CN103533149A - Mobile phone robot system and application method thereof - Google Patents
Mobile phone robot system and application method thereof Download PDFInfo
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- CN103533149A CN103533149A CN201210228729.5A CN201210228729A CN103533149A CN 103533149 A CN103533149 A CN 103533149A CN 201210228729 A CN201210228729 A CN 201210228729A CN 103533149 A CN103533149 A CN 103533149A
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Abstract
The invention discloses a mobile phone robot system and an application method thereof. The mobile phone robot system comprises a mobile phone with a Bluetooth module for sending an instruction by using the Bluetooth module, and a robot with a Bluetooth module for receiving the instruction by using the Bluetooth module and executing corresponding operation according to the instruction. By using the system and method, the mobile phone and the robot can be separated, coupling can be reduced, modularization can be realized, the cost is lowered, and the mobile phone performance is improved.
Description
Technical field
The present invention relates to the communications field, in particular to a kind of mobile phone robot system and application process thereof.
Background technology
Intelligent mobile robot, is one and integrates the multi-functional integrated systems such as environment sensing, dynamic decision and planning, behavior is controlled and carry out.It has concentrated the multi-disciplinary achievements in research such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, represents the overachievement of electromechanical integration, is one of most active field of current scientific technological advance.
Android be a kind of Linux of take as basic open source code operating system, be mainly used in portable equipment, have and support extensively.Be easy to the feature of exploitation, android equipment is quite general and low price at present.
There is at present a kind of mobile phone robot and control method thereof.Its principle is on the basis of existing camera cell phone, to have added mechanical motion mechanism and short-distance wireless communication unit, the control command of mode receiving control apparatus that can be by wireless telecommunications, the environment detection image information that drives this mobile phone to enter inconvenient people's direct detection by mechanical motion mechanism, then send to control appliance by this mobile phone.A kind of preferred structural representation as shown in Figure 1, comprises that CPU 1, wireless communication unit 2, people/machine exchange boundary element 3, image information collecting unit 4, mechanical motion mechanism driver element 5, transducer group 6 and bluetooth communication unit 7.
But prior art exists its insurmountable shortcoming: mobile phone and robot are fixed together, coupling is too high, cannot modularization, and cost is too high, and handset capability is poor, and enclosed operating system development difficulty is large.
Implementation method for current existing mobile phone robot in correlation technique need to be fixed together mobile phone and robot, coupling is too high, cannot modularization, cost is too high, handset capability is poor, the large problem of enclosed operating system development difficulty, not yet proposes effective solution at present.
Summary of the invention
Implementation method for current existing mobile phone robot need to be fixed together mobile phone and robot, coupling is too high, cannot modularization, cost is too high, handset capability is poor, the large problem of enclosed operating system development difficulty, the invention provides a kind of mobile phone robot system and application process thereof, at least to address the above problem.
According to an aspect of the present invention, provide a kind of mobile phone robot system, having comprised: with the mobile phone of bluetooth module, for utilizing described bluetooth module to send instruction; With the mobile phone robot of bluetooth module, for utilizing bluetooth module to receive described instruction, according to described instruction, carry out respective operations.
Preferably, described mobile phone is fixed on robot The Cloud Terrace.
Preferably, described mobile phone is connected with described mobile phone robot by bluetooth serial ports agreement.
Preferably, described instruction comprise following one of at least: described in Long-distance Control, mobile phone robot is used wireless network; Identify specific object and realize charging docking; Identify specific object and realize IMAQ; Identify specific object and realize motion tracking; Identify specific object and realize 360 Image Mosaics.
According to another aspect of the present invention, also provide a kind of method of applying above-mentioned mobile phone robot system, having comprised: the mobile phone with bluetooth module has utilized the bluetooth module in described mobile phone to send instruction; Mobile phone robot with bluetooth module receives the instruction that described mobile phone sends, and according to described instruction, carries out respective operations.
Preferably, described instruction comprise following one of at least: described in Long-distance Control, mobile phone robot is used wireless network; Identify specific object and realize charging docking; Identify specific object and realize IMAQ; Identify specific object and realize motion tracking; Identify specific object and realize 360 Image Mosaics.
Preferably, described instruction is when mobile phone robot is used wireless network described in Long-distance Control, and described mobile phone robot is carried out respective operations according to described instruction and comprised: described mobile phone robot receives the HTTP solicited message that described mobile phone sends, and resolves; If obtain websocket request, described mobile phone robot extracts secret key, deciphering, and assembling websocket response message is also sent to described wireless network, and described mobile phone robot websocket shakes hands successfully, sets up duplex communication with described wireless network; If do not obtain websocket request, described mobile phone robot returns to http response information to described mobile phone.
Preferably, when described instruction realizes charging docking for the specific object of identification, described mobile phone robot is carried out respective operations according to described instruction and is comprised: described mobile phone robot obtains the image of described specific object and processes; When described mobile phone robot is successfully identified the charger corresponding with described specific object, if charger is positioned on the axis of described image, described mobile phone robot straight ahead is docked described charger; If described charger is positioned at the Shang，Ze original place, axis of described image, do not adjust the direction of described mobile phone robot, and again obtain the image of described specific object.
Preferably, when described instruction realizes 360 Image Mosaics for the specific object of identification, described mobile phone robot is carried out respective operations according to described instruction and is comprised: described mobile phone robot obtains the image of described specific object; Described mobile phone robot is the transform matrix M to this two field picture according to previous frame image, integrates described previous frame image and described this two field picture, generates new images, utilizes described new images to replace described this two field picture; When described mobile phone rotating 360 degrees, described mobile phone robot output 360 degree panoramic pictures.
In embodiments of the present invention, utilize bluetooth module to realize being connected between mobile phone and mobile phone robot, and do not need mobile phone to be directly connected with mobile phone robot, the concrete control algolithm of robot and upper layer application are kept apart, by wheeled mobile robot and mobile phone, the two gathers, there is the aspects such as the monitoring of various features ，Jiang family, environmental monitoring, security monitoring such as low price, exploitation convenience, feature richness and have certain effect, also there is certain study and researching value simultaneously.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is according to the structural representation of the mobile phone robot of correlation technique;
Fig. 2 is according to the structural representation of the mobile phone robot system of the embodiment of the present invention;
Fig. 3 is according to the flow chart of the application process of the mobile phone robot system of the embodiment of the present invention;
Fig. 4 flow chart that to be the Bluetooth AP I operation bluetooth equipment that provides according to the use android of the embodiment of the present invention be connected with robot bluetooth module;
Fig. 5 is the particular flow sheet of setting up bluetooth duplex socket between mobile phone and mobile phone robot and being connected according to the embodiment of the present invention;
How Fig. 6 identifies charger and realizes the concrete process chart of automatic butt flow process according to the mobile phone robot system of the embodiment of the present invention;
Fig. 7 is the flow chart that 360 degree panoramic pictures gather of realizing according to the embodiment of the present invention;
Fig. 8 is according to the flow chart of the coding H264 of the embodiment of the present invention and transmission video;
Fig. 9 is according to the software architecture schematic diagram of the mobile phone robot system of the embodiment of the present invention.
Embodiment
Hereinafter with reference to accompanying drawing, also describe the present invention in detail in conjunction with the embodiments.It should be noted that, in the situation that not conflicting, embodiment and the feature in embodiment in the application can combine mutually.
In correlation technique, mention, the implementation method of current existing mobile phone robot need to be fixed together mobile phone and robot, and coupling is too high, cannot modularization, and cost is too high, and handset capability is poor, and enclosed operating system development difficulty is large.For solving this technical problem, the embodiment of the present invention provides a kind of mobile phone robot system and application process thereof.
The mobile phone robot the system now embodiment of the present invention being provided is elaborated, and its structural representation as shown in Figure 2, comprising:
With the mobile phone 201 of bluetooth module, for utilizing bluetooth module to send instruction;
With the mobile phone robot 202 of bluetooth module, with mobile phone 201 couplings, for utilizing bluetooth module to receive the instruction that mobile phone 201 sends, according to the instruction receiving, carry out respective operations.
In embodiments of the present invention, utilize bluetooth module to realize being connected between mobile phone and mobile phone robot, and do not need mobile phone to be directly connected with mobile phone robot, the concrete control algolithm of robot and upper layer application are kept apart, by wheeled mobile robot and mobile phone, the two gathers, there is the aspects such as the monitoring of various features ，Jiang family, environmental monitoring, security monitoring such as low price, exploitation convenience, feature richness and have certain effect, also there is certain study and researching value simultaneously.
In addition, in correlation technique, due to mobile phone and the mobile phone mobile phone device human world, must contact directly, cause the intelligent degree of mobile phone robot too low.And utilize bluetooth module that both are separated, mobile phone robot can reach higher intelligent degree.And the embodiment of the present invention is used Remote Visit and Control robot more for convenience, no longer needs special client software to realize.
The mobile phone robot system that the embodiment of the present invention provides is applicable to possess the mobile phone of any type of bluetooth module.Android be a kind of Linux of take as basic open source code operating system, be mainly used in portable equipment, have and support extensively.Be easy to the feature of exploitation, android equipment is quite general and low price at present.Therefore, preferred, the mobile phone robot system that the embodiment of the present invention provides is applicable to android mobile phone.
Above mention, mobile phone 201 and mobile phone robot 202 separate, and do not need direct connection, therefore, in a preferred embodiment, with the mobile phone 201 of bluetooth module, can select to be fixed on robot The Cloud Terrace.
In preferred embodiment, mobile phone 201 and mobile phone robot 202 are to be coupled by bluetooth module, and both can connect by bluetooth serial ports agreement.If bluetooth module can also be suitable for other agreements, this agreement also can be for communicating between mobile phone and mobile phone robot.
Mobile phone instruction that can send, that implemented by mobile phone robot can have multiple, for example, allows that mobile phone robot is taken pictures, made a collection of specimens etc.Preferably, above-mentioned instruction can comprise following one of at least:
Remote controlling mobile phone robot uses wireless network;
Identify specific object and realize charging docking;
Identify specific object and realize IMAQ;
Identify specific object and realize motion tracking;
Identify specific object and realize 360 Image Mosaics.
Based on same inventive concept, the embodiment of the present invention also provides a kind of method of applying above-mentioned mobile phone robot system, and its handling process as shown in Figure 3, comprising:
Step S301, with the mobile phone of bluetooth module, utilize the bluetooth module in mobile phone to send instruction;
Step S302, with the mobile phone robot of bluetooth module, receive the instruction that mobile phone sends, according to instruction, carry out respective operations.
Above mention, preferred, the instruction that mobile phone sends can comprise following one of at least:
Remote controlling mobile phone robot uses wireless network;
Identify specific object and realize charging docking;
Identify specific object and realize IMAQ;
Identify specific object and realize motion tracking;
Identify specific object and realize 360 Image Mosaics.
The idiographic flow now above-mentioned instruction being related to describes.
When instruction is remote controlling mobile phone robot use wireless network, mobile phone robot is carried out respective operations according to instruction and is comprised the steps:
Mobile phone robot receives the HTTP solicited message that mobile phone sends, and resolves;
If obtain websocket request, mobile phone robot extracts secret key, deciphering, and assembling websocket response message is also sent to wireless network, and mobile phone robot websocket shakes hands successfully, sets up duplex communication with wireless network;
If do not obtain websocket request, mobile phone robot returns to http response information to mobile phone.
When instruction realizes charging docking for the specific object of identification, mobile phone robot is carried out respective operations according to instruction and is comprised the steps:
Mobile phone robot obtains the image of specific object and processes;
When mobile phone robot is successfully identified the charger corresponding with specific object, if charger is positioned on the axis of image, mobile phone robot straight ahead is docked charger;
If charger is positioned at the Shang，Ze original place, axis of image, do not adjust the direction of mobile phone robot, and again obtain the image of specific object.
When instruction realizes 360 Image Mosaics for the specific object of identification, mobile phone robot is carried out respective operations according to instruction and is comprised the steps:
Mobile phone robot obtains the image of specific object;
Mobile phone robot is the transform matrix M to this two field picture according to previous frame image, integrates previous frame image and this two field picture, generates new images, utilizes new images to replace this two field picture;
When mobile phone rotating 360 degrees, mobile phone robot output 360 degree panoramic pictures.
For the application process of mobile phone robot system that the embodiment of the present invention is provided, set forth clearer clearlyer, now with specific embodiment, be described.
Embodiment mono-
In the present embodiment, android mobile phone is connected with mobile robot by bluetooth serial ports agreement, and android mobile phone is fixed on mobile apparatus user tripod head.
Use Bluetooth AP I operation bluetooth equipment that android provides to be connected with robot bluetooth module, concrete connection procedure as shown in Figure 4, comprising:
Step 1, unlatching bluetooth discovery;
Step 2, judge whether to search mobile phone robot bluetooth, if so, input password and be connected to mobile phone robot, if not, connection failure;
Step 3, be connected to robot, the successful connection of notice mobile phone;
Step 4, between mobile phone and mobile phone robot, set up bluetooth duplex socket and be connected.
Wherein, remote controlling mobile phone robot can use wifi, 3G network.Client-access android mobile phone robot adopts the http1.0 agreement of the tcp/ip protocol suite of standard.On android mobile phone, move embedded type web server, support http to push.Client is used the explorer of standard.
Wherein, between mobile phone and mobile phone robot, set up the idiographic flow that bluetooth duplex socket is connected and refer to Fig. 5, comprise the steps:
Step 1, mobile phone robot receive HTTP solicited message;
Step 2, mobile phone robot are resolved HTTP information;
Whether what step 3, mobile phone robot judgement parsing obtained is websocket request, if so, extracts key, deciphering, is assembled into websocket response message, directly to mobile phone, returns to http response information if not;
Step 4, mobile phone robot send websocket response message to mobile phone;
Step 5, mobile phone robot and mobile phone websocket shake hands successfully, set up duplex communication.
From above-mentioned flow process, in the present embodiment, android mobile phone and robot are mechanically separated, by using special robot instruction's agreement and robot communication.
Above mention, the mobile phone robot system intelligent degree that the embodiment of the present invention provides is higher, on android mobile phone, used the technology such as image processing, machine learning, can automatically identify specific object and realize the functions such as charging docking, motion tracking, 360 Image Mosaics.Now with each embodiment, different functions is described.
Embodiment bis-
The present embodiment is told about mobile phone robot system and how to be identified charger and realize automatic butt flow process, and its concrete handling process refers to Fig. 6, comprising:
The charger of step 1, starting hand-set robot is to connection function;
Step 2, mobile phone robot gather YUV420SP frame of video;
Step 3, mobile phone robot carry out image preliminary treatment filtering and eliminating noise;
Step 4, mobile phone robot identification charger;
If step 5 is identified successfully, further judge whether charger is positioned at image axis, if not failure of identification notifies mobile phone to dock unsuccessfully;
If step 6 charger is positioned at image axis, mobile phone robot, along dead ahead straight line moving d1 rice, is not adjusted the direction a of robot degree if charger is not positioned at ，Ze original place, image axis, and Resurvey YUV420SP frame of video;
Step 7, in the situation that charger is positioned at image axis, mobile phone robot is found range, and confirms whether charger and robot distance are less than D, and if so, robot straight ahead is docked charger, if not, Resurvey YUV420SP frame of video.
Embodiment tri-
How the mobile phone robot system of telling about the present embodiment realizes 360 degree panoramic picture collecting flowcharts, and its concrete handling process refers to Fig. 7, comprising:
Step 1, mobile phone robot obtain image;
Step 2, mobile phone robot are converted to RGB color by the image obtaining;
Step 3, mobile phone robot carry out FAST Corner Detection and obtain feature;
Step 4, mobile phone robot utilize optical flow method to calculate the light stream vectors of the characteristic point of previous frame image and the characteristic point of this two field picture;
Step 5, mobile phone robot are used RANSAC method to calculate these light stream vectors, calculate previous frame image to the transform matrix M of this system of battle formations picture;
Step 6, mobile phone robot, according to M, merge previous frame image and this two field picture, generate new images, and new images is replaced current this two field picture;
Step 7, mobile phone robot determine currently whether mobile phone is rotated to 360 degree, have if so, calculated, and export 360 degree panoramic pictures, if not, again obtain image.
During enforcement, android mobile phone gathers the h264 video of standard.Transplant H264core storehouse to android, YUV420SP is encoded to H264 frame.Revise cutting H264 coding core C code, write jni and call C language function interface, write Android.mk file, use android ndk R5 that code compilation is become to function library.Wherein, coding H264 and transmission video flow process as shown in Figure 8, comprising:
Step 1, gather a frame YUV420SP;
Step 2, YUV420SP frame is encoded to H264 frame;
Step 3, H264 frame is encapsulated as to HTTP information;
Step 4, be pushed to HTTP client (browser).
Embodiment tetra-
As shown in Figure 9, structure and the hierarchical relationship of each layer refer to Fig. 9 to the software architecture figure that the mobile phone robot system that the embodiment of the present invention provides relates to.
Wherein, software architecture can be divided into four layers, from top to bottom, is followed successively by decision-making level, behavior layer, instruction association analytic sheaf, hardware Communication Layer.
Decision-making level is that robot this locality is top, and the director data that arbitration object sends according to robot sensor data, robot running status and remote port carries out various actions tissue.
Behavior layer, this one deck is some abstract object of action, these objects are by the sensing data of protocol object is carried out to sector planning, and operating protocol object is to robot bottom sending controling instruction.
Command protocol layer, is responsible for the behavior command of behavior layer to be converted to the robot protocol order, and the sensing data of being responsible for robot to return encapsulates.
Hardware Communication Layer, this one deck is the object of directly communicating by letter with hardware device, comprises here directly and the bluetooth object of robot entity communication.
The beneficial effect that technical solution of the present invention is brought: in summary, the embodiment of the present invention provides the scheme of a set of reasonable android mobile phone and mobile robot's binding, mobile phone and robot are separated, modularization, mobile performance and the android cell phone software at any time that takes full advantage of mobile robot developed feature easily, some intelligentized functions are provided, remote access control method is easily provided simultaneously, has preferably resolved the shortcoming of the mobile phone robot of mentioning in correlation technique.
As can be seen from the above description, the present invention has realized following technique effect:
In embodiments of the present invention, utilize bluetooth module to realize being connected between mobile phone and mobile phone robot, and do not need mobile phone to be directly connected with mobile phone robot, the concrete control algolithm of robot and upper layer application are kept apart, by wheeled mobile robot and mobile phone, the two gathers, there is the aspects such as the monitoring of various features ，Jiang family, environmental monitoring, security monitoring such as low price, exploitation convenience, feature richness and have certain effect, also there is certain study and researching value simultaneously.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in storage device and be carried out by calculation element, and in some cases, can carry out shown or described step with the order being different from herein, or they are made into respectively to each integrated circuit modules, or a plurality of modules in them or step are made into single integrated circuit module to be realized.Like this, the present invention is not restricted to any specific hardware and software combination.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a mobile phone robot system, is characterized in that, comprising:
With the mobile phone of bluetooth module, for utilizing described bluetooth module to send instruction;
With the mobile phone robot of bluetooth module, for utilizing bluetooth module to receive described instruction, according to described instruction, carry out respective operations.
2. mobile phone robot system according to claim 1, is characterized in that, described mobile phone is fixed on robot The Cloud Terrace.
3. mobile phone robot system according to claim 1, is characterized in that, described mobile phone is connected with described mobile phone robot by bluetooth serial ports agreement.
4. according to the mobile phone robot system described in claims 1 to 3 any one, it is characterized in that, described instruction comprise following one of at least:
Described in Long-distance Control, mobile phone robot is used wireless network;
Identify specific object and realize charging docking;
Identify specific object and realize IMAQ;
Identify specific object and realize motion tracking;
Identify specific object and realize 360 Image Mosaics.
5. a method for the mobile phone robot system of application rights requirement 1 to 4, is characterized in that, comprising:
Mobile phone with bluetooth module utilizes the bluetooth module in described mobile phone to send instruction;
Mobile phone robot with bluetooth module receives the instruction that described mobile phone sends, and according to described instruction, carries out respective operations.
6. method according to claim 5, is characterized in that, described instruction comprise following one of at least:
Described in Long-distance Control, mobile phone robot is used wireless network;
Identify specific object and realize charging docking;
Identify specific object and realize IMAQ;
Identify specific object and realize motion tracking;
Identify specific object and realize 360 Image Mosaics.
7. method according to claim 6, is characterized in that, described instruction is when mobile phone robot is used wireless network described in Long-distance Control, and described mobile phone robot is carried out respective operations according to described instruction and comprised:
Described mobile phone robot receives the HTTP solicited message that described mobile phone sends, and resolves;
If obtain websocket request, described mobile phone robot extracts secret key, deciphering, and assembling websocket response message is also sent to described wireless network, and described mobile phone robot websocket shakes hands successfully, sets up duplex communication with described wireless network;
If do not obtain websocket request, described mobile phone robot returns to http response information to described mobile phone.
8. method according to claim 6, is characterized in that, when described instruction realizes charging docking for the specific object of identification, described mobile phone robot is carried out respective operations according to described instruction and comprised:
Described mobile phone robot obtains the image of described specific object and processes;
When described mobile phone robot is successfully identified the charger corresponding with described specific object, if charger is positioned on the axis of described image, described mobile phone robot straight ahead is docked described charger;
If described charger is positioned at the Shang，Ze original place, axis of described image, do not adjust the direction of described mobile phone robot, and again obtain the image of described specific object.
9. method according to claim 6, is characterized in that, when described instruction realizes 360 Image Mosaics for the specific object of identification, described mobile phone robot is carried out respective operations according to described instruction and comprised:
Described mobile phone robot obtains the image of described specific object;
Described mobile phone robot is the transform matrix M to this two field picture according to previous frame image, integrates described previous frame image and described this two field picture, generates new images, utilizes described new images to replace described this two field picture;
When described mobile phone rotating 360 degrees, described mobile phone robot output 360 degree panoramic pictures.
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| CN104320553A (en) * | 2014-09-17 | 2015-01-28 | 徐晖 | Wide-area wireless mobile device based on mobile smartphone and control method of wide-area wireless mobile device |
| CN106182005A (en) * | 2016-08-08 | 2016-12-07 | 江阴市雷奥机器人技术有限公司 | A kind of robot remote adjustment method |
| CN106302593A (en) * | 2015-06-01 | 2017-01-04 | 信帧电子技术（北京）有限公司 | The definition of a kind of robot performance wisdom position, field and method for designing |
| CN108287642A (en) * | 2017-01-03 | 2018-07-17 | 肖华军 | Robot platform based on the interaction of intelligent movable equipment |
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Application publication date: 20140122 |