is communicated by the communication module smart home live with the family, the harvester, and receives the control signal that the harvester issues the robot.Compared with prior art：This domestic robot system can be with more convenient when controlling multiple smart homes, and simple system, cost is relatively low.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of domestic robot system based on mobile terminal.
Background technology
With continuing to develop and progressive for science and technology, robot is as one of greatest invention of the mankind, and it is with surprising
Every field from speed to the human lives such as space flight, military affairs, service, amusement permeate.Quality of life is required with people
Improve constantly, the multiple smart homes of remote monitoring turn into new technology epoch more Man's Demands, remote monitoring intelligence common at present
The technical scheme of energy household is generally fixedly mounted to install family's monitoring camera, that is, installs fixed position at home,
And it is largely that video acquisition is first completed by front end camera, then video compress is completed by host side computer or all-in-one, passed
It is defeated, finally by video information transmission to PC terminals or mobile phone terminal.Its whole system is complex, and cost is higher, safety guarantee
Low, in addition, most families monitoring camera is all fixed, viewing angle is limited.
In view of drawbacks described above, creator of the present invention obtains the present invention finally by prolonged research and practice.
The content of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is that there is provided a kind of family based on mobile terminal
Robot system, it includes：Harvester, support, robot, remote control and communication module, the harvester are consolidated
Determine on the bracket, the audio and video information at family scene where for gathering it, and be sent to the remote control；It is described
Support is arranged in the robot, for fixing the harvester and cooperateing with the robot to complete to the harvester
Angular adjustment；The communication module is arranged in the robot, and the robot passes through the communication module and the family
Smart home, the harvester at front yard scene are communicated, and receive the control that the harvester issues the robot
Signal.
Preferably, the robot includes housing, controller, tachogenerator, two-phase direct current generator, Walk stepper motors and electricity
Pond.The controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery are arranged in the housing, the housing
Including Shell Plate and Athey wheel.
Preferably, the support includes fixed mount and worm reducer, the fixed mount is arranged on institute by a rotating part
State on robot body, the worm reducer is coaxially disposed with the rotating part, for controlling the fixed mount to carry out angle
Regulation.
Preferably, the stepper motor is set close to worm reducer, for driving the worm reducer, using described
Driving force is transferred on the support by worm reducer, it is carried out angular adjustment
The two-phase direct current generator is moved preferably, the controller sends pwm signal data, and movement velocity is entered
Row closed-loop control, and then Athey wheel described in the two-phase DC motor Driver moved.
Preferably, the support also includes micro limit switch, the micro limit switch produces after being triggered and interrupts letter
Number, and the interrupt signal is sent to the controller progress interrupt processing, for preventing the support angle accommodative excess.
Preferably, the robot also includes supersonic range finder, the supersonic range finder is separately positioned on institute
The front and back position in robot is stated, distance of described former and later two directions of robot apart from barrier is measured for the moment.
Preferably, being designed with collection terminal application program on the harvester, it is designed with and connects on the remote control
End application is received, the collection terminal application program is interconnected by server and the receiving terminal application program.
Preferably, the video-audio data that harvester is gathered is sent to and connect by the collection terminal application program by Cloud Server
When receiving on end application, for realizing that audio, the live and ultralow of video postpone to play.
Preferably, the mobile household robot also includes wireless charging receiver, it is arranged on the harvester,
Wireless charging for realizing the harvester.
Compared with the prior art, the beneficial effects of the present invention are：The present invention provides a kind of family's machine based on mobile terminal
Device people system can realize monitoring remote video, the function of robot remote control.The realization of monitoring remote video function is profit
The camera and microphone of harvester, and video, the sound that it is arrived in family's shooting are called with collection terminal application program
Frequency information is transferred to long-range receiving terminal by video transmission server, and user passes through receiving terminal application program real time inspection
The video that receives, audio.The realization of robot remote control function is to utilize motion planning and robot control, harvester camera
The angle of pitch control and smart home Remote, realize to robot and family scene in intelligent electric appliance remote control.
This domestic robot system on the one hand can be with more convenient, simple system, operation side when controlling multiple smart homes
Just, cost is relatively low, on the other hand, and robot connects relay as Remote, and all signals are all unique by this
Relay, is conveniently encrypted, and adds safety guarantee.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in various embodiments of the present invention, required in being described below to embodiment
The accompanying drawing used is briefly described.
Fig. 1 is a kind of family's situ hardware of domestic robot system based on mobile terminal of the embodiment of the present invention 1
Structural representation one；
Fig. 2 is a kind of family's situ hardware of domestic robot system based on mobile terminal of the embodiment of the present invention one
Structural representation two；
Fig. 3 is the fundamental diagram of the system closed-loop control；
Fig. 4 is the general frame of the domestic robot system of the present invention；
Fig. 5 is the software flow schematic diagram for preventing that the angle of pitch is excessive of the embodiment of the present invention 2；
Fig. 6 is the software flow schematic diagram of the ultrasonic ranging of the embodiment of the present invention 3.
Embodiment
Below in conjunction with accompanying drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment 1
As depicted in figs. 1 and 2, it is a kind of live hardware of family of domestic robot system based on mobile terminal of the invention
Device structure schematic diagram, the domestic robot system includes support 1, harvester 2, robot 3, remote control and communication
Module, the harvester 2 is fixed on the support 1, the audio and video information at family scene where for gathering it, and is sent to
The remote control；The support 1 is arranged in the robot 3, for fixing the harvester 2 and cooperateing with described
Robot 3 completes the angular adjustment to the harvester 2；The communication module is arranged in the robot 3, the machine
People 3 is communicated by the communication module smart home live with the family, the harvester 2, and receives described
Harvester 2 issues the control signal of the robot 3.
The robot includes housing, controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery.It is described
Controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery are arranged in the housing, and the housing includes outer
Coverboard 31 and Athey wheel 32.Controller is preferably stm32 single-chip microcomputers, and controller, which sends pwm signal data, makes two-phase direct current generator
Correct motor movement is produced, so that the speed for really allowing Athey wheel to need is rotated, realizes that robot advances, retreated and left
The function of right-hand rotation.The speed of this domestic robot uses closed-loop control, needs to set during the speed of robot is adjusted
Fixed to be compared with currently practical rotating speed, by the rotating speed of tachogenerator measurement motor, tachogenerator is preferably photoelectric code
Disk sensor.The detection mode of encoder sensor is：Light emitting diode and photo resistance are mutually to penetrating installation, photo resistance
Resistance receive light influence it is very big.When the light of light emitting diode is directly directed at photo resistance, sensor output high level works as code-disc
When blocking light beam, transducers output low-level so in the case where motor is rotated, just produces the PWM ripples of certain frequency.Use
The PWM ripple input capture functions of stm32 single-chip microcomputers, carry out step-by-step counting, speed are measured.Robot is with two-phase direct current
Motor drives two-wheeled caterpillar belt structure as mechanical platform, is calculated with reference to encoder sensor motor speed measuring and PID closed-loop controls
Method realizes robot straight ahead retrogressing, the functions such as right-hand rotation, acceleration-deceleration of turning left, and the control accuracy of the robot is high, and operation can
Lean on, can stably be travelled under different road conditions.
PWM value is calculated and using its control algolithm of consideration is needed, the system uses pid control algorithm, to motor speed
Carry out closed-loop control.The calculating and output of PWM value in closed-loop control system all rely on the feedback regulation effect of PID control,
As shown in figure 3, being the fundamental diagram of the system closed-loop control.
The stepper motor of robot is set close to worm reducer 12, for driving worm reducer 12, utilizes worm screw
Driving force is transferred on support 1 by decelerator 12, and the Pulse Width Control of certain frequency, the rotation of stepper motor are sent by controller
Just the control of the harvester angle of pitch to being fixed on support 1 can be realized by connected worm reducer 12, is controlled
System is convenient accurate.
The preferred rechargeable battery of battery of robot, so as to may be reused, energy-conserving and environment-protective.
The harvester and remote control are preferably smart mobile phone, and the camera itself carried thereon can facilitate
The image information of environment where it is efficiently gathered, realizes that remote audio video is checked, claps photo, video and review work(with hop server
The function of energy and robot motion's remote control.Wherein, harvester can use old smart mobile phone, on the one hand can facilitate
The function needed for the system is efficiently realized, on the other hand be can be salvaged, energy-conserving and environment-protective.
The support 1 includes fixed mount 11 and worm reducer 12.The fixed mount includes locking member 111 and support member
112, described one end of locking member 111 is fixedly connected on support member 112, and knob 113 is provided with its other end, passes through the rotation
The accommodating width at the two ends of locking member 111 can be adjusted for button 113.The rotating part of the support member 112 subtracts with the worm screw
Fast device 12 is co-axially located on the robot body 3.Worm reducer 12 described in the driving stepper motor of robot body, leads to
Crossing the rotation direction of the Pulse Width Control stepper motor of certain frequency just can realize the control to the angle of pitch of support 1, so as to
The harvester 2 for carrying robot body 3 conveniently adjusts different angles, is easy to control adjustment in use
Angle when harvester is shot or during screen display.
As shown in figure 4, being designed with collection on the general frame of the domestic robot system for the present invention, the harvester
Hold and be designed with receiving terminal application program on application program, the remote control, the domestic robot system can be realized
Monitoring remote video, the function of robot remote control.The realization of monitoring remote video function is to utilize collection terminal application program
To call the camera and microphone of harvester, and by its family's shooting to video, audio-frequency information passed by video
Defeated server transport is to long-range receiving terminal, i.e. client, and user is received by client application real time inspection
Video, audio.The realization of robot remote control function includes the angle of pitch control of motion planning and robot control, harvester camera
System and smart home Remote, corresponding control button is provided with client application, is pressed after control button, is controlled
System instruction by control device and instruction control server transport on harvester, then the communication such as the bluetooth for passing through harvester
The equipment of function is transferred to the controller of robot, and the controller of robot is by controlling two-phase DC MOTOR CONTROL robot
Motion conditions, then by controlling stepper motor to adjust the angle of pitch of harvester, while the communication module carried in robot
Interface can connect smart home, realize the intelligent electric appliance in remote control of domestic scene.This domestic robot system is on the one hand
Can be with more convenient, another aspect when controlling multiple smart homes, robot connects relay as Remote,
All signals all by this unique relay, are conveniently encrypted, add safety guarantee.
In addition, the present invention the domestic robot system based on mobile terminal using existing technology platform provide specialty,
Stable, quickly live access and distribution service, realizes remote audio video and checks, claps photo, video look back function and machine
People's mobile telecommunication control function.The SDK provided using cloud service is by video, audio medium stream plug-flow to cloud video server, cloud
A variety of live source access ways such as service support HLS/RTMP plug-flows can support million simultaneously there is provided the conversion of fast and reliable form
Send out live and watch, magnanimity CDN node is covered all around, the rigors of ultralow delay and the concurrent visit capacity of super large are met comprehensively.
Embodiment 2
The present embodiment and the difference of embodiment 1 are：The support of the present embodiment also includes micro limit switch.Fine motion
The quantity of limit switch can be two, when support pitching is excessively triggered to limit switch, can produce interrupt signal, be sent to
Controller carries out interrupt processing, and interrupt processing makes the angle of pitch can not continue to increase to spacing direction, so as to prevent support in pitching
During angle change, there is the situation that the angle of pitch excessively adjusts damage robot body mechanical structure.As shown in figure 5, being
The software flow schematic diagram that the angle of pitch is excessive is prevented, rate-determining steps are：
Step S11：The controller of robot is initialized, and is equipped with corresponding registers；
Step S12：Open external interrupt；
Step S13：The angle of pitch is controlled；
Step S14：Judge whether to receive the interrupt signal of limit switch, if so, stopping driving；If it is not, proceeding
The angle of pitch is controlled.
Embodiment 3
The present embodiment and the difference of embodiment 2 are：The robot body of the present embodiment also includes ultrasonic ranging
Device, its quantity at least two, is separately positioned on the front and back position of robot body, for before and after moment robot measurement two
Individual direction apart from barrier distance, when the distance be less than setting apart from when, produce interrupt signal, be sent to controller progress
Interrupt processing, interrupt processing is robot can not be continued the direction motion towards barrier, so as to prevent robot in motion
During, damaged caused by striking barrier to its mechanical structure.
The principle of ultrasonic ranging is：The time difference between the transmitting of ultrasonic wave and reception, Ran Houqiu are measured by timer
Go out apart from s, the calculation formula apart from s is：
S=Δs t × v/2,
Wherein, v is the speed of ultrasonic wave, and Δ t is the time difference that ultrasonic wave is launched and received, as shown in fig. 6, being ultrasound
Away from software flow schematic diagram, rate-determining steps are：
Step S11：The controller of robot is initialized, and is equipped with corresponding registers；
Step S12：Open external interrupt；
Step S13：Motion control；
Step S14：Judge whether to receive with the distance of barrier be less than setting apart from when the interrupt signal that produces, if
It is to stop driving；If it is not, proceeding motion control.
Embodiment 4
The present embodiment and the difference of embodiment 3 are：The present embodiment also includes wireless charging receiver, and it is arranged on
On the harvester, for carrying out wireless charging to harvester, so that charging process is more convenient, it is easy to operate,
And the mixed and disorderly situation of visible light is avoided, reduce the wear rate of equipment.
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art,
It can still modify to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacing, within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc. should be included in this
Within the protection domain of invention.
Claims (10)
1. a kind of domestic robot system based on mobile terminal, it is characterised in that it includes：Harvester, support, robot,
Remote control and communication module, the harvester are fixed on the bracket, family scene where for gathering it
Audio and video information, and it is sent to the remote control；The support is arranged in the robot, for fixing the collection
Device simultaneously cooperates with the robot to complete the angular adjustment to the harvester；The communication module is arranged on the robot
On, the robot is communicated by the communication module smart home live with the family, the harvester, and
Receive the control signal that the harvester issues the robot.
2. a kind of domestic robot system based on mobile terminal according to claim 1, it is characterised in that the robot
Including housing, controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery, the controller, tachogenerator,
Two-phase direct current generator, Walk stepper motors and battery are arranged in the housing, and the housing includes Shell Plate and Athey wheel.
3. a kind of domestic robot system based on mobile terminal according to claim 1, it is characterised in that the support bag
Fixed mount and worm reducer are included, the fixed mount is arranged on the robot body by a rotating part, and the worm screw subtracts
Fast device is coaxially disposed with the rotating part, for controlling the fixed mount to carry out angular adjustment.
4. a kind of domestic robot system based on mobile terminal according to claim 2, it is characterised in that the stepping electricity
Machine is set close to worm reducer, for driving the worm reducer, is transferred to driving force using the worm reducer
On the support, it is set to carry out angular adjustment.
5. a kind of domestic robot system based on mobile terminal according to claim 2, it is characterised in that the controller
Sending pwm signal data moves the two-phase direct current generator, and carries out closed-loop control to movement velocity, and then the two-phase is straight
Stream motor drives the Athey wheel to be moved.
6. a kind of domestic robot system based on mobile terminal according to claim 3, it is characterised in that the support is also
Including micro limit switch, the micro limit switch produces interrupt signal after being triggered, and the interrupt signal is sent to
The controller carries out interrupt processing, for preventing the support angle accommodative excess.
7. a kind of domestic robot system based on mobile terminal according to claim 2, it is characterised in that the robot
Also include supersonic range finder, the supersonic range finder is separately positioned on the front and back position in the robot, is used for
Moment measures distance of described former and later two directions of robot apart from barrier.
8. a kind of domestic robot system based on mobile terminal according to claim 1, it is characterised in that the collection dress
Put and be designed with collection terminal application program, receiving terminal application program, the collection terminal are designed with the remote control
Application program is interconnected by server and the receiving terminal application program.
9. a kind of domestic robot system based on mobile terminal according to claim 8, it is characterised in that the collection terminal
When the video-audio data that application program gathers harvester is sent in receiving terminal application program by Cloud Server, for reality
Existing audio, the live and ultralow delay of video are played.
10. a kind of domestic robot system based on mobile terminal according to claim 9, it is characterised in that the movement
Domestic robot also includes wireless charging receiver, and it is arranged on the harvester, for realizing the harvester
Wireless charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710602724.7A CN107225574A (en) | 2017-07-21 | 2017-07-21 | A kind of domestic robot system based on mobile terminal |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710602724.7A CN107225574A (en) | 2017-07-21 | 2017-07-21 | A kind of domestic robot system based on mobile terminal |
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| CN107225574A true CN107225574A (en) | 2017-10-03 |
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ID=59956546
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| CN201710602724.7A Pending CN107225574A (en) | 2017-07-21 | 2017-07-21 | A kind of domestic robot system based on mobile terminal |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108568819A (en) * | 2018-04-20 | 2018-09-25 | 郑州科技学院 | A kind of intelligent robot autonomous control method based on artificial intelligence |
| CN109218446A (en) * | 2018-10-26 | 2019-01-15 | 湖北大学 | A kind of Internet of Things intelligent robot autonomous learning cloud computing device |
| CN110281245A (en) * | 2019-05-24 | 2019-09-27 | 山东新海软件股份有限公司 | A kind of desktop small scale robot and its control method based on movable pedestal |
| WO2021102855A1 (en) * | 2019-11-28 | 2021-06-03 | 深圳市大疆创新科技有限公司 | Mobile platform, terminal device and control method therefor, and storage medium |
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