CN101621695A - Robot system based on 3G communication technique - Google Patents

Robot system based on 3G communication technique Download PDF

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Publication number
CN101621695A
CN101621695A CN 200910109221 CN200910109221A CN101621695A CN 101621695 A CN101621695 A CN 101621695A CN 200910109221 CN200910109221 CN 200910109221 CN 200910109221 A CN200910109221 A CN 200910109221A CN 101621695 A CN101621695 A CN 101621695A
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module
code stream
image
robot
communication module
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CN 200910109221
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CN101621695B (en
Inventor
熊小峰
胡颖
宋章军
王立威
张建伟
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Shaanxi de N en Intelligent Technology Co., Ltd.
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Shenzhen Institute of Advanced Technology of CAS
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Abstract

The invention relates to a robot system comprising a robot and a remote control device, wherein the robot comprises an onboard communication module, a coding module and a vision sensor, wherein the coding module is used for dividing each frame image acquired by the vision sensor into at least two macroblock images and converting the macroblock images into macroblock code streams so as to from a group of code streams, and the onboard communication module is used for emitting the code steams; the remote control device comprises a remote communication module, a decoding module and a display module, wherein the remote communication module is used for receiving the code streams, the decoding module is used for dividing the group of code steams into at least two macroblock code streams and converting the macroblock code streams into macroblock images so as to form the frame image; and the robot transmits the code streams to the remote control device through a wireless network. The robot system has high remote access safety, is convenient and practical and has functions of monitoring with remote videos and remotely controlling the robot to clean rooms.

Description

Robot system based on the 3G communication technology
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of robot system based on the 3G communication technology.
Background technology
In daily life, the family expenses service robot has been played the part of more and more important role.Current, developed countries such as Japan, the U.S. make certain gains in the research and the application of family expenses robot, the amusement robot Ai Bo (AIBO) of Sony (SONY) for example, Albert's (IROBOT) the machine ethics crust (ROOMBA) of sweeping the floor, the supervisory-controlled robot Roy (Rovio) of Wo Yi (WowWee) etc.Family expenses security protection robot mainly is based on the remote access of internet at present, but the remote access fail safe that is based on the internet is one of subject matter of puzzlement security protection robot application, and also relate to the distribution and the binding of the network address of wide area network based on the remote access of internet, such use is provided with the flow process more complicated, is not easy to be accepted by users.
Summary of the invention
In view of this, be necessary, provide a kind of remote access safe and convenient and practical robot system at the problems referred to above.
A kind of robot system comprises robot and remote control, and described robot comprises airborne communication module, coding module, vision sensor; Described vision sensor is used to obtain image; Described coding module is code stream according to the macroblock coding algorithm with image transitions; Described airborne communication module is used to launch code stream; Described remote control comprises remote communication module, decoder module, display module; Described remote communication module is used to receive code stream; Described decoder module is converted to image according to the macro block decoding algorithm with code stream; Described display module is used for display image; Described robot transmits code stream by wireless network to remote control.
Preferably, described remote control also transmits control signal by wireless network to robot.
Preferably, described wireless network is a 3G network.
Preferably, described robot also comprises mobile device and cleaning device, and described control signal is used to control mobile device and cleaning device.
A kind of robot also is provided.
A kind of robot comprises airborne communication module, coding module, vision sensor; Described vision sensor is used to obtain image; Described coding module is code stream according to the macroblock coding algorithm with image transitions; Described airborne communication module is used to launch code stream.
Preferably, described macroblock coding algorithm comprises: whether the data volume of judging certain two field picture greater than preset value, if, this two field picture is divided at least two macroblock image, macroblock image is converted to the macro block code stream, form group code stream; If not, this two field picture directly is converted to group code stream.
Preferably, describedly macroblock image is converted to the macro block code stream comprises: macroblock image is carried out the macro block Estimation Optimization; Macroblock image is carried out the macro block compression optimization; Macroblock image is carried out code stream analyzing; Temporary macro block code stream.
Preferably, described airborne communication module is launched code stream by 3G network.
Preferably, described airborne communication module is the 3G communication module.
Preferably, described robot also comprises gas sensor, and described gas sensor is used to gather gas, the analytical gas composition, and output analysis result signal, described airborne communication module also is used for the emission analysis consequential signal.
Preferably, described robot also comprises the motion Executive Module, and described airborne communication module also is used to receive extraneous control command, and described motion Executive Module is carried out corresponding operation according to the control command control robot.
Preferably, described robot also comprises mobile device and cleaning device.
Preferably, described coding module comprises image receiver module, code stream sending module, image buffers memory module, bit stream buffer memory module, encoder; Described image receiver module is used to receive image; Described image buffers memory module is used for the register map picture; Described encoder is code stream according to the macroblock coding algorithm with image transitions; Described bit stream buffer memory module is used for temporary code stream; Described code stream sending module is used for code stream is sent to the airborne communication module.
A kind of remote control also is provided.
A kind of remote control comprises remote communication module, decoder module, display module; Described remote communication module is used to receive code stream; Described decoder module is converted to image according to the macro block decoding algorithm with code stream; Described display module is used for display image.
Preferably, described macro block decoding algorithm comprises: whether the data volume of judging certain group code stream greater than preset value, if, this group code stream is divided at least two macro block code streams, the macro block code stream is converted to macroblock image, form a two field picture; If not, this group code stream directly is converted to a two field picture.
Preferably, describedly the macro block code stream is converted to macroblock image comprises: the macro block code stream is carried out the macro block code stream analyzing; The macro block code stream is carried out macroblock image to be rebuild; Macroblock image is carried out macroblock level filtering; Macroblock image is carried out the macro block vertical filtering; Temporary macroblock image.
Preferably, described remote communication module receives code stream by 3G network.
Preferably, described remote communication module is the 3G communication module.
Preferably, described remote control is a 3G mobile.
Preferably, also comprise control module, described remote communication module also is used for the receiving and analyzing consequential signal, and described control module is used to control display module display analysis consequential signal.
Preferably, described analysis result signal is the form demonstration by SMS.
Preferably, also comprise control module and MIM message input module, described MIM message input module is used to receive user's input information, and described control module is used for user's input information is converted to control command, and described remote communication module also is used for the emission control instruction.
Preferably, described decoder module comprises code stream receiver module, display control module, bit stream buffer memory module, display buffer memory module, decoder; Described code stream receiver module is used to receive code stream; Described bit stream buffer memory module is used for temporary code stream; Described decoder is converted to image according to the macro block decoding algorithm with code stream; Described display buffer memory module is used for the register map picture; Described display control module is used to control the display module display image.
Above-mentioned robot adopts 3G communication technology real-time Transmission live video, remote control adopts the 3G communication technology to receive in real time also to show live video, so robot and remote control have all advantages (for example remote access is safe) of the 3G communication technology.Remote control can realize that therefore above-mentioned robot and remote control are easily practical by 3G mobile.
Description of drawings
Fig. 1 is the schematic diagram of robot system.
Fig. 2 is the schematic diagram of the double-core processing platform of the OMAP of Texas Instrument series.
Fig. 3 is the flow chart of decode procedure.
Fig. 4 is the flow chart of cataloged procedure.
Fig. 5 is the schematic diagram of the control circuit of motion Executive Module.
Embodiment
Fig. 1 is the schematic diagram of robot system.Robot system 100 comprises robot 10 and remote control 20.Robot 10 comprises airborne communication module 11, coding module 12, motion Executive Module 16, sound transducer 153, gas sensor 154, vision sensor 156, mobile device 17, cleaning device 18.Remote control 20 comprises remote communication module 21, MIM message input module 24, decoder module 22, display module 23, control module 25, loud speaker 26.
Remote control 20 can be realized by 3G mobile.Remote communication module 21 is used to receive code stream, and remote communication module 21 can be the 3G communication module.The 3G communication module can adopt any among WCDMA, TD-SCDMA, the CDMA2000.
It is image that decoder module 22 is used for code stream decoding.The standard agreement of 3GPP and relevant decoding is followed in the design of decoder module 22, carry out H.263 design and optimization with the MPEG-4 decoder software, but also will design and realize a series of video error tolerance strategies at robot control, for example macro block updating, heavy synchronously, data cut apart, error concealment, mistake recovery etc.
Decoder module 22 is based on the double-core processing platform of the OMAP of Texas Instrument series.Fig. 2 is the schematic diagram of the double-core processing platform of the OMAP of Texas Instrument series.The double-core processing platform of the OMAP of Texas Instrument series comprises ARM subsystem, DSP subsystem, memory.The ARM subsystem comprises image receiver module, code stream sending module, code stream receiver module, display control module.The DSP subsystem comprises encoder.Memory comprises image buffers memory module, bit stream buffer memory module, display buffer memory module.The ARM subsystem is used to handle upper layer application and various scheduling of resource, and the DSP subsystem is used to decode and the realization of encryption algorithm.Interrupt mechanism by a kind of " mailbox (mailbox) " between ARM subsystem and the DSP subsystem intercoms mutually, and comes swap data by the communication protocol and the memory of predefined, thereby realizes decoding or coding.In Fig. 2, the solid line presentation code process of band arrow, the dotted line of band arrow is represented decode procedure.The OMAP series platform has the function of Code And Decode simultaneously, and in actual applications, 22 of decoder modules need to use code stream receiver module, bit stream buffer memory module, decoder, display buffer memory module and the display control module in the OMAP series platform.
Fig. 3 is the flow chart of decode procedure.Decode procedure comprises the steps:
S201: receive group code stream.
This step is realized by the code stream receiver module.The code stream receiver module receives code stream by remote communication module, and is sent to the bit stream buffer memory module.
S202: temporary this group code stream.
This step is realized by the bit stream buffer memory module.
S203: whether the data volume of judging this group code stream if not, carries out S204 greater than preset value; If carry out S205;
S204: this group code stream directly is converted to a two field picture, carries out S213 then;
S205: a group code stream is divided at least two macro block code streams.
S206: single macro block code stream is carried out the macro block code stream analyzing.
S207: single macro block code stream is carried out macroblock image rebuild.
S208: single macroblock image is carried out macroblock level filtering.
S209: single macroblock image is carried out the macro block vertical filtering.
S210: temporary single macroblock image.
S211: judge whether all macro block code streams dispose; If carry out S212; If not, carry out S206.
S212: form a two field picture.
All macroblock image are made up, form a two field picture.
Above-mentioned steps S203 to S212 is realized by decoder.
S213: temporary this two field picture.
This step is realized by the display buffer memory module.
S214: show this two field picture.
This step is realized by display control module and display module 23.Display control module reads this two field picture from the display buffer memory module, and the control display module shows this two field picture.
The user can pass through MIM message input module 24 input control informations, and MIM message input module 24 can be realized by the keyboard or the touch-screen of 3G mobile.The control information of 25 pairs of user's inputs of control module is handled, and instructs to airborne communication module 11 emission control corresponding by remote communication module 21.
Airborne communication module 11 is installed in the robot, is used to launch code stream.Airborne communication module 11 can be the 3G communication module.
It is code stream that coding module 12 is used for image encoding.The standard agreement of 3GPP and correlative coding is followed in the design of coding module 12, carry out H.263 design and optimization with MPEG-4 encoder software, but also will design and realize a series of video error tolerance strategies at robot control, for example macro block updating, heavy synchronously, data cut apart, error concealment, mistake recovery etc.
Coding module 12 also is based on the double-core processing platform of OMAP series.In actual applications, 12 of coding modules need to use image receiver module, image buffers memory module, encoder, bit stream buffer memory module and the code stream sending module in the OMAP series platform.
Fig. 4 is the flow chart of cataloged procedure.Cataloged procedure comprises the steps:
S301: receive a two field picture.
This step is realized by the image receiver module.The image receiver module receives the image that vision sensor 156 is taken, and is sent to the image buffers memory module.
S302: temporary this two field picture.
This step is realized by the image buffers memory module.
S303: whether the data volume of judging this two field picture if not, carries out S304 greater than preset value; If carry out S305.
S304: this two field picture directly is converted to group code stream, carries out S312 then.
S305 a: two field picture is divided at least two macroblock image.
S306: single macroblock image is carried out the macro block Estimation Optimization.
S307: single macroblock image is carried out the macro block compression optimization.
S308: single macroblock image is carried out code stream analyzing.
S309: temporary single macro block code stream.
S310: judge whether all macroblock image dispose; If carry out S311; If not, carry out S306.
S311: form group code stream.
Above-mentioned steps S303 to S311 is realized by encoder.
S312: temporary this group code stream.
This step is realized by the bit stream buffer memory module.
S313: send this group code stream.
This step is realized by the code stream sending module.The code stream sending module reads this group code stream from the bit stream buffer memory module, is sent to airborne communication module 11.
Sound transducer 153 is used for gathering abnormal sound within doors, as the basis for estimation of illegal invasion detection.Gas sensor 154 is responsible for the composition detection of air within doors, and abnormal conditions such as gas leakage are reported to the police.Vision sensor 156 (can be the CCD camera) is mainly finished the IMAQ of environment within doors, and as the basis of environment learning and intelligent decision.
Motion Executive Module 16 receives control command by airborne communication module 11, and control mobile device 17 and cleaning device 18 are carried out corresponding operation.Fig. 5 is the schematic diagram of the control circuit of motion Executive Module 16.Real-time for the driven algorithm of many motor control units of improving robot, and improve the stability of system as far as possible, the main chip of control circuit has adopted towards numerically controlled DSP control chip TMS320X series, and has carried out corresponding peripheral function expansion.
Control circuit mainly is the coordination control of finishing the independently SERVO CONTROL of four motors and four-wheel, also will reserve control interface for the control of the telescopic arm of vision sensor 156 in addition.Control circuit adopts pulse-width modulation (PWM) control mode, realizes the rotating and the speed governing of motor.The four-quadrant operation mode makes motor greatly reduce motor static friction dead band.Simultaneously, adopt optocoupler at a high speed that the signal of pulse-width modulation and motor are isolated, avoid the heavy current impact control circuit in the motor, reduce influence control circuit.
Above-mentioned robot system 100 adopts the mode real-time Transmission live video of 3G mobile communication, thereby realizes the function of monitoring remote video.Simultaneously, owner realizes remote control robot cleaning room by 10 mobile device 17 and cleaning device 18 of remote control 20 control robot, has improved the efficient in robot cleaning room greatly.
Above-mentioned robot system 100 has all advantages (for example having the safe advantage of remote access) of 3G.Remote control 20 can be realized by 3G mobile, so above-mentioned robot system 100 is convenient and practical.
In addition, owner can be by the on-the-spot appointed area of remote control 20 remote-controlled robots, 10 patrols, if run into abnormal conditions such as forcible entry, gas leak, smog, robot 10 can notify owner rapidly.
The above embodiment has only expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.

Claims (23)

1, a kind of robot is characterized in that: comprise airborne communication module, coding module, vision sensor; Described vision sensor is used to obtain image; Described coding module is code stream according to the macroblock coding algorithm with image transitions; Described airborne communication module is used to launch code stream.
2, robot according to claim 1, it is characterized in that: described macroblock coding algorithm comprises: whether the data volume of judging certain two field picture is greater than preset value, if this two field picture is divided at least two macroblock image, macroblock image is converted to the macro block code stream, forms group code stream; If not, this two field picture directly is converted to group code stream.
3, robot according to claim 2 is characterized in that: describedly macroblock image is converted to the macro block code stream comprises: macroblock image is carried out the macro block Estimation Optimization; Macroblock image is carried out the macro block compression optimization; Macroblock image is carried out code stream analyzing; Temporary macro block code stream.
4, robot according to claim 1 is characterized in that: described airborne communication module is launched code stream by 3G network.
5, robot according to claim 1 is characterized in that: described airborne communication module is the 3G communication module.
6, robot according to claim 1, it is characterized in that: described robot also comprises gas sensor, and described gas sensor is used to gather gas, the analytical gas composition, output analysis result signal, described airborne communication module also is used for the emission analysis consequential signal.
7, robot according to claim 1, it is characterized in that: described robot also comprises the motion Executive Module, described airborne communication module also is used to receive extraneous control command, and described motion Executive Module is carried out corresponding operation according to the control command control robot.
8, robot according to claim 6 is characterized in that: described robot also comprises mobile device and cleaning device.
9, robot according to claim 1 is characterized in that: described coding module comprises image receiver module, code stream sending module, image buffers memory module, bit stream buffer memory module, encoder; Described image receiver module is used to receive image; Described image buffers memory module is used for the register map picture; Described encoder is code stream according to the macroblock coding algorithm with image transitions; Described bit stream buffer memory module is used for temporary code stream; Described code stream sending module is used for code stream is sent to the airborne communication module.
10, a kind of remote control is characterized in that: comprise remote communication module, decoder module, display module; Described remote communication module is used to receive code stream; Described decoder module is converted to image according to the macro block decoding algorithm with code stream; Described display module is used for display image.
11, remote control according to claim 10, it is characterized in that: described macro block decoding algorithm comprises: whether the data volume of judging certain group code stream is greater than preset value, if, this group code stream is divided at least two macro block code streams, the macro block code stream is converted to macroblock image, forms a two field picture; If not, this group code stream directly is converted to a two field picture.
12, remote control according to claim 11 is characterized in that: describedly the macro block code stream is converted to macroblock image comprises: the macro block code stream is carried out the macro block code stream analyzing; The macro block code stream is carried out macroblock image to be rebuild; Macroblock image is carried out macroblock level filtering; Macroblock image is carried out the macro block vertical filtering; Temporary macroblock image.
13, remote control according to claim 10 is characterized in that: described remote communication module receives code stream by 3G network.
14, remote control according to claim 10 is characterized in that: described remote communication module is the 3G communication module.
15, remote control according to claim 10 is characterized in that: described remote control is a 3G mobile.
16, remote control according to claim 10 is characterized in that: also comprise control module, described remote communication module also is used for the receiving and analyzing consequential signal, and described control module is used to control display module display analysis consequential signal.
17, remote control according to claim 16 is characterized in that: described analysis result signal is the form demonstration by SMS.
18, remote control according to claim 10, it is characterized in that: also comprise control module and MIM message input module, described MIM message input module is used to receive user's input information, described control module is used for user's input information is converted to control command, and described remote communication module also is used for the emission control instruction.
19, remote control according to claim 10 is characterized in that: described decoder module comprises code stream receiver module, display control module, bit stream buffer memory module, display buffer memory module, decoder; Described code stream receiver module is used to receive code stream; Described bit stream buffer memory module is used for temporary code stream; Described decoder is converted to image according to the macro block decoding algorithm with code stream; Described display buffer memory module is used for the register map picture; Described display control module is used to control the display module display image.
20, a kind of robot system is characterized in that: comprise robot and remote control, described robot comprises airborne communication module, coding module, vision sensor; Described vision sensor is used to obtain image; Described coding module is code stream according to the macroblock coding algorithm with image transitions; Described airborne communication module is used to launch code stream; Described remote control comprises remote communication module, decoder module, display module; Described remote communication module is used to receive code stream; Described decoder module is converted to image according to the macro block decoding algorithm with code stream; Described display module is used for display image; Described robot transmits code stream by wireless network to remote control.
21, robot system according to claim 20 is characterized in that: described remote control also transmits control signal by wireless network to robot.
22, according to claim 20 or 21 described robot systems, it is characterized in that: described wireless network is a 3G network.
23, robot system according to claim 21 is characterized in that: described robot also comprises mobile device and cleaning device, and described control signal is used to control mobile device and cleaning device.
CN 200910109221 2009-07-31 2009-07-31 Robot system based on 3G communication technique Expired - Fee Related CN101621695B (en)

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CN103064377A (en) * 2012-12-20 2013-04-24 南京航空航天大学 Third generation telecommunication (3G) dual-redundancy control system of police mobile robot
CN103179157A (en) * 2011-12-22 2013-06-26 张殿礼 Intelligent network robot and control method
WO2015074410A1 (en) * 2013-11-22 2015-05-28 嘉兴市德宝威微电子有限公司 Robot system and simultaneous performance control method thereof
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CN103179157A (en) * 2011-12-22 2013-06-26 张殿礼 Intelligent network robot and control method
CN103064377A (en) * 2012-12-20 2013-04-24 南京航空航天大学 Third generation telecommunication (3G) dual-redundancy control system of police mobile robot
WO2015074410A1 (en) * 2013-11-22 2015-05-28 嘉兴市德宝威微电子有限公司 Robot system and simultaneous performance control method thereof
CN104700550A (en) * 2015-02-11 2015-06-10 汪金生 Intelligent fire fighting smoke detector system
CN105955188A (en) * 2016-06-24 2016-09-21 长春思瑶科技有限公司 Vehicle cleaning machine profiling control method and apparatus based on machine vision
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CN107601194A (en) * 2017-09-30 2018-01-19 樱花电梯（中山）有限公司 A kind of lift appliance, Electromechanical Control module and elevator automatic sweeping system
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CN113303720A (en) * 2021-06-29 2021-08-27 桂林航天工业学院 Vision-based household robot

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