CN105005305A - Controlled robot, remote control device, robot system and applicable method - Google Patents
Controlled robot, remote control device, robot system and applicable method Download PDFInfo
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- CN105005305A CN105005305A CN201510435537.5A CN201510435537A CN105005305A CN 105005305 A CN105005305 A CN 105005305A CN 201510435537 A CN201510435537 A CN 201510435537A CN 105005305 A CN105005305 A CN 105005305A
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Abstract
The invention provides a controlled robot, a remote control device, a robot system and an applicable method. According to the robot system, the controlled robot comprises a first communication unit used for acquiring a control instruction containing the destination information, a target object and the control information, a movement unit used for determining the path information from a current location to the destination information according to a map obtained through the pre-learning process, moving to the corresponding destination based on the path information, and outputting the destination-arriving information, and a first remote control unit used for sending a control signal to the target object according to the control information upon receiving the destination-arriving information. The remote control device comprises a second remote control unit used for packaging the destination information, the target object and the control information in an option interface in the control instruction, and a second communication unit used for sending the control instruction to the controlled robot. According to the technical scheme of the invention, the problem that existing electrical equipment in an intelligent household system is not convenient in intelligent control can be solved.
Description
Technical field
The present invention relates to the control field of robot, particularly relate to a kind of controlled machine people, remote control equipment, robot system and the method that is suitable for.
Background technology
Along with smart home life infiltration in daily life, the mode controlling household electrical appliance controls from current mechanical type, gradually becomes and utilizes control signal to control.The control mode of current Smart Home arranges network element by each household electrical appliance (as lamp, air-conditioning, electric cooker, refrigerator etc.), by the server in network element connecting Internet, then by pre-configured, described server is connected with corresponding user terminal.Realize carrying out control operation to each household electrical appliance in room by above-mentioned link.
This mode needs the described network element of the configuration on the hardware and software of each household electrical appliance.This is for the household electrical appliance of current main flow, and inapplicable.Therefore, need to improve prior art.
Summary of the invention
The robot system that the embodiment of the present invention provides a kind of controlled machine people, remote control equipment and forms, for solving in prior art the problem cannot implemented instruction to the electric equipment not possessing network element and control.
The embodiment of the present invention is by the following technical solutions:
First aspect, provides a kind of controlled machine people, comprising: the first communication unit, for obtaining the steering order comprising destination information, target object and control information; Mobile unit, for according to the map learning in advance to obtain, determines the routing information of current location to described destination information, moves to corresponding destination based on described routing information, and export arrival destination information; First remote control unit, for when receiving the information of described arrival destination, sends control signal according to described control information to described target object.
Preferably, described first communication unit is used for based on the obtained pattern switching command comprising mode of learning, enter mode of learning in the lump with described mobile unit, and under described mode of learning, obtain the move for learning from reference position to the route of each target object;
Corresponding, described mobile unit comprises: map drawing module, for under described mode of learning, according to described move from described reference position in the driving process of the destination information corresponding at least one target, record comprises the path corresponding relation that the number of steps of drive unit, deflection angle and destination information are formed, and generates map based on described path corresponding relation; Described first communication unit is also for producing the pattern switching command of mode of learning based on obtained comprising, map drawing module described in instruction preserves described map, and produces described mode of learning in the lump with described mobile unit.
Preferably, described mobile unit comprises: path design module, for travelling record according to the history from reference position to current location, determine that whether current location is a destination information in described map, if, then according to described map, determine the routing information of the destination information that current location to described first communication unit obtains, if not, then return described reference position, then determine the routing information of the destination information that described reference position to described first communication unit obtains according to described map.
Preferably, described mobile unit also comprises: Fault handling module, for the obstacle signal detected based on the travel direction along described routing information, accessory drive departs from described travel direction, and record corresponding deviation angle and the number of steps departing from described travel direction, and detect described travel direction and whether still have obstacle signal, if nothing, then generate the routing information from current location to destination information according to recorded deviation angle and number of steps, otherwise, continue record deviation angle and number of steps, until detect accessible signal in described travel direction.
Preferably, controlled machine people also comprise: image unit, for absorbing the video data of described mobile unit moving process based on described steering order.
Preferably, described image unit also for when receiving the information of described arrival destination, absorbing and identifying the target object in the video data around position, when identifying described target object, locate described target object, and export identification successful information; Described first remote control unit also for when receiving the information of described arrival destination and described identification successful information, sends control signal according to described control information to described target object, and sends by described first communication unit the information controlled.
Second aspect, also provides a kind of remote control equipment, comprising: the second remote control unit, for being encapsulated in steering order by from the destination information in an options interface, target object and control information; Second communication unit, for being sent to as above arbitrary described controlled machine people by described steering order.
Preferably, described second communication unit is also for transporting to described second remote control unit by being obtained from the information that control that described controlled machine people sends when executing described steering order completes.
Preferably, the setting options of mode of learning are also shown in described options interface, described second remote control unit also for based on the mode of learning option being obtained from described options interface, is generated the pattern switching command comprising mode of learning, and is sent by described second communication unit; And, for obtained mobile operation transformation is become move, and sent by described second communication unit.
Preferably, described second remote control unit is also for being supplied to described user by the routing information of described controlled machine people feedback under mode of learning obtained by described second communication unit.
The third aspect, also provides a kind of robot system, comprising: comprise as above arbitrary described controlled machine people, and as above arbitrary described remote control equipment.
The third aspect, also provides a kind of control method for described robot system, comprising: described controlled machine people obtains the steering order comprising destination information, target object and control information that described remote control equipment sends; Described controlled machine people, according to the map learning in advance to obtain, determines the routing information of current location to described destination information, moves to corresponding destination based on described routing information, and exports arrival destination information; Described controlled machine people, when receiving the information of described arrival destination, sends control signal according to described control information to described target object.
As mentioned above, controlled machine people of the present invention, remote control equipment and the robot system formed, there is following beneficial effect: the mode of the map consisted of the position of each target object of learning records in advance determines each routing information, can effectively find each target object, and without the need to installing network element on target object.Efficiently solve existing electric equipment in intelligent domestic system and be not easy to the problem of Based Intelligent Control; In addition, after executing the Based Intelligent Control to target object, the remote control equipment hand-held to user sends the information controlled, and is convenient to user and confirms that described controlled machine people performs corresponding steering order; Also have, adopt mode of learning under the control of remote control equipment record start position to the routing information of each target object, can guarantee in practical application scene, to play important effect by the target object that controlled machine people determination that is quick, accurate, low computational complexity will control; Further, between the learning period, each routing information is supplied to remote control equipment by described controlled machine people, confirms for user, can provide and learn feedback timely, for user shows learning outcome, realize the useful interaction between user and controlled machine people; In addition, when described controlled machine people is not in reference position, record can also be travelled according to the history from reference position to current location and carry out set path information, so, achieve the described controlled machine people service that can perform Long-distance Control Anywhere at home; Also have, when running into barrier in the process of moving, by recording offset direction and departing from the deviation that number of steps corrects cut-through thing, complex calculations are replaced with simple counter mechanism, effectively reduce the hardware configuration requirement of controlled machine people to complex calculation, reduce the hardware cost of controlled machine people; Also have, for preventing described controlled machine people because the actual errors such as wheel slip idle running in the barrier that detours, traveling process are to the error check of final destination information, after mobile unit arrives destination according to default deflection angle and number of steps, utilize and rotate the position that image unit finds also localizing objects object, can control target object accurately, effectively prevent the problem causing sent steering order to lose efficacy because object cannot be aimed at the mark.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing the embodiment of the present invention is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the content of the embodiment of the present invention and these accompanying drawings.
Fig. 1 is the block diagram of an embodiment of controlled machine people of the present invention and remote control equipment.
Fig. 2 is the block diagram of another embodiment of controlled machine people of the present invention and remote control equipment.
Fig. 3 is the process flow diagram of an embodiment of the control method for controlled machine people and remote control equipment of the present invention.
Embodiment
The technical matters solved for making the present invention, the technical scheme of employing and the technique effect that reaches are clearly, be described in further detail below in conjunction with the technical scheme of accompanying drawing to the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those skilled in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the invention provides a kind of controlled machine people and remote control equipment.Described controlled machine people 1 is for helping user's remote control domestic electrical equipment equipment (as air-conditioning, TV etc.).What match with described controlled machine people 1 also has a remote control equipment 2.Described remote control equipment 2 can be independently equipment, also can be the part in described controlled machine people 1.Described controlled machine people 1 comprises: the first communication unit 11, mobile unit 12 and the first remote control unit 13.Described remote control equipment 2 comprises: the second remote control unit 22, second communication unit 21.Wherein, described first communication unit 11 and second communication unit 21 communicate to connect.
If described remote control equipment 2 is the part in described controlled machine people 1, described first communication unit 11 can be data line interface pair with second communication unit 21.
If described remote control equipment 2 is two autonomous devices with described controlled machine people 1, then described first communication unit 11 is communicated by wireless network with second communication unit 21.Described wireless network includes but not limited to: WLAN (as wifi), mobile data network, wireless network etc. based on the closely agreement such as bluetooth/infrared/radio frequency.
Described controlled machine people 1 and remote control equipment 2 form a controllable robot system 3.
Wherein, described first remote control unit 13 comprises the wireless remote control module of corresponding each domestic electrical equipment remote controller.Such as, described first remote control unit 13 comprises: at least one in infrared remote-control device, based radio frequency remote controller, laser remote controller etc.
Be built-in with by learning the map obtained in advance in described mobile unit 12.Described map be used for marking each target object (as controlled electrical equipment etc.) positional information and from reference position to the routing information of each target object.Can comprise in described map: be starting point and terminal with described reference position, take each target object as a paths information of node on the way; Can also comprise: with described reference position be starting point, the mulitpath information that is terminal with each target object.Wherein, described reference position can be set by the user, and also can be defaulted as the charge position of described controlled machine people 1.Such as, described controlled machine people 1 also comprises: charhing unit, during for monitoring electric quantity of power supply lower than default power threshold, according to the charging signals intensity of received charging device, controlling described mobile unit 12 and moving to described charging device.Wherein, described charging device connects civil power.Described controlled machine people 1 gives tacit consent to the position that reference position is described charging device place.
The mode of learning of described map includes but not limited to: utilize the mode that recognition image information and space geometry modeling combine, and described mobile unit 12 learns the position at indoor each electrical equipment place voluntarily in advance, and draws described map according to track route.
Preferably, in order to reduce the hardware cost of robot, strengthen the real-time interactive of robot, the mode of learning of described map is realized under mode of learning jointly by described remote control equipment 2, first communication facilities and mobile unit 12.Wherein, described mobile unit 12 comprises: map drawing module 122.As shown in Figure 2.
Described map drawing module 122 is under mode of learning, according to described move from described reference position in the driving process of the destination information corresponding at least one target, record comprises the path corresponding relation that the number of steps of drive unit, deflection angle and destination information are formed, and generates map based on described path corresponding relation.
Particularly, the second remote control unit 22 in described remote control equipment 2 can show the options interface of the setting options comprising mode of learning.When user selects the option of mode of learning, described second remote control unit 22 generates based on this selection operation the pattern switching command comprising mode of learning, and is passed to described first communication unit 11 and mobile unit 12 by described second communication unit 21.Wherein, described mobile unit 12 starts described map drawing module 122 to enter mode of learning based on described pattern switching command.Under mode of learning, described first communication unit 11 can not the instruction/information of other communication units outside second communication unit 21 described in receiving area, to ensure the process of not interruption logging routing information.
At this, described map drawing module 122 can receive based on described pattern switching command the image information that the image unit 14 in described controlled machine people 1 provides, and by identifying that the characteristic information in kind (characteristic information of door, the characteristic information etc. of furniture as preset by coupling) in described image information determines its reference position.Or, described map drawing module 122 is based on the highest orientation of described pattern switching command identification charging signals intensity, and drive the drive unit in described controlled machine people 1 to move to charging device place based on described charging signals intensity and orientation, and as reference position.
Under this mode of learning, described second remote control unit 22 display is used to indicate that user operation is forward/backward, corner and turn to, the options interface of even destination information.User operates according to described options interface, and described second remote control unit 22 correspondence exports corresponding move and destination information, and is passed to described first communication unit 11 and map drawing module 122 by described second communication unit 21.Described map drawing module 122 drives described drive unit to travel to next destination information according to described move from described reference position (or current destination information), and record comprises the path corresponding relation that the number of steps of drive unit, deflection angle and destination information are formed, generate map based on described path corresponding relation.Wherein, described step-length is exemplified as the link length etc. of the predetermined number on the circumference of roller, the step-length of robot two leg movement or crawler belt.
Such as, described mobile unit 12 is when receiving the pattern switching command of mode of learning, and the drive unit controlled in described controlled machine people 1 moves to charging device place.Described second remote control unit 22 shows the options interface with direction OptionButton, start button, stop button and destination information on a display screen.When user select air-conditioning position, parlor, press start button and forwarding button time, described map drawing module 122 records the number of steps n1 in described drive unit driving process from reference position.Continue, when user presses infradextroversion button, described map drawing module 122 is turned right after being recorded in number of steps n1 a1 angle.Record like this, until when user determines that described controlled machine people 1 arrives air-conditioning position, parlor, click stop button, then described map drawing module 122 using driving trace, charging device and air-conditioning positions, parlor such as the number of steps n1 between the sign on corresponding to start button and stop button and halt instruction, right-hand rotation a1 angles as the routing information between the described charging device of correspondence and air-conditioning position, parlor.
When user presses start button again, described in the remote control of described second remote control unit 22 correspondence, map drawing module 122 records the driving trace between air-conditioning position, described parlor to next target position information (as room TV position), and as the routing information between air-conditioning position, parlor and room TV position.
When the setting options of mode of learning are produced in user operation, described second remote control unit 22 notifies that described mobile unit 12 and the first communication unit 11 produce mode of learning.Then obtained each routing information is preserved, to form map by described mobile unit 12.
It should be noted that, can also comprise in described second remote control unit 22: horizon sensor.When the hand-held described remote control equipment 2 of user rotates, described second remote control unit 22 obtains the anglec of rotation and sense of rotation that horizon sensor provides, and the described anglec of rotation and sense of rotation are sent to described map drawing module 122.Described map drawing module 122, according to the anglec of rotation of horizon sensor preset and the corresponding relation of the deflection angle of drive unit, determines the deflection angle of described drive unit.Described map drawing module 122, while determining that described drive unit rotates, records described deflection angle.
Also it should be noted that, described second remote control unit 22 can also comprise: phonetic order identification module.Described phonetic order identification module by the move, pattern switching command etc. in reception also match user voice signal, can export command adapted thereto to described mobile unit 12.
Preferably, recorded routing information, while record path information, is also fed back to described second remote control unit 22 by described map drawing module 122.Such as, recorded routing information is fed back to described second remote control unit 22 in the mode of the lines with bending by described map drawing module 122, and wherein, the overbending direction of described lines is consistent with each yawing moment in described routing information.Described map is showed user by described second remote control unit 22, determines for user.
When the option of mode of learning is produced in user's click, described second remote control unit 22 notifies that described first communication unit 11 and mobile unit 12 produce described mode of learning.Now, remote control equipment 2 described in user-operable controls described controlled machine people 1 pair of target object and controls.Specific as follows:
Described second remote control module is used for being encapsulated in steering order by from the destination information in an options interface, target object and control information, and is sent to described mobile unit 12 by described second communication unit 21 and the first communication unit 11.Wherein, described target object should be corresponding with control information.Such as, target object is air-conditioning, and its control information can comprise: turn on the aircondition, close air-conditioning, adjustment air conditioner output temperature, change air conditioning mode, change air conditioning exhausting pattern etc.Wherein, this options interface can be the different pages in same interface from the aforementioned operation interface comprising mode of learning option.
Described mobile unit 12, for according to the map learning in advance to obtain, is determined the routing information of current location to described destination information, is moved to corresponding destination based on described routing information, and exports arrival destination information.
At this, described mobile unit 12 can by mating the image information corresponding to each destination information corresponding with map for the image information of the image unit 14 in described controlled machine people 1, determine currently whether be positioned at certain destination information place, if so, the routing information between the destination information then sent according to described map determination current location and described second remote control module; If not, then drive described drive unit correcting action, and determine the routing information between the destination information that described reference position and described second remote control module send.
Preferably, described mobile unit 12 comprises: path design module 121.As shown in Figure 2.
Described path design module 121 is for travelling record according to the history from reference position to current location, determine that whether current location is a destination information in described map, if, then according to described map, determine the routing information of the destination information that current location to described first communication unit 11 obtains, if not, then return described reference position, then determine the routing information of the destination information that described reference position to described first communication unit 11 obtains according to described map.
Particularly, also comprise in described controlled machine people 1: horizon sensor and vertical reference.When described path design module 121 is before receiving above-mentioned steering order, obtain and record that described horizon sensor, vertical reference and drive unit provide move horizontally the mobile messages such as signal, vertical movable signal, number of steps, deflection angle.When receiving described steering order, described path design module 121 travels record according to the history from reference position to current location, determines that whether current location is a destination information in described map.If so, the routing information between the destination information then sent according to described map determination current location and described second remote control module; If not, then drive described drive unit correcting action, and determine the routing information between the destination information that described reference position and described second remote control module send.
Such as, whether described path design module 121, when receiving steering order, travels in record to search to comprise in described history and moves horizontally signal, if comprise, then assert arbitrary destination information that current location does not mark in described map, and drive described drive unit correcting action; Otherwise, then search further described history travel record be whether in routing information in described map at least partially, if so, then according to the routing information of the destination information in the routing information determination current location in described map to described steering order; Otherwise again, then drive described drive unit correcting action, and determine the routing information between the destination information that described reference position and described second remote control module send.
Described mobile unit 12 controls described drive unit based on described routing information and moves to corresponding destination, and exports information extremely described first remote control unit 13 arriving destination.
In order to prevent from having in the process of moving the barrier of temporarily putting (as stool etc.) hinder as described in the movement of controlled machine people 1, be also provided with multiple obstacle detector in described controlled machine people 1.Described obstacle detector detect in predeterminable range have barrier time, send obstacle signal.Also comprising of described mobile unit 12 correspondence: Fault handling module 123.As shown in Figure 2.
The obstacle signal of described Fault handling module 123 for detecting based on the travel direction along described routing information, accessory drive departs from described travel direction, and record corresponding deviation angle and the number of steps departing from described travel direction, and detect described travel direction and whether still have obstacle signal, if nothing, then generate the routing information from current location to destination information according to recorded deviation angle and number of steps, otherwise, continue record deviation angle and number of steps, until detect accessible signal in described travel direction.
Such as, when described mobile unit 12 receives the obstacle signal that the obstacle detector on current driving direction provides, described Fault handling module 123 is started.Described Fault handling module 123 is chosen drive unit described in the direction controlling minimum with current driving direction deflection angle according to the obstacle detector in other directions and is departed from described travel direction, and to record corresponding deviation angle be the number of steps n2 deflecting a2 angle to the right He depart from described travel direction, simultaneously, still the obstacle signal of described travel direction is monitored, when the obstacle signal monitoring described travel direction disappears or its intensity is less than default intensity threshold, described Fault handling module 123 controls described drive unit and again travels along described travel direction, and when the obstacle signal that obstacle detector exports on the left of monitoring disappears or its intensity is less than default intensity threshold, according to the recorded a2 of deviation angle to the right and number of steps n2 deflection angle a2 and number of steps n2 left.So, described Fault handling module 123 controls described drive unit cut-through thing, and returns original route.
In a kind of optimal way, described mobile unit 12 is in moving process, the image unit 14 in described controlled machine people 1 can also be indicated by described first communication unit 11 and second communication unit 21 to described second remote control unit 22 output video data, so that user watches the video of controlled machine people 1 movement in real time.
In order to save flow, preferred mode is, described mobile unit 12 is after determining to arrive corresponding destination, described image unit 14 is indicated to absorb and identify the target object in the video data around position, when identifying described target object, locate described target object, and export identification successful information.
Particularly, described image unit 14 is when receiving the information of described arrival destination, around the axis picked-up video data around of described controlled machine people 1, and the target object in video data according to the characteristic information identification of the target object preset, when recognizing described target object, locate the current anglec of rotation, and export the successful information of identification to described first remote control unit 13.
Described first remote control unit 13, for when receiving the information of described arrival destination, sends control signal according to described control information to described target object.
Particularly, the mode of described first remote control unit 13 in advance by docking with each domestic electrical equipment remote controller, receives and preserves the control signal on each domestic electrical equipment remote controller corresponding to each operating key.Then when described first remote control unit 13 receives the information of described arrival destination, send control signal according to described control information to corresponding target object.Wherein, the quantity of described control information can be one or more.Such as, described control information comprises: open TV information and be adjusted to 222, then described first remote control unit 13 exports the control signal opened TV information He be adjusted to 222 successively.
Preferably, described first remote control unit 13 is also for when receiving the information of described arrival destination and described identification successful information, send control signal according to described control information to described target object, and send by described first communication unit 11 information controlled.So, can guarantee that sent control signal arrives corresponding target object.
More preferably, described first remote control unit 13, after executing described steering order, sends to described second remote control unit 22 information controlled by described first communication unit 11 and second communication unit 21.The information that described control completes represents on a display screen by described second remote control unit 22, has controlled to point out user.
Wherein, the information that described control completes can be Word message, also can be described first remote control unit 13 piece image information etc. comprising object from described image unit 14 acquisition after completing control.
As shown in Figure 3, the invention provides a kind of control method for above-mentioned robot system.Described control method performs primarily of described controlled machine people and remote control equipment.
Described controlled machine people is for helping user's remote control domestic electrical equipment equipment (as air-conditioning, TV etc.).Described remote control equipment can be independently equipment, also can be the part in described controlled machine people 1.
If described remote control equipment is the part in described controlled machine people, described remote control equipment is docked by data line interface with controlled machine people.
If described remote control equipment and artificial two autonomous devices of described controlled machine, then described remote control equipment and controlled machine people are communicated by wireless network.Described wireless network includes but not limited to: WLAN (as wifi), mobile data network, wireless network etc. based on the closely agreement such as bluetooth/infrared/radio frequency.
Wherein, described controlled machine people comprises the wireless remote control module of corresponding each domestic electrical equipment remote controller.Such as, described controlled machine people comprises: at least one in infrared remote-control device, based radio frequency remote controller, laser remote controller etc.
Be built-in with by learning the map obtained in advance in described controlled machine people.Described map be used for marking each target object (as controlled electrical equipment etc.) positional information and from reference position to the routing information of each target object.Can comprise in described map: be starting point and terminal with described reference position, take each target object as a paths information of node on the way; Can also comprise: with described reference position be starting point, the mulitpath information that is terminal with each target object.Wherein, described reference position can be set by the user, and also can be defaulted as the charge position of described controlled machine people.Such as, described controlled machine people comprises: charhing unit, and during for monitoring electric quantity of power supply lower than default power threshold, according to the charging signals intensity of received charging device, the drive unit controlled in described controlled machine people moves to described charging device.Wherein, described charging device connects civil power.Described controlled machine people gives tacit consent to the position that reference position is described charging device place.
The mode of learning of described map includes but not limited to: the mode that described controlled machine people utilizes recognition image information and space geometry modeling to combine, and learns the position at indoor each electrical equipment place voluntarily in advance, and draws described map according to track route.
Preferably, in order to reduce the hardware cost of robot, strengthen the real-time interactive of robot, the mode of learning of described map is realized under mode of learning jointly by described remote control equipment, controlled machine people.
In step s 11, described controlled machine people is under mode of learning, the move exported according to described remote control equipment from described reference position in the driving process of the destination information corresponding at least one target, record comprises the path corresponding relation that the number of steps of drive unit, deflection angle and destination information are formed, and generates map based on described path corresponding relation.
Particularly, described remote control equipment can show the options interface of the setting options comprising mode of learning.When user selects the option of mode of learning, described remote control equipment generates based on this selection operation the pattern switching command comprising mode of learning, and passes to described controlled machine people.Wherein, described controlled machine people enters mode of learning based on described pattern switching command.Under mode of learning, described controlled machine people can not receive the instruction/information of other communication units except described remote control equipment, to ensure the process of not interruption logging routing information.
At this, described controlled machine people can receive based on described pattern switching command the image information that built-in image unit absorbs, and by identifying that the characteristic information in kind (characteristic information of door, the characteristic information etc. of furniture as preset by coupling) in described image information determines its reference position.Or described controlled machine people based on the highest orientation of described pattern switching command identification charging signals intensity, and moves to charging device place based on described charging signals intensity and orientation driver, and as reference position.
Under this mode of learning, the display of described remote control equipment is used to indicate that user operation is forward/backward, corner and turn to, the options interface of even destination information.User operates according to described options interface, and described remote control equipment correspondence exports corresponding move and destination information, and passes to described controlled machine people.Described controlled machine people drives described drive unit to travel to next destination information according to described move from described reference position (or current destination information), and record comprises the path corresponding relation that the number of steps of drive unit, deflection angle and destination information are formed, generate map based on described path corresponding relation.Wherein, described step-length is exemplified as the link length etc. of the predetermined number on the circumference of roller, the step-length of robot two leg movement or crawler belt.
Such as, described controlled machine people, when receiving the pattern switching command of mode of learning, controls described drive unit and moves to charging device place.Described remote control equipment shows the options interface with direction OptionButton, start button, stop button and destination information on a display screen.When user select air-conditioning position, parlor, press start button and forwarding button time, described controlled machine people records the number of steps n1 in described drive unit driving process from reference position.Continue, when user presses infradextroversion button, described map drawing module 122 is turned right after being recorded in number of steps n1 a1 angle.Record like this, until when user determines that described controlled machine people arrives air-conditioning position, parlor, click stop button, then using driving trace, charging device and air-conditioning positions, parlor such as the number of steps n1 between the sign on corresponding to start button and stop button and halt instruction, right-hand rotation a1 angles as the routing information between the described charging device of correspondence and air-conditioning position, parlor.
When user presses start button again, controlled machine people described in the remote control that described remote control equipment is corresponding records the driving trace between air-conditioning position, described parlor to next target position information (as room TV position), and as the routing information between air-conditioning position, parlor and room TV position.
When the setting options of mode of learning are produced in user operation, described remote control equipment notifies that described controlled machine people produces mode of learning.Then obtained each routing information is preserved, to form map by described controlled machine people.
It should be noted that, can also comprise in described remote control equipment: horizon sensor.When the hand-held described remote control equipment of user rotates, the anglec of rotation that described remote control equipment acquisition horizon sensor provides and sense of rotation, and the described anglec of rotation and sense of rotation are sent to described controlled machine people.Described controlled machine people, according to the anglec of rotation of horizon sensor preset and the corresponding relation of the deflection angle of drive unit, determines the deflection angle of described drive unit.Described controlled machine people, while determining that described drive unit rotates, records described deflection angle.
Also it should be noted that, described remote control equipment can also comprise: phonetic order identification module.Described phonetic order identification module by the move, pattern switching command etc. in reception also match user voice signal, can export command adapted thereto to described controlled machine people.
Preferably, recorded routing information, while record path information, is also fed back to described remote control equipment by described controlled machine people.Such as, recorded routing information is fed back to described remote control equipment in the mode of the lines with bending by described controlled machine people, and wherein, the overbending direction of described lines is consistent with each yawing moment in described routing information.Described map is showed user by described remote control equipment, determines for user.
When the option of mode of learning is produced in user's click, described remote control equipment and controlled machine produce described mode of learning per capita.Now, remote control equipment described in user-operable controls described controlled machine people and controls target object.Specific as follows:
In the step s 21, described remote control equipment is encapsulated in steering order by from the destination information in an options interface, target object and control information, and is sent to described controlled machine people.Wherein, described target object should be corresponding with control information.Such as, target object is air-conditioning, and its control information can comprise: turn on the aircondition, close air-conditioning, adjustment air conditioner output temperature, change air conditioning mode, change air conditioning exhausting pattern etc.Wherein, this options interface can be the different pages in same interface from the aforementioned operation interface comprising mode of learning option.
In step S22, described controlled machine people, according to the map learning in advance to obtain, determines the routing information of current location to described destination information, moves to corresponding destination based on described routing information, and exports arrival destination information.
At this, described controlled machine people can be mated by the image information corresponding to each destination information that the image information absorbed by built-in image unit is corresponding with map, determine currently whether be positioned at certain destination information place, if so, the routing information between the destination information then sent according to described map determination current location and described second remote control module; If not, then drive described drive unit correcting action, and determine the routing information between the destination information that described reference position and described second remote control module send.
Preferably, described controlled machine people travels record according to the history from reference position to current location, determine that whether current location is a destination information in described map, if, then according to described map, determine the routing information of the destination information that current location to described remote control equipment provides, if not, then return described reference position, then determine the routing information of described reference position to described destination information according to described map.
Particularly, also comprise in described controlled machine people: horizon sensor and vertical reference.When described controlled machine people is before receiving above-mentioned steering order, obtain and record that described horizon sensor, vertical reference and drive unit provide move horizontally the mobile messages such as signal, vertical movable signal, number of steps, deflection angle.When receiving described steering order, described controlled machine people travels record according to the history from reference position to current location, determines that whether current location is a destination information in described map.If so, the routing information between the destination information then sent according to described map determination current location and described remote control equipment; If not, then drive described drive unit correcting action, and determine the routing information between the destination information that described reference position and described remote control equipment send.
Such as, whether described controlled machine people, when receiving steering order, travels in record to search to comprise in described history and moves horizontally signal, if comprise, then assert arbitrary destination information that current location does not mark in described map, and drive described drive unit correcting action; Otherwise, then search further described history travel record be whether in routing information in described map at least partially, if so, then according to the routing information of the destination information in the routing information determination current location in described map to described steering order; Otherwise again, then drive described drive unit correcting action, and determine the routing information between the destination information that described reference position and described second remote control module send.
In step S22, described controlled machine people controls described drive unit based on described routing information and moves to corresponding destination.
In order to prevent from having in the process of moving the barrier of temporarily putting (as stool etc.) hinder as described in the movement of controlled machine people, be also provided with multiple obstacle detector in described controlled machine people.Described obstacle detector detect in predeterminable range have barrier time, send obstacle signal.
Described controlled machine people in the process of moving, also based on the obstacle signal that the travel direction along described routing information detects, accessory drive departs from described travel direction, and record corresponding deviation angle and the number of steps departing from described travel direction, and detect described travel direction and whether still have obstacle signal, if nothing, then generate the routing information from current location to destination information according to recorded deviation angle and number of steps, otherwise, continue record deviation angle and number of steps, until detect accessible signal in described travel direction.
Such as, when described controlled machine people receives the obstacle signal that the obstacle detector on current driving direction provides, choose drive unit described in the direction controlling minimum with current driving direction deflection angle according to the obstacle detector in other directions and depart from described travel direction, and to record corresponding deviation angle be the number of steps n2 deflecting a2 angle to the right He depart from described travel direction, simultaneously, still the obstacle signal of described travel direction is monitored, when the obstacle signal monitoring described travel direction disappears or its intensity is less than default intensity threshold, described controlled machine people controls described drive unit and again travels along described travel direction, and when the obstacle signal that obstacle detector exports on the left of monitoring disappears or its intensity is less than default intensity threshold, according to the recorded a2 of deviation angle to the right and number of steps n2 deflection angle a2 and number of steps n2 left.So, described controlled machine people controls described drive unit cut-through thing, and returns original route.
In a kind of optimal way, described controlled machine people, in moving process, can also indicate built-in image unit to described remote control equipment output video data, so that user watches the video of controlled machine people movement in real time.
In order to save flow, preferred mode is, described controlled machine people is after determining to arrive corresponding destination, indicate described image unit to absorb and identify the target object in the video data around position, when identifying described target object, locate described target object, and export identification successful information.
Particularly, described image unit is when receiving the information of described arrival destination, around the axis picked-up video data around of described controlled machine people 1, and the target object in video data according to the characteristic information identification of the target object preset, when recognizing described target object, locate the current anglec of rotation, and perform step S23.
In step S23, described controlled machine people sends control signal according to described control information to described target object.
Particularly, the mode of described controlled machine people in advance by docking with each domestic electrical equipment remote controller, receives and preserves the control signal on each domestic electrical equipment remote controller corresponding to each operating key.Then when described first remote control unit 13 receives the information of described arrival destination, send control signal according to described control information to corresponding target object.Wherein, the quantity of described control information can be one or more.Such as, described control information comprises: open TV information and be adjusted to 222, then described controlled machine people exports the control signal opened TV information He be adjusted to 222 successively.
Preferably, described controlled machine people in arrival described arrival destination by during towards identified target object, send control signal according to described control information to described target object, and sends the information controlled to described remote control equipment.So, can guarantee that sent control signal arrives corresponding target object.
More preferably, described controlled machine people, after executing described steering order, sends the information controlled to described remote control equipment.The information that described control completes represents on a display screen by described remote control equipment, has controlled to point out user.
Wherein, the information that described control completes can be Word message, also can be described controlled machine people piece image information etc. comprising object from described image unit acquisition after completing control.
In sum, controlled machine people of the present invention, remote control equipment and the robot system formed, the mode of the map consisted of the position of each target object of learning records in advance determines each routing information, can effectively find each target object, and without the need to installing network element on target object, efficiently solving existing electric equipment in intelligent domestic system and being not easy to the problem of Based Intelligent Control.So the present invention effectively overcomes various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.
Claims (12)
1. a controlled machine people, is characterized in that, comprising:
First communication unit, for obtaining the steering order comprising destination information, target object and control information;
Mobile unit, for according to the map learning in advance to obtain, determines the routing information of current location to described destination information, moves to corresponding destination based on described routing information, and export arrival destination information;
First remote control unit, for when receiving the information of described arrival destination, sends control signal according to described control information to described target object.
2. controlled machine people according to claim 1, it is characterized in that, described first communication unit is used for based on the obtained pattern switching command comprising mode of learning, enter mode of learning in the lump with described mobile unit, and under described mode of learning, obtain the move for learning from reference position to the route of each target object;
Corresponding, described mobile unit comprises:
Map drawing module, for under described mode of learning, according to described move from described reference position in the driving process of the destination information corresponding at least one target, record comprises the path corresponding relation that the number of steps of drive unit, deflection angle and destination information are formed, and generates map based on described path corresponding relation;
Described first communication unit is also for producing the pattern switching command of mode of learning based on obtained comprising, map drawing module described in instruction preserves described map, and produces described mode of learning in the lump with described mobile unit.
3. controlled machine people according to claim 1, it is characterized in that, described mobile unit comprises: path design module, for travelling record according to the history from reference position to current location, determine that whether current location is a destination information in described map, if, then according to described map, determine the routing information of the destination information that current location to described first communication unit obtains, if not, then return described reference position, the routing information of the destination information that described reference position to described first communication unit obtains is determined again according to described map.
4. controlled machine people according to claim 1, is characterized in that, described mobile unit also comprises:
Fault handling module, for the obstacle signal detected based on the travel direction along described routing information, accessory drive departs from described travel direction, and record corresponding deviation angle and the number of steps departing from described travel direction, and detect described travel direction and whether still have obstacle signal, if nothing, then generate the routing information from current location to destination information according to recorded deviation angle and number of steps, otherwise, continue record deviation angle and number of steps, until detect accessible signal in described travel direction.
5. controlled machine people according to claim 1, is characterized in that, also comprise:
Image unit, for absorbing the video data of described mobile unit moving process based on described steering order.
6. controlled machine people according to claim 1, is characterized in that, also comprise:
Image unit, for when receiving the information of described arrival destination, absorbing and identifying the target object in the video data around position, when identifying described target object, locating described target object, and exports identification successful information;
Described first remote control unit also for when receiving the information of described arrival destination and described identification successful information, sends control signal according to described control information to described target object, and sends by described first communication unit the information controlled.
7. a remote control equipment, is characterized in that, comprising:
Second remote control unit, for being encapsulated in steering order by from the destination information in an options interface, target object and control information;
Second communication unit, for being sent to described steering order as the controlled machine people as described in arbitrary in claim 1-6.
8. remote control equipment according to claim 7, is characterized in that, described second communication unit is also for transporting to described second remote control unit by being obtained from the information that control that described controlled machine people sends when executing described steering order completes.
9. remote control equipment according to claim 7, it is characterized in that, the setting options of mode of learning are also shown in described options interface, described second remote control unit is also for based on the mode of learning option being obtained from described options interface, generate the pattern switching command comprising mode of learning, and sent by described second communication unit; And, for obtained mobile operation transformation is become move, and sent by described second communication unit.
10. remote control equipment according to claim 7, is characterized in that, described second remote control unit is also for being supplied to described user by the routing information of described controlled machine people feedback under mode of learning obtained by described second communication unit.
11. 1 kinds of robot systems, is characterized in that, comprising:
Comprise as the controlled machine people as described in arbitrary in claim 1-6, and as the remote control equipment as described in arbitrary in claim 7-10.
12. 1 kinds for the control method of robot system as claimed in claim 11, is characterized in that, comprising:
Described controlled machine people obtains the steering order comprising destination information, target object and control information that described remote control equipment sends;
Described controlled machine people, according to the map learning in advance to obtain, determines the routing information of current location to described destination information, moves to corresponding destination based on described routing information;
Described controlled machine people sends control signal according to described control information to described target object.
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