CN101621695B - Robot system based on 3G communication technique - Google Patents
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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
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, household service robot has been played the part of more and more important role.Current, the developed countries such as Japan, the U.S. make certain gains in research and the application of family expenses robot, the amusement robot Ai Bo (AIBO) of Sony (SONY) for example, Albert's (IROBOT) sweeping robot rumba (ROOMBA), the supervisory-controlled robot Roy (Rovio) of Wo Yi (WowWee) etc.At present the domestic security robot mainly is based on the remote access of internet, but one of subject matter that the remote access fail safe that is based on the internet is the puzzlement security robot uses, and also relate to distribution and the binding of the network address of wide area network based on the remote access of internet, such use setting procedure more complicated is not easy to be accepted by users.
Summary of the invention
In view of this, be necessary for the problems referred to above, provide a kind of remote access safe and convenient and practical robot system.
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 for obtaining image; Described coding module is code stream according to Macroblock Encoding Algorithm with image transitions; Described airborne communication module is used for the emission code stream; Described remote control comprises remote communication module, decoder module, display module; Described remote communication module is used for receiving 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 showing image; Described robot by wireless network to the remote control transport stream.
Preferably, described remote control also by wireless network to robot transfer control signal.
Preferably, described wireless network is 3G network.
Preferably, described robot also comprises mobile device and cleaning device, and described control signal is used for controlling 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 for obtaining image; Described coding module is code stream according to Macroblock Encoding Algorithm with image transitions; Described airborne communication module is used for the emission code stream; Described Macroblock Encoding Algorithm comprises: judge that the data volume of certain two field picture whether greater than preset value, if so, is divided at least two macroblock image with this two field picture, macroblock image is converted to the macro block code stream, form a group code stream; If not, this two field picture directly is converted to a group code stream; 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; 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 for receiving image; Described image buffers memory module is used for the register map picture; Described encoder is code stream according to Macroblock Encoding 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.
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 for gathering 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 Motor execution module, and described airborne communication module also is used for receiving extraneous control command, and described Motor execution module is carried out corresponding operation according to the control command control.
Preferably, described robot also comprises mobile device and cleaning device.
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 for receiving 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 showing image; Described macro block decoding algorithm comprises: judge that the data volume of certain group code stream whether greater than preset value, if so, is divided at least two macro block code streams with this group code stream, 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; 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; 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 for receiving 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 for the control display module and shows 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 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 for 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 for receiving user's input message, and described control module is used for user's input message is converted to control command, and described remote communication module also is used for the emission control instruction.
Above-mentioned robot adopts 3G communication technology real-time Transmission live video, remote control adopts the 3G communication technology to receive in real time and the displaying scene video, so robot and remote control have all advantages (for example remote access is safe) of the 3G communication technology.Remote control can be realized by 3G mobile, therefore easily practicality of above-mentioned robot and remote control.
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 Motor execution 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, Motor execution 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.
It is image with code stream decoding that decoder module 22 is used for.The standard agreement of 3GPP and relative 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 with a series of video error tolerance strategies of controlling for robot of Design and implementation, such as macro block updating, heavy synchronous, Data Segmentation, error concealment, mistake recovery etc.
Fig. 3 is the flow chart of decode procedure.Decode procedure comprises the steps:
S201: receive a 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 judge the data volume of this group code stream greater than preset value, if not, execution S204; If so, carry out S205;
S204: this group code stream directly is converted to a two field picture, then carries out S213;
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 are disposed; If so, 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 keyboard or the touch-screen of 3G mobile.The control information of 25 pairs of user's inputs of control module is processed, and launches corresponding control commands by remote communication module 21 to airborne communication module 11.
It is code stream with Image Coding that coding module 12 is used for.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 with a series of video error tolerance strategies of controlling for robot of Design and implementation, such as macro block updating, heavy synchronous, Data Segmentation, error concealment, mistake recovery etc.
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 judge the data volume of this two field picture greater than preset value, if not, carry out S304; If so, carry out S305.
S304: this two field picture directly is converted to a group code stream, then carries out S312.
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 are disposed; If so, carry out S311; If not, carry out S306.
S311: form a 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.
Control circuit is mainly that the coordination of completing the independently SERVO CONTROL of four motors and four-wheel is controlled, and 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 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 to make signal and the motor isolation of pulse-width modulation, avoid the heavy current impact control circuit in motor, reduce the impact on 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 is by 10 mobile device 17 and cleaning device 18 of remote control 20 controls, realizes remote control robot cleaning room, greatly improved the efficient in robot cleaning room.
Above-mentioned robot system 100 has all advantages (for example having advantages of that remote access is safe) 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 go on patrol on-the-spot appointed area by remote control 20 remote-controlled robots 10, if run into the abnormal conditions such as forcible entry, gas leak, smog, robot 10 can notify rapidly owner.
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 the scope of the claims 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 (17)
1. a robot, is characterized in that: comprise airborne communication module, coding module, vision sensor; Described vision sensor is used for obtaining image; Described coding module is code stream according to Macroblock Encoding Algorithm with image transitions; Described airborne communication module is used for the emission code stream; Described Macroblock Encoding Algorithm comprises: judge that the data volume of certain two field picture whether greater than preset value, if so, is divided at least two macroblock image with this two field picture, macroblock image is converted to the macro block code stream, form a group code stream; If not, this two field picture directly is converted to a group code stream; 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;
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 for receiving image; Described image buffers memory module is used for the register map picture; Described encoder is code stream according to Macroblock Encoding 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.
2. robot according to claim 1, it is characterized in that: described airborne communication module is launched code stream by 3G network.
3. robot according to claim 1, it is characterized in that: described airborne communication module is the 3G communication module.
4. robot according to claim 1, it is characterized in that: described robot also comprises gas sensor, and described gas sensor is used for gathering gas, analytical gas composition, output analysis result signal, described airborne communication module also is used for the emission analysis consequential signal.
5. robot according to claim 1, it is characterized in that: described robot also comprises the Motor execution module, described airborne communication module also is used for receiving extraneous control command, and described Motor execution module is carried out corresponding operation according to the control command control.
6. robot according to claim 4, it is characterized in that: described robot also comprises mobile device and cleaning device.
7. a remote control, is characterized in that: comprise remote communication module, decoder module, display module; Described remote communication module is used for receiving 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 showing that the described macro block decoding algorithm of image comprises: judge that whether the data volume of 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, form a two field picture; If not, this group code stream directly is converted to a two field picture; 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;
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 for receiving 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 for the control display module and shows image.
8. remote control according to claim 7, it is characterized in that: described remote communication module receives code stream by 3G network.
9. remote control according to claim 7, it is characterized in that: described remote communication module is the 3G communication module.
10. remote control according to claim 7, it is characterized in that: described remote control is 3G mobile.
11. remote control according to claim 7 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 for control display module display analysis consequential signal.
12. remote control according to claim 11 is characterized in that: described analysis result signal is the form demonstration by SMS.
13. remote control according to claim 7, it is characterized in that: also comprise control module and MIM message input module, described MIM message input module is used for receiving user's input message, described control module is used for user's input message is converted to control command, and described remote communication module also is used for the emission control instruction.
14. a 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 for obtaining image; Described coding module is code stream according to Macroblock Encoding Algorithm with image transitions; Described airborne communication module is used for the emission code stream; Described remote control comprises remote communication module, decoder module, display module; Described remote communication module is used for receiving 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 showing image; Described robot by wireless network to the remote control transport stream;
Described macro block decoding algorithm comprises: judge that the data volume of certain group code stream whether greater than preset value, if so, is divided at least two macro block code streams with this group code stream, 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; 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;
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 for receiving image; Described image buffers memory module is used for the register map picture; Described encoder is code stream according to Macroblock Encoding 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;
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 for receiving 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 for the control display module and shows image.
15. robot system according to claim 14 is characterized in that: described remote control also by wireless network to robot transfer control signal.
16. according to claim 14 or 15 described robot systems is characterized in that: described wireless network is 3G network.
17. robot system according to claim 15 is characterized in that: described robot also comprises mobile device and cleaning device, and described control signal is used for controlling mobile device and cleaning device.
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| CN 200910109221 CN101621695B (en) | 2009-07-31 | 2009-07-31 | Robot system based on 3G communication technique |
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| CN101621695B true CN101621695B (en) | 2013-06-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2640332C1 (en) * | 2016-07-25 | 2017-12-27 | Федеральное государственное учреждение "Федеральный исследовательский центр "Информатика и управление" Российской академии наук (ФИЦ ИУ РАН) | Center for managing robotic objects |
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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 |
| CN104385273B (en) * | 2013-11-22 | 2016-06-22 | 嘉兴市德宝威微电子有限公司 | Robot system and simultaneously perform control method |
| CN104700550A (en) * | 2015-02-11 | 2015-06-10 | 汪金生 | Intelligent fire fighting smoke detector system |
| CN105955188B (en) * | 2016-06-24 | 2018-05-01 | 长春思瑶科技有限公司 | Cleaning machine for vehicle copying control method and device based on machine vision |
| CN107601194B (en) * | 2017-09-30 | 2023-10-31 | 樱花电梯（中山）有限公司 | Elevator device, electromechanical control module and elevator automatic cleaning system |
| CN109213097A (en) * | 2018-08-28 | 2019-01-15 | 北京云迹科技有限公司 | robot data monitoring method and system |
| CN113303720A (en) * | 2021-06-29 | 2021-08-27 | 桂林航天工业学院 | Vision-based household robot |
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| CN1381339A (en) * | 2001-04-18 | 2002-11-27 | 三星光州电子株式会社 | Robot cleaning system using mobile communication network |
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| RU2640332C1 (en) * | 2016-07-25 | 2017-12-27 | Федеральное государственное учреждение "Федеральный исследовательский центр "Информатика и управление" Российской академии наук (ФИЦ ИУ РАН) | Center for managing robotic objects |
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