CN103631221A - Teleoperated service robot system - Google Patents
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Abstract
The invention discloses a teleoperated service robot system, which comprises a robot body and a remote operation terminal, which are connected through a wireless communication network, wherein the robot system is internally provided with a voice interaction module, a video monitoring module, a status monitoring module, a task management module and a task operation terminal, the task management module is arranged on the robot body, and the task operation terminal is arranged on the remote operation terminal; the voice interaction module comprises two voice interaction terminals which are respectively arranged on the robot body and the remote operation terminal; the video monitoring module comprises an image collecting and transmitting submodule arranged on the robot body and an image receiving and displaying submodule arranged on the remote operation terminal, and the status monitoring module comprises a status collecting and transmitting submodule arranged on the robot body and a status receiving and displaying submodule arranged on the remote operation terminal. According to the teleoperated service robot system, a user can operate a robot in a simple manner, and the difficulty in robot robot development and use by the user is reduced.
Description
Technical field
The present invention relates to Robotics field, particularly a kind of distant operate services robot system for welcome's reception or interaction entertainment performance.
Background technology
At present, the level of intelligence of robot does not reach yet and can independently complete complicated task, especially under the destructuring environment of dynamic change (as occasions such as needs and the mutual welcome of people reception and interactive event performance), takes robot automation to control and adds that the mode of artificial remotely assisted operation will be more suitable for the application of robot under this occasion.
Traditional master-slave mode man-machine interactive system conventionally by operating personnel according to site environment, closely robot is sent to single action command ，Zai You robot and completes corresponding action.Which operation more complicated, and the content of operation is more fixing, robot is only suitable for the occasion in stationary applications, if need to change operating function, often needs professional and technical personnel again to develop, and use cost is quite high.And for occasions such as welcome's reception, interaction entertainment performance, the action of robot is complicated and changeable, and need just to have revised in the very short at the scene time.Therefore, traditional master-slave mode man-machine interaction robot inapplicable.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, for welcome reception or interaction entertainment performance, provide also lower distant operate services robot system of a kind of easy to use, cost of development.
Technical scheme of the present invention is: a kind of distant operate services robot system, comprise robot body and operated from a distance terminal, and between robot body and operated from a distance terminal, by wireless communication networks, connect; In robot system, be provided with interactive voice module, video monitoring module, monitoring module, task management module and task operating terminal, task management module is located on robot body, and task operating terminal is located in operated from a distance terminal; Interactive voice module comprises two interactive voice terminals, two interactive voice terminals be located at respectively on robot body and operated from a distance terminal on; Video monitoring module comprises that image acquisition transmission submodule and image receive display sub-module, and image acquisition transmission submodule is located on robot body, and image receives display sub-module and is located in operated from a distance terminal; Monitoring module comprises that state acquisition sends submodule and state receives display sub-module, and state acquisition sends submodule and is located on robot body, and state receives display sub-module and is located in operated from a distance terminal;
Wherein, perception file is edited and explained to task management module, for editing and execute the task file;
Task operating terminal is as operating personnel's operation executing means;
Interactive voice module is carried out interaction for operating personnel and the people around of robot, sound around the robot of seizure in real time is also transferred to operated from a distance terminal by wireless communication networks, after the sound collection simultaneously operating personnel being sent, by wireless communication networks, send to robot body, after the change of voice is processed, by the audio amplifier on robot body, played back;
Video monitoring module arrives operated from a distance terminal for the Image Real-time Transmission that camera collection on robot body is arrived;
Monitoring module is for detecting in real time the supply voltage of robot body and the direction of surrounding environment barrier, and to far-end operation terminal, send the directional data of voltage and barrier, make operating personnel can in operated from a distance terminal, view the voltage of robot body and the barrier situation of robot body surrounding environment.
Wherein, the task that is provided with in task management module is explained submodule, and task explains that submodule is for the directive script of assignment file is made an explanation, and according to the mapping relations of instruction and function, the function that call instruction is corresponding is carried out instruction;
The assignment file that task management module is edited and carried out is mainly comprised of the directive script of robot body, each directive script include instruction name and parameter two parts, by purposes, directive script can be divided into move, limbs instruction, expression instruction, phonetic order and system directive etc., assignment file can be used as function and is called by directive script; Assignment file can be saved as text formatting or XML file layout; When assignment file is XML file layout, with XML node, as instruction node, instruction is described, use respectively attribute description instruction name and the parameter of XML node;
The perception file that task management module is edited and explained saves as XML file layout, perception file is described the corresponding relation between perception and behavior, the content of describing according to perception file, when certain specific perception occurs, by the explanation to perception file, robot body can be carried out corresponding behavior; Be perceived as self-defining event (event of pressing as game paddle button), behavior is described with the directive script of robot body; In perception file, with an XML node, perception is described, with the attribute of this XML node, the type of perception and the data of perception are described, by an instruction node, a plurality of instruction node or describe behavior corresponding to perception as the child node of sensing node;
Non-technological development personnel can use text software for editing and XML Document Editing software editing assignment file and perception file according to the content of perception collection and instruction set, to reach oneself, define the object of robot function.
In described robot body, be also provided with mobile module and limb action module, mobile module is connected with task management module respectively with limb action module;
Wherein, mobile module advances, retreats, turns and move to specified coordinate for control body;
Limb action module completes the limb action of head, hand and shank for control body.
On described robot body, be also provided with audio amplifier, microphone, camera and detection of obstacles sensor, audio amplifier is connected with the interactive voice terminal of being located on robot body respectively with microphone, camera is connected with image acquisition transmission submodule, and detection of obstacles sensor sends submodule with state acquisition and is connected.
Described operated from a distance terminal is Intelligent mobile equipment or the game paddle with touch-screen.
The described Intelligent mobile equipment with touch-screen is mobile phone or panel computer;
When operated from a distance terminal is game paddle, game paddle is provided with two rocking bars, and a rocking bar is used for the shift action of remote control robot body, and another rocking bar is for the limb action of remote control robot body; User can associate the event that on game paddle, each button is pressed and corresponding behavior by perception file, defines each button press down the behavior file that robot correspondence will be carried out afterwards by editor's perception file;
When operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with virtual rocking bar region, points shift action and the limb action of the position conversion and control robot body in virtual rocking bar region by user; Specifically: in virtual rocking bar region, detect the position that user points place, and user's finger position is converted to corresponding position data or speed data, then according to the content of operation of virtual rocking bar, be converted to the directive script that robot body is corresponding, and send to robot body by wireless network, by task, explain that submodule makes an explanation and carries out.
By virtual rocking bar, translational speed and moving direction that remote operator can control body, the simultaneously angle of the limb action of control body (as nod, panning angle, raise one's hand, wave etc.).Operated from a distance terminal comprises one or more virtual rocking bars.Generally comprise 2 virtual rocking bars, one of them virtual rocking bar is for the shift actions such as advancing, retreat, turn and stop of control, when user's finger leaves the region of virtual rocking bar, virtual rocking bar can be specified and be reset to zero-bit, and at this time robot will stop; Another virtual rocking bar is for the nodding, shake the head or other limb action of control, and when user's finger leaves the region of virtual rocking bar, the position motionless ，Ji Rang robot that rocking bar can keep current keeps corresponding limb angle constant.
When described operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with task button region, video monitoring regional, voice dialogue region, condition monitoring region, the first virtual rocking bar region, the second virtual rocking bar region and stop button, task button region, the first virtual rocking bar region, the second virtual rocking bar region is connected with the task operating terminal in operated from a distance terminal respectively with stop button, video monitoring regional receives display sub-module with image and is connected, voice dialogue region is connected with the interactive voice terminal of being located in operated from a distance terminal, condition monitoring region receives and shows that word modules is connected with state, in task button region, be provided with at least one scene mode.
By increasing the task button of scene and scene, can increase the function of robot body.Task button is associated with behavior file, when pressing task button, task operating terminal is combined into behavior file name corresponding to this button the directive script of act of execution file, by wireless communication networks, send to robot body, by the task explanation submodule in task management module, explain execution.
Wherein, the editable data of task button comprise text and behavior file name corresponding to button that button shows, can be in operated from a distance terminal direct Update Table, also can be by the XML file of editor's appointment, then by task operating terminal, explain this XML file, automatically generating scene and task button.
In voice dialogue region, use microphone gather the sound signal of environment and send to robot body by wireless communication networks, receive the voice data sending over from robot body simultaneously and play.
Video monitoring regional is used for receiving and showing the view data sending over from robot body.
Condition monitoring region is used for receiving and showing voltage data and the barrier status data sending over from robot body.
During this distant operate services robot system operation, by wirelessly transmitting data between robot body and operated from a distance terminal, finish the work.For interactive voice module, by the interactive voice terminal transmission of operated from a distance terminal, monitor or talk with instruction to the interactive voice terminal of robot body, and collection, transmission and monitoring reception and the broadcasting of developing audio frequency; The interactive voice terminal of robot body is received after instruction, gathers the interactive voice terminal that voice data sends to operated from a distance terminal, and plays the voice data sending over from operated from a distance terminal; End by operated from a distance terminal control audio monitoring and dialogue.For video monitoring module and monitoring module, its course of work and interactive voice module class are seemingly, all to send corresponding instruction by operated from a distance terminal, by module corresponding on robot body, receive and process, acquisition of image data, status data, then transmit back operated from a distance terminal and show.Operation part for robot body, as passed through handle or task button manipulation robot, first operated from a distance terminal is converted to the operation on interface corresponding robot script instruction, by wireless communication networks, instruction is sent on robot body, and make an explanation and carry out by task management module.
The present invention, with respect to prior art, has following beneficial effect:
1, this distant operate services robot system is performed and proposes for welcome's reception or interaction entertainment, easy to use, cost of development is also lower, can according to tasks carrying, require the task to robot controls, task editor control complete appointment by non-specialized-technical personnel; This distant operate services robot system provides easy mode to allow user control robot, reached the object that reduces the development difficulty of service robot and user's use difficulty, further promoted in social life universal of robot.
2, in this distant operate services robot system, operated from a distance terminal is compatible games handle and other Intelligent mobile equipment simultaneously.For simple task (being generally no more than 10 tasks), can adopt game paddle operation, operating handle is good and system is simple.For more complicated task, can to robot, carry out distant operation by Intelligent mobile equipment (as Android panel computer, mobile phone etc.).Teleworker need to be near robot, and by voice dialogue module, video monitoring module and monitoring module just can perceive environment around.Function by all right self-defined scene of task operating terminal and task button, does not have the quantitative restriction of task.
3, on the basis of this distant operate services robot system, robot body and operated from a distance terminal are carried out to communication by wide area network or internet, make robot there is scapegoat's effect, person participates in momentous conference, office, interview etc. can to replace far-end operation with robot, has reduced the space constraint exchanging.
Accompanying drawing explanation
Fig. 1 is the principle schematic of this distant operate services robot system.
Fig. 2 is this user interface layout figure that wants operate services robot system medium-long range operating terminal.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
A kind of distant operate services robot system of the present embodiment, as shown in Figure 1, comprises robot body and operated from a distance terminal, between robot body and operated from a distance terminal, by wireless communication networks, connects; In robot system, be provided with interactive voice module, video monitoring module, monitoring module, task management module and task operating terminal, task management module is located on robot body, and task operating terminal is located in operated from a distance terminal; Interactive voice module comprises two interactive voice terminals, two interactive voice terminals be located at respectively on robot body and operated from a distance terminal on; Video monitoring module comprises that image acquisition transmission submodule and image receive display sub-module, and image acquisition transmission submodule is located on robot body, and image receives display sub-module and is located in operated from a distance terminal; Monitoring module comprises that state acquisition sends submodule and state receives display sub-module, and state acquisition sends submodule and is located on robot body, and state receives display sub-module and is located in operated from a distance terminal;
Wherein, perception file is edited and explained to task management module, for editing and execute the task file;
Task operating terminal is as operating personnel's operation executing means;
Interactive voice module is carried out interaction for operating personnel and the people around of robot, sound around the robot of seizure in real time is also transferred to operated from a distance terminal by wireless communication networks, after the sound collection simultaneously operating personnel being sent, by wireless communication networks, send to robot body, after the change of voice is processed, by the audio amplifier on robot body, played back;
Video monitoring module arrives operated from a distance terminal for the Image Real-time Transmission that camera collection on robot body is arrived;
Monitoring module is for detecting in real time the supply voltage of robot body and the direction of surrounding environment barrier, and to far-end operation terminal, send the directional data of voltage and barrier, make operating personnel can in operated from a distance terminal, view the voltage of robot body and the barrier situation of robot body surrounding environment.
Wherein, the task that is provided with in task management module is explained submodule, and task explains that submodule is for the directive script of assignment file is made an explanation, and according to the mapping relations of instruction and function, the function that call instruction is corresponding is carried out instruction;
The assignment file that task management module is edited and carried out is comprised of the directive script of robot body, each directive script include instruction name and parameter two parts, by purposes, directive script can be divided into move, limbs instruction, expression instruction, phonetic order and system directive etc., assignment file can be used as function and is called by directive script; Assignment file can be saved as text formatting or XML file layout; When assignment file is XML file layout, with XML node, as instruction node, instruction is described, use respectively attribute description instruction name and the parameter of XML node;
The perception file that task management module is edited and explained saves as XML file layout, perception file is described the corresponding relation between perception and behavior, the content of describing according to perception file, when certain specific perception occurs, by the explanation to perception file, robot body can be carried out corresponding behavior; Be perceived as self-defining event (event of pressing as game paddle button), behavior is described with the directive script of robot body; In perception file, with an XML node, perception is described, with the attribute of this XML node, the type of perception and the data of perception are described, by an instruction node, a plurality of instruction node or describe behavior corresponding to perception as the child node of sensing node;
Non-technological development personnel can use text software for editing and XML Document Editing software editing assignment file and perception file according to the content of perception collection and instruction set, to reach oneself, define the object of robot function.
In robot body, be also provided with mobile module and limb action module, mobile module is connected with task management module respectively with limb action module;
Wherein, mobile module advances, retreats, turns and move to specified coordinate for control body;
Limb action module completes the limb action of head, hand and shank for control body.
On robot body, be also provided with audio amplifier, microphone, camera and detection of obstacles sensor, audio amplifier is connected with the interactive voice terminal of being located on robot body respectively with microphone, camera is connected with image acquisition transmission submodule, and detection of obstacles sensor sends submodule with state acquisition and is connected.
Operated from a distance terminal is Intelligent mobile equipment or the game paddle with touch-screen.
The Intelligent mobile equipment with touch-screen can be mobile phone or panel computer;
When operated from a distance terminal is game paddle, game paddle is provided with two rocking bars, and a rocking bar is used for the shift action of remote control robot body, and another rocking bar is for the limb action of remote control robot body; User can associate the event that on game paddle, each button is pressed and corresponding behavior by perception file, defines each button press down the behavior file that robot correspondence will be carried out afterwards by editor's perception file;
When operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with virtual rocking bar region, points shift action and the limb action of the position conversion and control robot body in virtual rocking bar region by user; Specifically: in virtual rocking bar region, detect the position that user points place, and user's finger position is converted to corresponding position data or speed data, then according to the content of operation of virtual rocking bar, be converted to the directive script that robot body is corresponding, and send to robot body by wireless network, by task, explain that submodule makes an explanation and carries out.
By virtual rocking bar, translational speed and moving direction that remote operator can control body, the simultaneously angle of the limb action of control body (as nod, panning angle, raise one's hand, wave etc.).Operated from a distance terminal comprises one or more virtual rocking bars.Generally comprise 2 virtual rocking bars, one of them virtual rocking bar is for the shift actions such as advancing, retreat, turn and stop of control, when user's finger leaves the region of virtual rocking bar, virtual rocking bar can be specified and be reset to zero-bit, and at this time robot will stop; Another virtual rocking bar is for the nodding, shake the head or other limb action of control, and when user's finger leaves the region of virtual rocking bar, the position motionless ，Ji Rang robot that rocking bar can keep current keeps corresponding limb angle constant.
When operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal as shown in Figure 2, user interface is provided with task button region 1, video monitoring regional 2, voice dialogue region 3, condition monitoring region 4, the first virtual rocking bar region 5, the second virtual rocking bar region 6 and stop button 7, task button region, the first virtual rocking bar region, the second virtual rocking bar region is connected with the task operating terminal in operated from a distance terminal respectively with stop button, video monitoring regional receives display sub-module with image and is connected, voice dialogue region is connected with the interactive voice terminal of being located in operated from a distance terminal, condition monitoring region receives and shows that word modules is connected with state, in task button region, be provided with at least one scene mode (as shown in Figure 2, being scene 1-1 and scene 1-2).
By increasing the task button of scene and scene, can increase the function of robot body.Task button is associated with behavior file, when pressing task button, task operating terminal is combined into behavior file name corresponding to this button the directive script of act of execution file, by wireless communication networks, send to robot body, by the task explanation submodule in task management module, explain execution.
Wherein, the editable data of task button comprise text and behavior file name corresponding to button that button shows, can be in operated from a distance terminal direct Update Table, also can be by the XML file of editor's appointment, then by task operating terminal, explain this XML file, automatically generating scene and task button.
In voice dialogue region, use microphone gather the sound signal of environment and send to robot body by wireless communication networks, receive the voice data sending over from robot body simultaneously and play.
Video monitoring regional is used for receiving and showing the view data sending over from robot body.
Condition monitoring region is used for receiving and showing voltage data and the barrier status data sending over from robot body.
During this distant operate services robot system operation, by wirelessly transmitting data between robot body and operated from a distance terminal, finish the work.For interactive voice module, by the interactive voice terminal transmission of operated from a distance terminal, monitor or talk with instruction to the interactive voice terminal of robot body, and collection, transmission and monitoring reception and the broadcasting of developing audio frequency; The interactive voice terminal of robot body is received after instruction, gathers the interactive voice terminal that voice data sends to operated from a distance terminal, and plays the voice data sending over from operated from a distance terminal; End by operated from a distance terminal control audio monitoring and dialogue.For video monitoring module and monitoring module, its course of work and interactive voice module class are seemingly, all to send corresponding instruction by operated from a distance terminal, by module corresponding on robot body, receive and process, acquisition of image data, status data, then transmit back operated from a distance terminal and show.Operation part for robot body, as passed through handle or task button manipulation robot, first operated from a distance terminal is converted to the operation on interface corresponding robot script instruction, by wireless communication networks, instruction is sent on robot body, by and by task management module, make an explanation and carry out.
As mentioned above, just can realize preferably the present invention, above-described embodiment is only preferred embodiment of the present invention, is not used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modify, all by the claims in the present invention scope required for protection, contained.
Claims (7)
1. a distant operate services robot system, is characterized in that, comprises robot body and operated from a distance terminal, between robot body and operated from a distance terminal, by wireless communication networks, connects; In robot system, be provided with interactive voice module, video monitoring module, monitoring module, task management module and task operating terminal, task management module is located on robot body, and task operating terminal is located in operated from a distance terminal; Interactive voice module comprises two interactive voice terminals, two interactive voice terminals be located at respectively on robot body and operated from a distance terminal on; Video monitoring module comprises that image acquisition transmission submodule and image receive display sub-module, and image acquisition transmission submodule is located on robot body, and image receives display sub-module and is located in operated from a distance terminal; Monitoring module comprises that state acquisition sends submodule and state receives display sub-module, and state acquisition sends submodule and is located on robot body, and state receives display sub-module and is located in operated from a distance terminal;
Wherein, perception file is edited and explained to task management module, for editing and execute the task file;
Task operating terminal is as operating personnel's operation executing means;
Interactive voice module is carried out interaction for operating personnel and the people around of robot, sound around the robot of seizure in real time is also transferred to operated from a distance terminal by wireless communication networks, after the sound collection simultaneously operating personnel being sent, by wireless communication networks, send to robot body, after the change of voice is processed, by the audio amplifier on robot body, played back;
Video monitoring module arrives operated from a distance terminal for the Image Real-time Transmission that camera collection on robot body is arrived;
Monitoring module is for detecting in real time the supply voltage of robot body and the direction of surrounding environment barrier, and to far-end operation terminal, send the directional data of voltage and barrier, make operating personnel can in operated from a distance terminal, view the voltage of robot body and the barrier situation of robot body surrounding environment.
2. a kind of distant operate services robot system according to claim 1, it is characterized in that, the task that is provided with in described task management module is explained submodule, task explains that submodule is for making an explanation to the directive script of assignment file, and according to the mapping relations of instruction and function, the function that call instruction is corresponding is carried out instruction;
Wherein, the assignment file that task management module is edited and carried out is mainly comprised of the directive script of robot body, each directive script include instruction name and parameter two parts, directive script comprises move, limbs instruction, expression instruction, phonetic order and system directive, and assignment file is called by directive script as function; Assignment file is saved as text formatting or XML file layout; When assignment file is XML file layout, with XML node, as instruction node, instruction is described, use respectively attribute description instruction name and the parameter of XML node;
The perception file that task management module is edited and explained saves as XML file layout, and perception file is described the corresponding relation between perception and behavior; Be perceived as self-defining event, behavior is described with the directive script of robot body; In perception file, with an XML node, perception is described, by the type of attribute description perception and the data of perception of corresponding XML node, by an instruction node, a plurality of instruction node or describe behavior corresponding to perception as the child node of sensing node.
3. a kind of distant operate services robot system according to claim 1, is characterized in that, in described robot body, be also provided with mobile module and limb action module, mobile module is connected with task management module respectively with limb action module;
Wherein, mobile module advances, retreats, turns and move to specified coordinate for control body;
Limb action module completes the limb action of head, hand and shank for control body.
4. a kind of distant operate services robot system according to claim 1, it is characterized in that, on described robot body, be also provided with audio amplifier, microphone, camera and detection of obstacles sensor, audio amplifier is connected with the interactive voice terminal of being located on robot body respectively with microphone, camera is connected with image acquisition transmission submodule, and detection of obstacles sensor sends submodule with state acquisition and is connected.
5. a kind of distant operate services robot system according to claim 1, is characterized in that, described operated from a distance terminal is Intelligent mobile equipment or the game paddle with touch-screen.
6. a kind of distant operate services robot system according to claim 5, is characterized in that, described in there is touch-screen Intelligent mobile equipment be mobile phone or panel computer;
When operated from a distance terminal is game paddle, game paddle is provided with two rocking bars, and a rocking bar is used for the shift action of remote control robot body, and another rocking bar is for the limb action of remote control robot body;
When operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with virtual rocking bar region, points shift action and the limb action of the position conversion and control robot body in virtual rocking bar region by user.
7. a kind of distant operate services robot system according to claim 6, it is characterized in that, when described operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with task button region, video monitoring regional, voice dialogue region, condition monitoring region, the first virtual rocking bar region, the second virtual rocking bar region and stop button, task button region, the first virtual rocking bar region, the second virtual rocking bar region is connected with the task operating terminal in operated from a distance terminal respectively with stop button, video monitoring regional receives display sub-module with image and is connected, voice dialogue region is connected with the interactive voice terminal of being located in operated from a distance terminal, condition monitoring region receives and shows that word modules is connected with state, in task button region, be provided with at least one scene mode.
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