RU2627555C2 - Device for horizontal surface controlled movement of smartphone - Google Patents

Abstract

FIELD: transportation.

SUBSTANCE: device comprises a control unit located on a movable platform, two independent coaxial driving wheels, a retractable support, two electric motors, detection sensors of obstacle and surface edges, in particular a table, and an integrated power supply. In this case, the mobile platform is made in the form of a casing with a compartment for installing a smartphone, each wheel is rigidly fixed to the shaft of its electric motor, and on the other side motor feedback sensors are mounted on these shafts, both motors being reversible and made with the possibility of changing the speed of rotation. The bracing jack is made in the form of a rotary console, which allows the casing to be installed at an angle of 0 to 85° to the horizon and, together with the wheels, to provide a stable position when moving along the plane. The control unit is configured to collect and process data coming from the smartphone and from the detection sensors of obstacle and the surface edges, as well as for generating and transmitting control signals to the wheel electric motors and the bracing jack.

EFFECT: ensured movement of the device along a specified path for video communication.

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Description

The invention relates to a small-sized self-propelled vehicle made in the form of an accessory of a smartphone, PDA or other gadget, and may find application as a small-sized telepresence robot that enables the smartphone to move along a given path for video communication (as a video phone) via, for example, Skype . In addition, this device can be used as an automatic secretary of business conferences, a remote scanner and a camera, for distance learning, consultations, security, parental control, etc.

Currently, there are many designs of telepresence robots, for example, the first Russian telepresence robot "R. BOT", developed by teachers and graduate students of MSTU. Bauman, Moscow State University Lomonosov, Moscow Engineering Physics Institute and produced by the Russian company R.Bot. The American company "Double Robotics" began to release the robot "Double", which is a mobile gadget built into a platform moving on the floor.

A known control system for a mobile robot according to the patent of the Russian Federation No. 124622, comprising a stationary part interconnected by cables and a part located directly on the mobile platform of the robot, while in the stationary part there is a control panel with a button block and four two-axis joysticks, a power supply unit for the stationary part and power a mobile platform, as well as an industrial computer for receiving information from a mobile platform and issuing platform control signals and control of technological equipment, and on a mobile platform of a robot - a router, an onboard computer, microcontroller units for direct control of technological equipment and video cameras interconnected, the video image from which is transmitted to the monitor of an industrial computer.

Known mobile robot according to RF patent No. 2446937, containing a platform, three wheels, three wheel shafts with wheels mounted on them, three wheel forks, two electric motors mounted on the platform, a rotation angle sensor of the first wheel, a speed sensor of rotation of the first wheel, a power source and an onboard a computer network, while the wheel shaft of the first wheel is kinematically connected with the output shaft of the first electric motor, a rotation angle sensor of the first wheel and a rotation speed sensor of the first wheel, and the axis of the wheel shafts of the first o and the second wheels lie on one straight line. In addition, a second angle of rotation sensor and a second wheel rotation speed sensor are introduced into it, kinematically connected to the second wheel wheel shaft kinematically connected to the output shaft of the second electric motor, and the on-board computer network is capable of collecting and processing data from the rotation angle sensors and sensors of the speed of rotation of the first and second wheels and the formation and transmission of control signals to the electric motors of the first and second wheels.

A device is known for automatically providing users with information and reference services during a multimodal dialogue and independent movement over a given territory of service according to RF patent No. 108172, taken as the closest analogue and containing an information counter that has means for capturing and displaying audiovisual information, is equipped with two touch monitors, video cameras, microphones, on-board computer that processes data coming from cameras, microphones, touch monitors, sensors, etc. binding constraints, and is mounted on a movable platform, chassis layout scheme which is composed of two leading and two vane wheels, and to detect obstacles on the outer circumference of the platform situated ultrasonic and infrared sensors; built-in batteries provide autonomous operation of all on-board devices and chassis electric drives, multichannel processing of signals received from video cameras in the video processing software block ensures the determination of the presence of users and tracking the movements of their faces; two types of contactless obstacle sensors, designed for different distances and response times, provide timely detection of dynamic interference arising along the device’s travel route.

However, all of these analogues are rather large-sized devices that are not related to mobile, and are mainly designed to work as a guide at exhibitions, salons and expositions, as well as for use in workshops of industrial enterprises.

The task to which the invention is directed is to create a compact device designed to install a smartphone in it and able to move with it on a plane, which is guaranteed by providing the device’s functionality with minimizing its size. In addition, this design of the device makes it possible to obtain such an adjacent technical result as expanding the functionality of the smartphone itself or another gadget.

Obtaining the specified technical result is provided in the claimed technical solution, entitled: "Device for the controlled movement of the smartphone on a horizontal surface." This device includes a control unit located on a movable platform, the layout of the chassis of which consists of two independent coaxial drive wheels and a retractable support, and two electric motors; sensors for detecting obstacles and edges of the surface, for example, a table, an integrated power source that ensures the operation of all components of the system. In this case, the mobile platform is made in the form of a housing with a compartment for installing a smartphone and its mounting device, each wheel is rigidly fixed to the shaft of its electric motor, and on the other hand, feedback sensors with a motor are installed on these shafts, both electric motors are reversible and can be changed rotation speed. As such electric motors, small-sized DC motors with a gearbox can be used, and incremental encoders (optical or based on the Hall effect) as feedback sensors. So, for the production of the current layout, a reverse-collector electric motor with a metal gearbox was used: Micro Metal Gearmotor HP 6V 320RPM, manufactured by WZE.

The extendable support allows you to set the rear plane of the housing at an angle from 0 to 85 ° to the horizontal and, together with the wheels, ensure a stable position of the housing when moving along the plane, and is made in the form of a rotatable console axis, which allows you to install the housing on a horizontal surface at an angle from 0 to 85 ° to the horizon to its rear plane, for which one end of the console is mounted on the shaft of a third similar motor mounted in the housing parallel to the first two and connected to the sensor control unit com of the rotation angle for automatic lifting and changing the angle of the housing during operation, and the second supporting end is rounded. As such an electric motor, it is also possible to use an electric motor with a gearbox together with a position sensor, for example, a rotation angle sensor based on a potentiometer: Analog Rotation Sensor V1, 68-32-40, manufactured by DFRobot.

The control unit is configured to collect and process data coming from a smartphone and from obstacle detection sensors and table edges, as well as to generate and transmit control signals to the wheel motors and retractable bearings. As the control unit, you can use such an electronic component as a microcontroller (8 or 32-bit), for example, an Arduino Micro microcontroller from ARDUINO, and as obstacle detection sensors and table edges, interference-proof infrared sensors measuring the distance in the required range e.g. Pololu Carrier Distance Sensor from Pololu.

In addition, the device contains a BLUETOOTH module for two-way communication between the control unit and the smartphone.

In a particular case, in the inventive device, the control unit, as well as the smartphone inserted into the device’s case, can operate under one of the mobile operating systems, for example, the Android, iOS or Windows Mobile families, on which the CLICKER control program will be installed, thus this will make it possible to use almost all possible types of smartphones with the claimed device.

The invention is illustrated by drawings of the device: in FIG. 1 shows a front view (3/4), in FIG. 2 is a rear view of the device without a rear wall when folded; FIG. 3 - device mounted on the surface, rear view (3/4).

The drawings show:

1 - platform body;

2 - compartment for smartphone;

3 - wheels;

4 - retractable leg support;

5 - back cover;

6 - obstacle sensors and table edges;

7 - the inner part of the body;

8 - electric motors of wheels;

9 - electric motor for raising the "legs";

10 - control unit (board);

11 - Bluetooth module;

12 - power source (battery);

13 - support "legs";

14 - on / off button;

15 - a through hole for the eyepiece of cameras and cameras.

The appearance of the housing 1 of the device has approximately the same shape and overall dimensions as the smartphone itself and serves both to carry and protect the smartphone from external influences, and to place distance sensors (obstacle sensors and table edges) 6, control unit 10 in it , a power source (battery) 12, electric motors of the wheels 8 and an electric motor of the support 9, a Bluetooth module 11, which electronically connects the control unit 10 to the smartphone, and buttons 14 for supplying power to the electric motors, all sensors and the control unit. The wheels 3, mounted on the axis of their electric motors 8, have a small clearance with the platform body 1. In the assembled (mobile) form of the entire device, the extendable platform support ("leg") 4 is located in the groove of the body 1 parallel to the rear cover of the body 5, in working condition the end the support 13 rests on the surface of movement, and it has a rounded hemispherical surface, which serves to reduce friction when moving the platform on a horizontal surface.

For the functioning of the claimed device together with a smartphone, it is also necessary to pre-install in the controlled (installed in the device) and in the control (from which the signal is sent) smartphones the application - the control program "CLICKER", which is downloaded from the Internet and installed on all smartphones that will be used together with the claimed device.

The claimed device works as follows: the included smartphone is inserted and fixed in the compartment 2 of the platform 1 housing, for example, by means of persistent springs, by pressing button 14, power is supplied to the electric motors, all sensors and the control unit. After that, the sensors of the smartphone determining its location are triggered, and the microcontroller of the control unit turns on BLUETOOTH, connecting to the smartphone, then the electronic connection of the control unit 10 with the smartphone is automatically established. To control the device, it is necessary to launch the necessary application on the smartphone (the "CLICKER" program), which, when installed on the managed smartphone, reacts to the same program installed on the calling smartphone when making a call, and informs the owner that the device is activated. Then, on a signal from the control unit, foot 4 is extended, after which the entire device is mounted on the surface on which it will move, for example on a table, to 3 support points: 2 wheels and support end 13, while moving the device is possible forward, backward and with by turning.

After activating the device, both cameras are turned on, the microphone and speaker, and the smartphone starts transmitting sound, as well as photo and video images in both directions, and by transmitting the platform wheel control signal from the calling side, it can move along the surface on which it is previously installed.

Using the device’s sensors and the caller’s control signals (passing through the Internet), the smartphone processor generates and sends control signals to the control unit via bluetooth in accordance with the installed application, and the control unit carries out the smartphone processor’s instructions according to the following scheme: caller signal + accounting of sensor signals → processor smartphone → blue tooth module → electric motor control unit → electric motors.

After that, the device assembled and equipped with a smartphone, complementing the microphone, speaker and 2 cameras of the smartphone (front and rear), using 10 wheels 3 controlled by the processor control unit 3, turns the claimed device into a miniature telepresence robot that can move, for example, on the surface of a table, for example during the meeting and perform certain actions. So, if the owner of the called smartphone before or during a conversation decides that the calling subscriber can use his smartphone with the device as a telepresence robot, he presses button 14 and puts the device with the smartphone installed in it on a horizontal surface, for example, on a table, which the meeting takes place, after which the control of the called smartphone and the declared device passes to the caller.

Further actions of the device are performed either under the control of the subscriber calling the smartphone, and the signal is transmitted via cellular communication through the smartphone processor to the device’s control unit or automatically using the application installed on the smartphone, for example, to automatically raise the platform from a horizontal position. Or if necessary, when the corresponding signal from the application arrives, the extendable support 4 with the help of the electric motor 9 is installed at a certain angle to the horizon.

The exchange of information in electronic form between the smartphone and the control unit is performed using the Bluetooph 11 module. All information entering the control unit is processed by the smartphone processor with the subsequent generation of commands and the selection of the device operation mode. The control unit is made with the function of relaying the commands received from the smartphone to other objects of the system and with the function of relaying the received information to the smartphone. Obstacle sensors and table edges are used to prevent collisions and falls, as well as to orient and position the device in space.

In addition, the said application has the function of automatically raising the device to its working position if the device moving on the table falls on its side on the plane along which it moved. In this case, the acceleration sensor located in the smartphone acts as a sensor of the working (vertical) position of the device.

In the process, the proposed device can automatically determine the angular position of the speech source, rotate and drive up to it and take a photo and video of the speaker. The platform rotates at the expense of either a different speed of rotation of the wheels (rotation along an arc of a large radius) or when one wheel is standing and the other rotates around it (rotation along the minimum possible radius). The required turning radius is calculated by the control unit, which generates and sends the corresponding signal to the electric motors of the wheels and the sliding support.

In addition to the above, the claimed device can perform the following actions:

- two-way audio and video communication with the subscriber who called the smartphone in real time;

- when the case is inclined at approximately 65 ° to the horizon, it allows using the smartphone’s camera to photograph and scan documents lying on this surface;

- thanks to the existing sensors for detecting obstacles and the edge of the table, automatically stop 10-15 cm to the edge of the table on which it moves, and 10-15 cm to the obstacle located in the plane of movement;

- automatic secretary-stenographer at meetings, automatic video and audio recording of the meeting;

- A regular video call with convenient positioning of the smartphone;

- telepresence communication in groups: professional and club communities, students, schoolchildren, athletes, etc., where collective meetings are needed;

- distance learning or consultation;

- remote security of the premises: monitoring the situation, casting a voice in case of a potential threat;

- remote parental control of the environment in which the child is;

- emergency recharging of the phone using the device’s battery and much more.

The claimed device in the future may become an attribute of each wearable electronic gadget. It will be a mobile mini-robot, which is always with its owner, it will be a personal assistant who is always ready and always in touch, even when lying in your pocket, it will be the device from which a new class of wearable gadgets will begin to develop: electronic-mechanical.

Claims (2)

1. A device for the controlled movement of a smartphone on a horizontal surface, containing a control unit located on a movable platform, the layout of the chassis of which consists of two independent coaxial drive wheels and a retractable support, providing a stable position of the platform when moving on a horizontal surface, and two electric motors, obstacle detection sensors and surface edges, built-in power source, characterized in that the platform contains a housing with a compartment for installing a smartphone and its mounting device, and a “bluetooth” module is installed in the housing for two-way communication between the control unit and the smartphone, each wheel is rigidly fixed to the shaft of its electric motor, and, on the other hand, feedback sensors with a motor are installed on these shafts, both motors reversible and with the possibility of changing the speed of rotation of the fixed wheels, the retractable landing gear is placed in the groove of the housing along its vertical axis and is a rotary console, configured to on the horizontal surface of the rear plane of the housing at an angle from 0 to 85 ° to the horizontal, for which one end of the console is mounted on the shaft of a third similar motor mounted in the housing parallel to the first two and connected to the control unit by the angle sensor, and the second supporting end is rounded while the control unit is configured to collect and process data from the smartphone and from sensors for detecting obstacles and surface edges, and with the possibility of forming and transmitting control signals per wheel motors and sliding bearing. 2. The device according to claim 1, characterized in that the control unit is configured to control a mobile operating system.

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