CN105005305B - Controlled machine people, remote control equipment, robot system and the method being applicable in - Google Patents
Controlled machine people, remote control equipment, robot system and the method being applicable in Download PDFInfo
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Abstract
The present invention provides a kind of controlled machine people, remote control equipment, robot system and the method being applicable in.According to the robot system, the controlled machine people includes：First communication unit, for obtaining comprising destination information, target object and the control instruction for controlling information；Mobile unit, for according to the map for learning to obtain in advance, determining that current location to the routing information of the destination information, is moved to corresponding destination, and export arrival destination information based on the routing information；First remote control unit, for when receiving the information arrived at, control signal to be sent out to the target object according to the control information.The remote control equipment includes：Second remote control unit, being used for will be from destination information, target object and the control Information encapsulation in an options interface in control instruction；Second communication unit, for the control instruction to be sent to the controlled machine people.The present invention can solve the problems, such as that existing electrical equipment is not easy to intelligent control in intelligent domestic system.
Description
Technical field
The present invention relates to the control field of robot more particularly to a kind of controlled machine people, remote control equipment, robot systems
And the method being applicable in.
Background technology
With the infiltration of smart home life in daily life, the modes of household electrical appliance is controlled from current mechanical control
System is gradually become and is controlled using control signal.The control mode of current smart home be by each household electrical appliance (such as
Lamp, air-conditioning, electric cooker, refrigerator etc.) in network element is set, the server in internet is connected by network element, then is led to
It crosses to be pre-configured with and the server is connected with corresponding user terminal.It is realized to each household electric in room by above-mentioned link
Device carries out control operation.
This mode needs the configuration network element on the hardware and software of each household electrical appliance.This for leading at present
For the household electrical appliance of stream, and it is not suitable for.Therefore, it is necessary to be improved to the prior art.
Invention content
The embodiment of the present invention provides a kind of controlled machine people, remote control equipment and the robot system constituted, for solving
The problem of electrical equipment for not having network element without normal direction in the prior art implements instruction control.
The embodiment of the present invention uses following technical scheme：
In a first aspect, a kind of controlled machine people is provided, including：First communication unit, for obtain comprising destination information,
The control instruction of target object and control information；Mobile unit, for according to the map for learning to obtain in advance, determining current location extremely
The routing information of the destination information is moved to corresponding destination based on the routing information, and exports and arrive at
Information；First remote control unit, for when receiving the information arrived at, according to the control information to the mesh
Mark object sends out control signal.
Preferably, first communication unit is used to instruct based on the acquired pattern switching comprising mode of learning, with
The mobile unit enters mode of learning together, and is obtained under the mode of learning for learning from initial position to each target
The move of the route of object；
Corresponding, the mobile unit includes：Map drawing module is used under the mode of learning, according to the shifting
Dynamic instruction is since, in the driving process of the destination information corresponding at least one target, record includes the initial position
The path correspondence that number of steps, deflection angle and the destination information of driving device are constituted, and it is based on the path pair
It should be related to generation map；First communication unit is additionally operable to refer to comprising the pattern switching for producing mode of learning based on acquired
It enables, instructs the map drawing module to preserve the map, and the mode of learning is produced together with the mobile unit.
Preferably, the mobile unit includes：Module is designed in path, for according to going through from initial position to current location
History traveling record determines whether current location is a destination information in the map, if so, according to the map,
The routing information of the destination information acquired in current location to first communication unit is determined, if it is not, then returning to described rise
Beginning position determines the road of the destination information acquired in the initial position to first communication unit further according to the map
Diameter information.
Preferably, the mobile unit further includes：Fault handling module, for based on along the traveling side of the routing information
To the obstacle signal detected, controls the driving device and deviate the travel direction, and record corresponding deviation angle and deviation
The number of steps of the travel direction, and detect whether the travel direction still has obstacle signal, if nothing, according to what is recorded
Deviation angle and number of steps generate the routing information from current location to destination information, conversely, continuing to record deviation angle
And number of steps, until detecting accessible signal in the travel direction.
Preferably, controlled machine people further includes：Camera unit, for absorbing the mobile unit based on the control instruction
The video data of moving process.
Preferably, the camera unit is additionally operable to, when receiving the information arrived at, absorb and identify institute
Target object in the video data around position positions the target object, and defeated when identifying the target object
Go out to identify successful information；First remote control unit is additionally operable to receiving the information arrived at and described be identified as
When work(information, control signal is sent out to the target object according to the control information, and send out by first communication unit
The information for sending control to complete.
Second aspect also provides a kind of remote control equipment, including：Second remote control unit, for that will come from an options interface
Destination information, target object and control Information encapsulation in control instruction；Second communication unit is used for the control instruction
It is sent to as above any controlled machine people.
Preferably, second communication unit is additionally operable to will to be obtained from the controlled machine people and refers to having executed the control
The information that the control sent when enabling is completed transports to second remote control unit.
Preferably, also show that the setting options of mode of learning, second remote control unit are additionally operable in the options interface
Based on the mode of learning option for being obtained from the options interface, generates the pattern switching comprising mode of learning and instruct, and pass through institute
The second communication unit is stated to be sent；And for acquired moving operation to be converted into move, and pass through described
Two communication units are sent.
Preferably, second remote control unit be additionally operable to will to obtain by second communication unit under mode of learning
The routing information of the controlled machine people feedback is supplied to the user.
The third aspect also provides a kind of robot system, including：Including as above any controlled machine people, and
As above any remote control equipment.
The third aspect also provides a kind of control method for the robot system, including：The controlled machine people obtains
Take the control instruction comprising destination information, target object and control information that the remote control equipment is sent；The controlled machine
People determines that current location to the routing information of the destination information, is believed based on the path according to the map for learning to obtain in advance
Breath is moved to corresponding destination, and exports arrival destination information；The controlled machine people is receiving the arrival purpose
When the information on ground, control signal is sent out to the target object according to the control information.
As described above, controlled machine people, remote control equipment and the robot system constituted of the present invention, have beneficial below
Effect：Each routing information, energy are determined by way of the map that the position of each target object of advance learning records is constituted
It is enough effectively to find each target object, without installing network element on target object.It efficiently solves in intelligent domestic system
The problem of existing electrical equipment is not easy to intelligent control；In addition, after having executed to the intelligent control of target object, to user hand
The remote control equipment held sends the information that control is completed, and confirms that the controlled machine people performs corresponding control and refers to convenient for user
It enables；In addition, record start position, can to the routing information of each target object under the control of remote control equipment using mode of learning
Ensure controlled machine people quickly, accurate, low computational complexity the determination target object to be controlled, in practical application scene
It plays an important role；In addition, during study, each routing information is supplied to remote control equipment by the controlled machine people, for
User confirms, is capable of providing timely study feedback, shows learning outcome for user, realizes between user and controlled machine people
Beneficial to interactive；In addition, when the controlled machine people is not in initial position, moreover it is possible to according to going through from initial position to current location
History traveling records to set routing information, in this way, realizing the controlled machine people can execute far from anywhere at home
The service of process control；In addition, when encountering barrier in the process of moving, by record offset direction and deviate number of steps come
The deviation for correcting cut-through object is replaced the operation of complexity with simple counter mechanism, effectively reduces controlled machine people couple
The hardware configuration requirement of complex calculation, reduces the hardware cost of controlled machine people；In addition, for prevent the controlled machine people because
The actual errors such as wheel slip idle running are to the error check of final destination information in detour barrier, traveling process, in movement
After unit is arrived at according to preset deflection angle degree and number of steps, is found using rotation camera unit and position object
The position of body can accurately control target object, effectively prevent because that can not cause to be sent out due to alignment target object
The problem of control instruction failure sent.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example without creative efforts, can also be implemented for those of ordinary skill in the art according to the present invention
The content of example and these attached drawings obtain other attached drawings.
Fig. 1 is the block diagram of the controlled machine people of the present invention and one embodiment of remote control equipment.
Fig. 2 is the block diagram of the controlled machine people of the present invention and another embodiment of remote control equipment.
Fig. 3 is the flow chart for controlled machine people and one embodiment of the control method of remote control equipment of the present invention.
Specific implementation mode
For make present invention solves the technical problem that, the technical solution that uses and the technique effect that reaches it is clearer, below
The technical solution of the embodiment of the present invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of controlled machine people of present invention offer and remote control equipment.The controlled machine people 1 is used to help
User's remote control home electric equipment (such as air-conditioning, TV).There is a remote control equipment 2 with what the controlled machine people 1 matched.
The remote control equipment 2 can be independent equipment, or the part in the controlled machine people 1.The controlled machine
People 1 includes：First communication unit 11, mobile unit 12 and the first remote control unit 13.The remote control equipment 2 includes：Second remote control
Unit 22, the second communication unit 21.Wherein, first communication unit, 11 and second communication unit 21 communicates to connect.
If the remote control equipment 2 is the part in the controlled machine people 1, first communication unit 11 and second is logical
Believe that unit 21 can be data line interface pair.
If the remote control equipment 2 and the controlled machine people 1 are two autonomous devices, first communication unit 11 with
Second communication unit 21 is communicated by wireless network.The wireless network includes but not limited to：Wireless LAN is (such as
Wifi), mobile data network, the wireless network etc. based on short distances agreements such as bluetooth/infrared/radio frequencies.
The controlled machine people 1 and remote control equipment 2 constitute a controllable robot system 3.
Wherein, first remote control unit 13 includes the wireless remote control module of corresponding each domestic electrical equipment remote controller.For example, described
One remote control unit 13 includes：At least one of infrared remote-control device, based radio frequency remote controller, laser remote controller etc..
The map by learning in advance is built-in in the mobile unit 12.The map is used for marking each object
The location information of body (such as controlled electric appliance) and from initial position to the routing information of each target object.It can in the map
To include：Using the initial position as starting point and terminal, with a paths information that each target object is node on the way；It can be with
Including：Using the initial position as starting point, using each target object as the mulitpath information of terminal.Wherein, the start bit
Setting can be set by the user, and can also be defaulted as the charge position of the controlled machine people 1.For example, the controlled machine people 1 is also
Including：Charhing unit, when for monitoring that electric quantity of power supply is less than default power threshold, according to the charging of the charging unit received
Signal strength controls the mobile unit 12 and is moved to the charging unit.Wherein, the charging unit connects alternating current.It is described
It is the position where the charging unit that controlled machine people 1, which gives tacit consent to initial position,.
The mode of learning of the map includes but not limited to：It is combined using identification image information and space geometry modeling
Mode, the mobile unit 12 voluntarily learn the position where indoor each electric appliance in advance, and describedly according to track route drafting
Figure.
Preferably, in order to reduce robot hardware cost, enhance robot real-time interactive, the study of the map
Mode is realized by the remote control equipment 2, the first communication equipment and mobile unit 12 under mode of learning jointly.Wherein, the shifting
Moving cell 12 includes：Map drawing module 122.As shown in Figure 2.
The map drawing module 122 is used under mode of learning, is opened from the initial position according to the move
Begin into the driving process of the destination information corresponding at least one target, record comprising driving device number of steps, partially
The path correspondence that gyration and destination information are constituted, and map is generated based on the path correspondence.
Specifically, the second remote control unit 22 in the remote control equipment 2 can show the setting options comprising mode of learning
Options interface.When user selects the option of mode of learning, second remote control unit 22 is based on the selection operation and generates packet
Pattern switching instruction containing mode of learning, and first communication unit 11 is transferred to by second communication unit 21 and is moved
Moving cell 12.Wherein, the mobile unit 12 starts the map drawing module 122 to enter based on pattern switching instruction
Mode of learning.Under mode of learning, first communication unit 11 can not be except the second communication unit 21 described in receiving area
Instruction/information of other communication units, to ensure the process of not interruption logging routing information.
Here, the map drawing module 122 can be based in controlled machine people 1 described in the pattern switching command reception
The image information that camera unit 14 is provided, and by identifying that the characteristic information in kind in described image information (such as passes through matching
The characteristic information of preset door, characteristic information of furniture etc.) determine its initial position.Alternatively, 122 base of the map drawing module
The highest orientation of identification charging signals intensity is instructed in the pattern switching, and is driven based on the charging signals intensity and orientation
Driving device in the controlled machine people 1 is moved at charging unit, and as initial position.
Under this mode of learning, second remote control unit 22 display be used to indicate forward/backward user's operation, corner,
With turn to, the options interface of even destination information.User operates according to the options interface, second remote control unit
22 correspond to the corresponding move of output and destination information, and are transferred to described first by second communication unit 21 and lead to
Believe unit 11 and map drawing module 122.The map drawing module 122 is according to the move from the initial position
(or current destination information) starts to drive the driving device traveling to next destination information, and records comprising driving
The path correspondence that number of steps, deflection angle and the destination information of device are constituted is based on the path correspondence
Generate map.Wherein, the step-length is exemplified as the circumference of idler wheel, the step-length of robot two legs movement or the present count on crawler belt
The link length etc. of amount.
For example, the mobile unit 12 controls the controlled machine in the pattern switching instruction for receiving mode of learning
Driving device in people 1 is moved at charging unit.Second remote control unit 22 is shown on a display screen carries direction option
The options interface of button, start button, stop button and destination information.When user's selection parlor air-conditioning position, press beginning
When button and forwarding button, the map drawing module 122 is from driving device driving process described in the start recording of initial position
Number of steps n1.Continue, when user presses infradextroversion button, the map drawing module 122 be recorded in number of steps n1 it
Right-hand rotation a1 angles afterwards.So record, until when user determines that the controlled machine people 1 reaches parlor air-conditioning position, click stops
Only button, then the map drawing module 122 by corresponding to start button and stop button sign on and halt instruction it
Between number of steps n1, the driving traces such as right-hand rotation a1 angles, charging unit and parlor air-conditioning position filled as the corresponding charging
Set the routing information between the air-conditioning position of parlor.
When user presses start button again, second remote control unit 22 is corresponding to be remotely controlled the map drawing module
122 record parlor air-conditioning position to the driving trace between next target position information (such as room TV position), and make
For the routing information between parlor air-conditioning position and room TV position.
When user's operation produces the setting options of mode of learning, second remote control unit 22 notifies the mobile unit
12 and first communication unit 11 produce mode of learning.Then the mobile unit 12 is preserved obtained each routing information,
To constitute map.
It should be noted that can also include in second remote control unit 22：Horizon sensor.When user is hand-held described
When remote control equipment 2 rotates, second remote control unit 22 obtains the rotation angle and direction of rotation that horizon sensor is provided, and
The rotation angle and direction of rotation are sent to the map drawing module 122.The map drawing module 122 is according to default
Horizon sensor rotation angle and driving device deflection angle correspondence, determine the deflection angle of the driving device
Degree.The map drawing module 122 records the deflection angle while determining the driving device rotation.
It should also be noted that, second remote control unit 22 can also include：Phonetic order identification module.The voice
Instruction identification module can by receive and match the move in user voice signal, pattern switching instruction etc., to
The mobile unit 12 exports command adapted thereto.
Preferably, the map drawing module 122 is also anti-by the routing information recorded while record path information
It feeds second remote control unit 22.For example, the map drawing module 122 by the routing information recorded with bending
The mode of lines feeds back to second remote control unit 22, wherein in the overbending direction of the lines and the routing information
Each deflection direction is consistent.The map is showed user by second remote control unit 22, so that user determines.
When producing the option of mode of learning when the user clicks, second remote control unit 22 notifies first communication unit
11 and mobile unit 12 produce the mode of learning.At this point, the operable remote control equipment of user 2 controls the controlled machine people
1 pair of target object controls.It is specific as follows：
Second remote control module is used for will be from destination information, target object and the control information in an options interface
It is encapsulated in control instruction, and the mobile unit 12 is sent to by second communication unit, 21 and first communication unit 11.
Wherein, the target object should be corresponding with control information.For example, target object is air-conditioning, control information may include：It opens
Air-conditioning, pass air-conditioning, adjustment air conditioner output temperature, change air conditioning mode, change air conditioning exhausting pattern etc..Wherein, the options interface
Can be the different pages in same interface from the aforementioned operation interface comprising mode of learning option.
The mobile unit 12 is used to, according to the map for learning to obtain in advance, determine current location to the destination information
Routing information is moved to corresponding destination based on the routing information, and exports arrival destination information.
Here, the mobile unit 12 can be by by the image information of the camera unit 14 in the controlled machine people 1
Image information corresponding to each destination information corresponding with map is matched, and determines whether to be located at some destination
At information, if so, according to the map determine the destination information transmitted by current location and second remote control module it
Between routing information；If it is not, then driving the driving device correcting action, and determine the initial position and described second
The routing information between destination information transmitted by remote control module.
Preferably, the mobile unit 12 includes：Design module 121 in path.As shown in Figure 2.
The path design module 121 is used for according to the history traveling record from initial position to current location, and determination is worked as
Whether front position is a destination information in the map, if so, according to the map, determines current location to described
The routing information of destination information acquired in first communication unit 11, if it is not, the initial position is then returned to, further according to described
Map determines the routing information of the destination information acquired in the initial position to first communication unit 11.
Specifically, further include in the controlled machine people 1：Horizon sensor and vertical reference.When the path is designed
Module 121 obtains before receiving above-mentioned control instruction and records the horizon sensor, vertical reference and driving device
What is provided moves horizontally signal, vertically moves the mobile messages such as signal, number of steps, deflection angle.When receiving the control
When instruction, the path design module 121 travels record according to the history from initial position to current location, determines current location
Whether it is a destination information in the map.If so, determining current location and described second distant according to the map
Control the routing information between the destination information transmitted by module；If it is not, the driving device correcting action is then driven, and
Determine the routing information between the destination information transmitted by the initial position and second remote control module.
For example, module 121 is designed when receiving control instruction in the path, being searched in history traveling record is
It is no comprising moving horizontally signal, if including, assert any destination information that current location does not mark in the map, and
Drive the driving device correcting action；Conversely, then further searching for whether the history traveling record is the map
In routing information at least part, if so, determining current location to described according to the routing information in the map
The routing information of destination information in control instruction；Again conversely, then driving the driving device correcting action, and determine
The routing information between destination information transmitted by the initial position and second remote control module.
The mobile unit 12 is based on the routing information control driving device and is moved to corresponding destination, and defeated
Go out the information that arrives to first remote control unit 13.
Thering is the barrier (such as stool) of temporarily putting to interfere the controlled machine people 1 in the process of moving in order to prevent
It is mobile, it is additionally provided with multiple obstacle detectors in the controlled machine people 1.The obstacle detector has detecting in pre-determined distance
When barrier, obstacle signal is sent out.The mobile unit 12 is corresponding to further include：Fault handling module 123.As shown in Figure 2.
The obstacle letter that the Fault handling module 123 is used to be detected based on the travel direction along the routing information
Number, it controls the driving device and deviates the travel direction, and record corresponding deviation angle and deviate the step-length of the travel direction
Quantity, and detect whether the travel direction still has obstacle signal, if nothing, according to the deviation angle and number of steps recorded
The routing information from current location to destination information is generated, conversely, continuing to record deviation angle and number of steps, until detection
Accessible signal on to the travel direction.
For example, when the mobile unit 12 receives the obstacle signal that the obstacle detector on current driving direction is provided
When, start the Fault handling module 123.The Fault handling module 123 according to the obstacle detector in other directions choose with
Driving device described in the direction controlling of current driving direction deflection angle minimum deviates the travel direction, and records corresponding deflecting angle
Degree is deflects a2 angles to the right and deviates the number of steps n2 of the travel direction, meanwhile, still monitor the travel direction
Obstacle signal, it is described when monitoring that the obstacle signal of the travel direction disappears or its intensity is less than preset intensity threshold
Fault handling module 123 controls the driving device and is travelled again along the travel direction, and is monitoring left side obstacle detection
When the obstacle signal that device is exported disappears or its intensity is less than preset intensity threshold, angle a2 is deviated to the right according to what is recorded
With number of steps n2 deflection angle a2 and number of steps n2 to the left.In this way, the Fault handling module 123 controls the driving dress
Cut-through object is set, and returns original route.
In a kind of preferred embodiment, the mobile unit 12 also can indicate that the controlled machine people 1 in moving process
In camera unit 14 exported to second remote control unit 22 by first communication unit, 11 and second communication unit 21
Video data, so that user watches the video that controlled machine people 1 moves in real time.
In order to save flow, preferred mode is that the mobile unit 12 is after determining the corresponding destination of arrival, instruction
The camera unit 14, which absorbs, simultaneously identifies the target object in the video data around position, when identifying the object
When body, the target object is positioned, and exports identification successful information.
Specifically, the camera unit 14 surrounds the controlled machine when receiving the information arrived at
Video data around the axial intake of people 1, and identified in the video data according to the characteristic information of preset target object
Target object position current rotation angle when recognizing the target object, and export the successful information of identification to institute
State the first remote control unit 13.
First remote control unit 13 is used for when receiving the information arrived at, according to the control information
Control signal is sent out to the target object.
Specifically, first remote control unit 13 can receive and protect by way of being docked with each domestic electrical equipment remote controller in advance
Deposit the control signal corresponding to each control key on each domestic electrical equipment remote controller.Then when first remote control unit 13 receives the arrival
When the information of destination, control signal is sent out to corresponding target object according to the control information.Wherein, the control information
Quantity can be one or more.For example, the control information includes：It opens and TV information and is adjusted to 222, then described the
One remote control unit 13 is sequentially output the control signal opened TV information and be adjusted to 222.
Preferably, first remote control unit 13 is additionally operable to receiving the information arrived at and the identification
When successful information, control signal is sent out to the target object according to the control information, and pass through first communication unit
11 send the information that control is completed.In this way, can ensure that transmitted control signal reaches corresponding target object.
It is further preferable that first remote control unit 13 after having executed the control instruction, is communicated by described first
Unit 11 and the second communication unit 21 send the information that control is completed to second remote control unit 22.Second remote control unit
22 show the information that the control is completed on a display screen, to prompt user's control to complete.
Wherein, the information that the control is completed can be text information, can also be first remote control unit 13 complete
At the piece image information etc. comprising object obtained from the camera unit 14 after control.
As shown in figure 3, the present invention provides a kind of control method for above-mentioned robot system.The control method is main
It is executed by the controlled machine people and remote control equipment.
The controlled machine people is used to help user's remote control home electric equipment (such as air-conditioning, TV).The remote control is set
It is standby to be independent equipment, or the part in the controlled machine people 1.
If the remote control equipment is the part in the controlled machine people, the remote control equipment passes through with controlled machine people
Data line interface docks.
If the remote control equipment and artificial two autonomous devices of the controlled machine, the remote control equipment and controlled machine
People is communicated by wireless network.The wireless network includes but not limited to：Wireless LAN (such as wifi), mobile data network
Network, the wireless network etc. based on short distances agreements such as bluetooth/infrared/radio frequencies.
Wherein, the controlled machine people includes the wireless remote control module of corresponding each domestic electrical equipment remote controller.For example, the controlled machine
Device people includes：At least one of infrared remote-control device, based radio frequency remote controller, laser remote controller etc..
The map by learning in advance is built-in in the controlled machine people.The map is used for marking each object
The location information of body (such as controlled electric appliance) and from initial position to the routing information of each target object.It can in the map
To include：Using the initial position as starting point and terminal, with a paths information that each target object is node on the way；It can be with
Including：Using the initial position as starting point, using each target object as the mulitpath information of terminal.Wherein, the start bit
Setting can be set by the user, and can also be defaulted as the charge position of the controlled machine people.For example, the controlled machine people packet
It includes：Charhing unit when for monitoring that electric quantity of power supply is less than default power threshold, is believed according to the charging of the charging unit received
Number intensity, the driving device controlled in the controlled machine people are moved to the charging unit.Wherein, the charging unit connection
Alternating current.It is the position where the charging unit that the controlled machine people, which gives tacit consent to initial position,.
The mode of learning of the map includes but not limited to：The controlled machine people is several using identification image information and space
How the mode being combined is modeled, voluntarily the position where the indoor each electric appliance of study in advance, and describedly according to track route drafting
Figure.
Preferably, in order to reduce robot hardware cost, enhance robot real-time interactive, the study of the map
Mode is realized by the remote control equipment, controlled machine people under mode of learning jointly.
In step s 11, the controlled machine people is under mode of learning, the mobile finger exported according to the remote control equipment
It enables since, in the driving process of the destination information corresponding at least one target, record includes driving the initial position
The path correspondence that number of steps, deflection angle and the destination information of device are constituted, and corresponded to and closed based on the path
System generates map.
Specifically, the remote control equipment can show the options interface of the setting options comprising mode of learning.When user selects
When selecting the option of mode of learning, the remote control equipment generates the pattern switching comprising mode of learning based on the selection operation and instructs,
And pass to the controlled machine people.Wherein, the controlled machine people is based on pattern switching instruction into mode of learning.
Under mode of learning, the controlled machine people can not receive instruction/letter of other communication units in addition to the remote control equipment
Breath, to ensure the process of not interruption logging routing information.
Here, the figure that the controlled machine people can be absorbed based on the camera unit built in the pattern switching command reception
As information, and by identifying the characteristic information in kind in described image information (characteristic information, family such as by matching preset door
The characteristic information etc. of tool) determine its initial position.Alternatively, the controlled machine people is based on pattern switching instruction identification charging
The highest orientation of signal strength, and be moved at charging unit based on the charging signals intensity and orientation driver,
And as initial position.
Under this mode of learning, the remote control equipment show be used to indicate forward/backward user's operation, corner and turn to,
The even options interface of destination information.User operates according to the options interface, and the remote control equipment corresponds to the output phase
The move answered and destination information, and pass to the controlled machine people.The controlled machine people refers to according to the movement
It enables and drives the driving device row to next destination information since the initial position (or current destination information)
It sails, and records the path correspondence that number of steps, deflection angle and destination information comprising driving device are constituted, base
Map is generated in the path correspondence.Wherein, the step that the step-length is exemplified as the circumference of idler wheel, two leg of robot moves
The link length etc. of preset quantity long or on crawler belt.
For example, the controlled machine people controls the driving device in the pattern switching instruction for receiving mode of learning
It is moved at charging unit.The remote control equipment is shown on a display screen with direction option button, start button, stop button
With the options interface of destination information.When user select parlor air-conditioning position, press start button and forwarding button when, it is described by
Man-controlled mobile robot is from the number of steps n1 in driving device driving process described in the start recording of initial position.Continue, when user presses
When right-hand rotation button, the map drawing module 122 is recorded in right-hand rotation a1 angles after number of steps n1.So record, until working as
When user determines that the controlled machine people reaches parlor air-conditioning position, stop button is clicked, then by start button and stop button
Driving traces, charging unit and the visitors such as number of steps n1, right-hand rotation a1 angles between corresponding sign on and halt instruction
Room air-conditioning position is as the routing information between the corresponding charging unit and parlor air-conditioning position.
When user presses start button again, the corresponding remote control controlled machine people of the remote control equipment records the visitor
Room air-conditioning position is to the driving trace between next target position information (such as room TV position), and as parlor air-conditioning position
With the routing information between room TV position.
When user's operation produces the setting options of mode of learning, the remote control equipment notifies the controlled machine people to produce
Mode of learning.Then the controlled machine people is preserved obtained each routing information, to constitute map.
It should be noted that can also include in the remote control equipment：Horizon sensor.It is set when user holds the remote control
When standby rotation, the remote control equipment obtains the rotation angle and direction of rotation that horizon sensor is provided, and by the rotation angle
Degree and direction of rotation are sent to the controlled machine people.The controlled machine people is according to the rotation angle of preset horizon sensor
With the correspondence of the deflection angle of driving device, the deflection angle of the driving device is determined.The controlled machine people is true
While the fixed driving device rotation, the deflection angle is recorded.
It should also be noted that, the remote control equipment can also include：Phonetic order identification module.The phonetic order is known
Other module can by receive and match the move in user voice signal, pattern switching instruction etc., to it is described by
Man-controlled mobile robot exports command adapted thereto.
Preferably, the controlled machine people also feeds back to the routing information recorded while record path information
The remote control equipment.For example, the controlled machine people feeds back the routing information recorded in a manner of the lines with bending
To the remote control equipment, wherein the overbending direction of the lines is consistent with each deflection direction in the routing information.It is described distant
The map is showed user by control equipment, so that user determines.
When producing the option of mode of learning when the user clicks, the remote control equipment and controlled machine produce the study per capita
Pattern.At this point, the operable remote control equipment of user controls the controlled machine people and controls target object.Specifically such as
Under：
In the step s 21, the remote control equipment is by destination information, target object and the control in an options interface
Information encapsulation is sent to the controlled machine people in control instruction.Wherein, the target object should be opposite with control information
It answers.For example, target object is air-conditioning, control information may include：It turns on the aircondition, close air-conditioning, adjustment air conditioner output temperature, change sky
Mode transfer formula, change air conditioning exhausting pattern etc..Wherein, which can be with the aforementioned operation interface for including mode of learning option
For the different pages in same interface.
In step S22, the controlled machine people determines current location to the purpose according to the map for learning to obtain in advance
The routing information of ground information is moved to corresponding destination based on the routing information, and exports arrival destination information.
Here, the controlled machine people can be by right in the image information and map of being absorbed built-in camera unit
The image information corresponding to each destination information answered is matched, and determines whether to be located at some destination information, if
It is the path letter then determined according to the map between the destination information transmitted by current location and second remote control module
Breath；If it is not, then driving the driving device correcting action, and determine the initial position and the second remote control module institute
Routing information between the destination information of transmission.
Preferably, the controlled machine people travels record according to the history from initial position to current location, determines current
Whether position is a destination information in the map, if so, according to the map, determines current location to described distant
The routing information for the destination information that control equipment is provided determines if it is not, then returning to the initial position further according to the map
The initial position to the destination information routing information.
Specifically, further include in the controlled machine people：Horizon sensor and vertical reference.As the controlled machine people
Before receiving above-mentioned control instruction, obtain and record what the horizon sensor, vertical reference and driving device provided
It moves horizontally signal, vertically move the mobile messages such as signal, number of steps, deflection angle.When receiving the control instruction,
The controlled machine people travels record according to the history from initial position to current location, determines whether current location is describedly
A destination information in figure.If so, determining the mesh transmitted by current location and the remote control equipment according to the map
Ground information between routing information；If it is not, then driving the driving device correcting action, and determine the initial position
Routing information between the destination information transmitted by the remote control equipment.
For example, the controlled machine people when receiving control instruction, searches whether to wrap in history traveling record
Containing moving horizontally signal, if including, assert any destination information that current location does not mark in the map, and drive
The driving device correcting action；Conversely, then further searching for whether the history traveling record is in the map
At least part in routing information, if so, determining current location to the control according to the routing information in the map
The routing information of destination information in instruction；Again conversely, then driving the driving device correcting action, and described in determination
The routing information between destination information transmitted by initial position and second remote control module.
In step S22, the controlled machine people is based on the routing information control driving device and is moved to accordingly
Destination.
Thering is the barrier (such as stool) of temporarily putting to interfere the controlled machine people in the process of moving in order to prevent
It is mobile, it is additionally provided with multiple obstacle detectors in the controlled machine people.The obstacle detector has detecting in pre-determined distance
When barrier, obstacle signal is sent out.
The controlled machine people in the process of moving, the barrier also detected based on the travel direction along the routing information
Hinder signal, control the driving device and deviate the travel direction, and records corresponding deviation angle and deviate the travel direction
Number of steps, and detect whether the travel direction still has obstacle signal, if nothing, according to the deviation angle and step-length recorded
Quantity generates the routing information from current location to destination information, conversely, continue to record deviation angle and number of steps, until
Detect accessible signal in the travel direction.
For example, when the controlled machine people receives the obstacle signal that the obstacle detector on current driving direction is provided
When, it is inclined that driving device described in the direction controlling with current driving direction deflection angle minimum is chosen according to the obstacle detector in other directions
From the travel direction, and record the step-length number that corresponding deviation angle is deflection a2 angles and the deviation travel direction to the right
Measure n2, meanwhile, still monitor the obstacle signal of the travel direction, when monitor the travel direction obstacle signal disappear or
When its intensity is less than preset intensity threshold, the controlled machine people controls the driving device again along the travel direction row
It sails, and when monitoring that the obstacle detector obstacle signal that is exported in left side disappears or its intensity is less than preset intensity threshold,
It is deviated to the right angle a2 and number of steps n2 deflection angle a2 and number of steps n2 to the left according to what is recorded.In this way, it is described by
Man-controlled mobile robot controls the driving device cut-through object, and returns original route.
In a kind of preferred embodiment, the controlled machine people also can indicate that built-in camera unit in moving process
Video data is exported to the remote control equipment, so that user watches the video of controlled machine people movement in real time.
In order to save flow, preferred mode is that the controlled machine people is after determining the corresponding destination of arrival, instruction
The camera unit absorbs and identifies the target object in the video data around position, when identifying the target object
When, the target object is positioned, and export identification successful information.
Specifically, the camera unit surrounds the controlled machine people 1 when receiving the information arrived at
Axial intake around video data, and the mesh in the video data is identified according to the characteristic information of preset target object
Mark object positions current rotation angle when recognizing the target object, and executes step S23.
In step S23, the controlled machine people sends out control signal according to the control information to the target object.
Specifically, the controlled machine people can receive and preserve each by way of being docked with each domestic electrical equipment remote controller in advance
Control signal on domestic electrical equipment remote controller corresponding to each control key.Then when first remote control unit 13 receives the arrival purpose
When the information on ground, control signal is sent out to corresponding target object according to the control information.Wherein, the number of the control information
Amount can be one or more.For example, the control information includes：It opens TV information and is adjusted to 222, then the controlled machine
Device people is sequentially output the control signal opened TV information and be adjusted to 222.
Preferably, the controlled machine people arrives at described in arrival and will be towards the target object identified
When, control signal is sent out to the target object according to the control information, and send what control was completed to the remote control equipment
Information.In this way, can ensure that transmitted control signal reaches corresponding target object.
It is further preferable that the controlled machine people after having executed the control instruction, sends to the remote control equipment and controls
Make the information completed.The remote control equipment shows the information that the control is completed on a display screen, to prompt user's control complete
At.
Wherein, the information that the control is completed can be text information, can also be that the controlled machine people completes to control
The piece image information etc. comprising object obtained from the camera unit after system.
In conclusion controlled machine people, remote control equipment and the robot system constituted of the present invention, pass through advance
It practises and records the mode for the map that the position of each target object is constituted to determine each routing information, can effectively find each object
Body efficiently solves existing electrical equipment in intelligent domestic system and is not easy to without installing network element on target object
The problem of intelligent control.So the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (9)
1. a kind of controlled machine people, which is characterized in that including：
First communication unit, for obtaining comprising destination information, target object and the control instruction for controlling information；
Mobile unit, for according to the map for learning to obtain in advance, determining current location to the routing information of the destination information,
It is moved to corresponding destination based on the routing information, and exports arrival destination information；
The mobile unit includes：
Fault handling module, the obstacle signal for being detected based on the travel direction along the routing information, control driving
Device deviates the travel direction, and records corresponding deviation angle and deviate the number of steps of the travel direction, and detects
Whether the travel direction still has obstacle signal, if nothing, according to the deviation angle and number of steps recorded again along described
Travel direction travels, conversely, continuing to record deviation angle and number of steps, until detecting accessible letter in the travel direction
Number；
First remote control unit, for when receiving the information arrived at, according to the control information to the mesh
Mark object sends out control signal；
Charhing unit, when for monitoring that electric quantity of power supply is less than default power threshold, according to the charging of the charging unit received
Signal strength controls the mobile unit and is moved to the charging unit；
Camera unit, for when receiving the information arrived at, absorbing and identifying the video around position
Target object in data positions the target object when identifying the target object, and exports identification successful information；
First remote control unit is additionally operable to, when receiving the information arrived at and the identification successful information, press
Control signal is sent out to the target object according to the control information, and sends what control was completed by first communication unit
Information；It is the piece image information comprising target object that information is completed in control.
2. controlled machine people according to claim 1, which is characterized in that first communication unit is used for based on acquired
The pattern switching instruction comprising mode of learning, enter mode of learning together with the mobile unit, and in the mode of learning
The lower move obtained for learning from initial position to the route of each target object；
Corresponding, the mobile unit includes：
Map drawing module, under the mode of learning, according to the move since the initial position to
In the driving process of destination information corresponding to a few target, number of steps of the record comprising driving device, deflection angle,
The path correspondence constituted with destination information, and map is generated based on the path correspondence；
First communication unit is additionally operable to instruct comprising the pattern switching for producing mode of learning based on acquired, described in instruction
Map drawing module preserves the map, and produces the mode of learning together with the mobile unit.
3. controlled machine people according to claim 1, which is characterized in that the mobile unit includes：Module is designed in path,
For travelling record according to the history from initial position to current location, determine whether current location is one in the map
Destination information determines the destination letter acquired in current location to first communication unit if so, according to the map
The routing information of breath determines the initial position to described first if it is not, then returning to the initial position further according to the map
The routing information of destination information acquired in communication unit.
4. controlled machine people according to claim 1, which is characterized in that further include：
Camera unit, the video data for absorbing the mobile unit moving process based on the control instruction.
5. a kind of remote control equipment, which is characterized in that including：
Second remote control unit, for will exist from destination information, target object and the control Information encapsulation in an options interface
Control instruction；
Second communication unit, the controlled machine people for being sent to the control instruction as described in any in claim 1-4；
Second communication unit is additionally operable to be obtained from what the controlled machine people had sent when having executed the control instruction
The information that control is completed transports to second remote control unit.
6. remote control equipment according to claim 5, which is characterized in that also show setting for mode of learning in the options interface
Option is set, second remote control unit is additionally operable to, based on the mode of learning option for being obtained from the options interface, generate comprising
The pattern switching of habit pattern instructs, and is sent by second communication unit；And it is used for acquired mobile behaviour
It is converted into move, and is sent by second communication unit.
7. remote control equipment according to claim 5, which is characterized in that second remote control unit is additionally operable to will be by described
The routing information of the controlled machine people feedback under mode of learning that second communication unit obtains is supplied to user.
8. a kind of robot system, which is characterized in that including：
Include the controlled machine people as described in any in claim 1-4, and the remote control as described in any in claim 5-7
Equipment.
9. a kind of control method for robot system as claimed in claim 8, which is characterized in that including：
The controlled machine people obtains the control comprising destination information, target object and control information that the remote control equipment is sent
System instruction；
The controlled machine people determines that current location to the path of the destination information is believed according to the map for learning to obtain in advance
Breath, corresponding destination is moved to based on the routing information；
The controlled machine people sends out control signal according to the control information to the target object；
When the controlled machine people monitors that electric quantity of power supply is less than default electricity wealthy value, according to the charging of the charging unit received
Signal strength, the driving device controlled in the controlled machine people are moved to the charging unit.
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