CN105844881A - Method for establishing connection between robot and remote controller - Google Patents
Method for establishing connection between robot and remote controller Download PDFInfo
- Publication number
- CN105844881A CN105844881A CN201610251433.3A CN201610251433A CN105844881A CN 105844881 A CN105844881 A CN 105844881A CN 201610251433 A CN201610251433 A CN 201610251433A CN 105844881 A CN105844881 A CN 105844881A
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- China
- Prior art keywords
- robot
- remote controller
- connection
- remote
- lan
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/40—Remote control systems using repeaters, converters, gateways
- G08C2201/42—Transmitting or receiving remote control signals via a network
Abstract
The invention discloses a method for establishing connection between a robot and a remote controller. The method comprises the following steps of: judging whether the robot and the remote controller can be connected in a same local area network or not; if the robot and the remote controller cannot be successfully connected, judging whether the robot and the remote controller can be respectively connected with a remote server through internet or not and establishing the connection; and if connection can not be successfully established, opening an AP hot spot by the robot and utilizing the AP hot spot to access the local area network established by the robot by the remote controller and connecting with the robot. According to the method provided by the invention, the robot can be connected with the remote controller through the local area network or the remote server; under the condition of no network, the robot can automatically convert to AP hot spot and the remote controller can utilize the AP hot spot to connect with the robot; the remote controller and the robot can be connected under the conditions of short distance, no WIFI and same local area network; the robot is applicable to various network environments; the problems of single connection method between the robot and the remote controller and poor adaptation are solved.
Description
Technical field
The present invention relates to robot field, be specifically related to robot and set up, with remote controller, the method being connected.
Background technology
In recent years, along with the fast development of technology of Internet of things, it is automatic that Intelligence home environment incorporates household
Change technology, computer and embedded technology, cloud computing and big data technique, suddenly become future home
The new direction of environmental development.Robot have employed brand-new intelligence control system, can realize automatic cleaning,
Automatically recharge, intellectual analysis, path planning, intelligent anticollision, and the function such as remote pilot can complete
The extensive work that people specify, therefore for welcomed by the people.
Robot is mainly by bluetooth, 2.4G with communication mode with the connection of remote controller currently on the market
The modes such as wireless or WIFI carry out being directly connected to communication, but these modes have the disadvantage in that
(1) by bluetooth, 2.4G is wireless be directly connected to by the way of only can be suitably used for short distance remote control
And transmitted data amount is little, 2.4G technology application cost is higher.
(2) by the way of WIFI connection the Internet is directly connected to, it is only applicable to remotely control,
Need to carry out information transfer through server during communication, information transmission is slow, such as signal transmission within closely
Performance can not show a candle to direct-connected communication.
, all there is robot single with remote controller connected mode, adaptivity in those several technology above
Difference, cannot automatically identify optimal connection status under multiple network, and the information the most at a high speed that reaches passes
Defeated problem.
In view of this, it is badly in need of the connection of robot with remote controller is improved with communication means, makes two
Person's communication link mode connects extensively, and adaptivity is strong.
Summary of the invention
The technical problem to be solved is that robot is single with remote controller connected mode, self adaptation
Property is poor, cannot select optimal connection status, reach the highest in the case of different connected modes
The problem of the information transmission of speed.
In order to solve above-mentioned technical problem, the technical solution adopted in the present invention is robot and remote controller
Set up the method connected, comprise the following steps:
Judge whether robot can set up with remote controller in same LAN to be connected；
When the two can not be successfully established connection, it is judged that whether robot can be by interconnection with remote controller
Net is respectively connecting to remote server, and sets up connection therebetween；
When the two can not be successfully established connection, robot opens self AP focus, and remote controller utilizes should
AP focus add robot set up LAN and with robot set up be connected.
In the above-mentioned methods, to set up, with remote controller, the method being connected in same LAN as follows in robot:
Remote controller sends broadcast singal by LAN, and the robot in same LAN receives broadcast letter
After number, return the response message comprising oneself identity information, and preserve with tabular form on a remote control；
Remote controller selects a robot therein to set up connection by list.
In the above-mentioned methods, robot is as follows with the method that remote controller is connected by remote server foundation:
Robot and remote controller are connected through the internet to remote server respectively；
Remote controller sends scan instruction, and remote server returns the current remote controller controllable machine person
The response message of part, and preserve with tabular form on a remote control；
Remote controller selects a robot therein to set up connection by list.
In the above-mentioned methods, if robot and can be connected remote service with remote controller in same LAN
Device, gives tacit consent to and sets up connection by LAN.
In the above-mentioned methods, the wireless network adapter of support APmode it is provided with in described robot.
In the above-mentioned methods, described remote controller is mobile terminal device.
In the above-mentioned methods, all information that described remote controller preserves in can managing and editing described robot
List, including WIFI list and controlled remote controller list, the information row that user will edit or revised
Table, sends to described robot and is saved in described robot.
In the above-mentioned methods, described robot reminds user's current robot to adopt by light, buzzer
Which kind of mode to set up connection by.
In the above-mentioned methods, robot is either set up by remote server with remote controller and is connected, also
It is to be set up by AP focus to connect, when finding to be connected by the foundation of same LAN, then switches
Connect for being set up by same LAN.
The present invention is mounted with APmode wireless adapter in robot interior, under without network condition, and machine
Device people opens self AP focus, and remote controller can be connected with robot by AP focus, make remote controller and
Robot no matter short distance but without WIFI, same LAN or the Internet in the case of, can enter
Row connects；In the case of having network, remote controller can be by LAN or remote server and robot
Connect, make the applicable multiple network environment of robot, and the most efficiently utilize Internet resources,
Solve method of attachment between robot and remote controller single, the problem of bad adaptability.It addition, remote control
Device is a terminal unit, and remote controller controls robot, remote controller by the application software on terminal unit
The WIFI list that can be preserved by change robot interior and the remote controller list that can be controlled it so that it is can
In the environment of new WIFI, connect WIFI and can be controlled by any one remote controller.
Accompanying drawing explanation
The remote controller that Fig. 1 provides for the present invention sets up, with robot, the method flow diagram being connected；
The flow chart of the robot start-up course that Fig. 2 provides for the present invention.
Detailed description of the invention
Below in conjunction with detailed description of the invention and Figure of description, the present invention is described in detail.
As it is shown in figure 1, the remote controller provided for the present invention sets up, with robot, the method being connected, including
Following steps:
S1, robot start；
Whether save WIFI list in S2, robot inspection's the machine, the most then turn S3, otherwise turn
S7；
S3, Robot Scanning periphery WIFI hot spot；
S4, robot judge to scan whether WIFI hot spot exists consistent with in list, if existing,
Then turn S5, otherwise turn S7；
S5, robot are by the WIFI hot spot that scans one by one with the WIFI list that preserves in the machine mutually
Join, if coupling and successful connection, turn S6, otherwise turn S7；
S6, robot enter WIFI pattern logon attempt remote server, turn S8；If WIFI mould
Network accidental interruption in formula, then turn S3；
S7, robot switch to ap mode, turn S14；
WIFI near the connection of S8, remote controller, and send signal by the form of LAN broadcast；
All robots in S9, same LAN return bag when receiving the broadcast singal of remote controller transmission
Response signal containing identity information, the information received is preserved by remote controller with tabular form；
S10, remote controller are attempted connecting remote server and sending scan instruction, and remote server returns works as
The robot of front remote controller controllable entrance remote server pattern comprises the corresponding information of identity, distant
The information received is preserved by control device with tabular form；
The response signal list that what robot was returned by S11, remote controller comprise identity information and current remote control
The robot list of the entrance remote server pattern that device is controlled is compared, if robot and remote controller
In same LAN, then turn S12, if robot and remote controller be not in same LAN, but machine
People is connected to other LANs and has connected remote server, then turn S13；
S12, remote controller select to be directly connected to wherein robot, turn S15；
S13, remote controller select to be connected with wherein robot by remote server, turn S15；
S14, remote controller are automatically identified and are attached with robot by robot AP focus；
S15, connection terminate.
Of the present invention remote controller and robot are described below and set up the operation principle being connected:
In the present invention, remote controller is the mobile terminal devices such as a mobile phone, and by mobile terminal device
Application program controlling robot, remote controller select connect near WIFI hot spot.
After remote controller connects upper WIFI, send signal, same local by the form of LAN broadcast
All robots in net receive broadcast singal after return comprise identity information (as name, model, can
By which remote controller control etc.) response message, remote controller by the response message that receives with list shape
Formula preserves；Remote controller is attempted connecting remote server by the Internet and sending scan instruction simultaneously, if
Remote controller connects upper remote server, and remote server will return the controllable entrance of current remote controller
Remote server pattern comprise robot identity information (as name, model, can be by which remote controller
Control etc.) response message, equally with tabular form preserve.
Two parts of lists are compared merging by remote controller；If all robots and remote controller are in same office
Territory net has also connected remote server, then remote controller can pass through LAN or remote server machine
Device people is attached communication；But remote controller default priority is attached with robot by LAN.
If all robots and remote controller be not in same LAN, but some robot has connected
Upper remote server, now remote controller can be attached communicating with robot by remote server.
If remote controller finds when robot is in ap mode, to be then connected by the AP focus with robot
Communication.
Robot is either set up by remote server with remote controller and is connected, or is built by AP focus
Vertical connection, when finding to be connected by the foundation of same LAN, is then switched to by same local
Net is set up and is connected, and selects to be connected communication with the robot of its Best link.
After remote controller is connected with robot, after remote controller (i.e. mobile terminal device) can be by downloading
The all information lists preserved in application program management editor robot, as WIFI list, controlled its
Remote controller lists etc., then send out remote controller editor or the list information revised by the way of instruction
Delivering to robot and synchronize to preserve, such robot is not only suitable for multiple network environment, and maximum journey
Degree ground efficiently utilizes Internet resources, it addition, a remote controller can control multiple stage robot, a machine
People also can be controlled by multiple stage remote controller, but a remote controller can only select an optimal robot
It is attached communication.
In the present invention, it is provided with the wireless network adapter supporting APmode in robot interior, is having net
In the case of network, remote controller and robot are except being attached by LAN and the Internet, in nothing
In the case of any network, it is connected for remote controller that robot will open self AP focus；It addition,
As do not installed any touch screen in robot, connection is when controlling in the case of interface or other input equipments,
The internal information of robot can be revised so that it is can connect in the environment of new WIFI by remote controller
WIFI also can be controlled by any one remote controller, solves connection side between current robot and remote controller
Method is single, the problem of bad adaptability.In the present invention start-up course of robot is described below, such as Fig. 2
Shown in, for the Booting sequence figure of robot of the present invention, comprise the following steps:
S111, robot starting up；
Whether there is ssid list in S112, robot inspection's the machine, the most then turns S113, otherwise
Turn S118；
S113, the WIFI hot spot of Robot Scanning periphery；
S114, robot determine whether the WIFI identical for SSID preserved with this locality, if having, then turn
S115, otherwise turns S118；
The WIFI scanned is mated with the SSID preserved in the machine and attempts by S115, robot one by one
Connect；
S116, the WIFI determining whether coupling and successful connection, if having, then turn S117, otherwise turn
S118；
S117, robot enter WIFI pattern and open monitoring pattern；Turn S119；If connecting WIFI
Accidental interruption, then turn S113；
S118, robot open ap mode and open monitoring pattern；
S119, robot attempt being connected with server；
S120, judge whether and server successful connection, if so, turn S121, otherwise turn S122；
S121, server carry out authentication to the robot of pre-connection, it is judged that whether authentication becomes
Merit, if so, turns S123；Otherwise turn S121；
After S122, Preset Time (60 seconds), turn S119；
S123, robot are connected with server and enter remote server pattern；If robot and service
Device connects accidental interruption, then turn S122.
S124, robot are every Preset Time (60 seconds) self-inspection；
S125, judge whether to connect remote controller, the most then turn S124, otherwise turn 113；
One new or that this locality WIFI list is sky robot, will switch to ap mode after unlatching,
Remote controller scans robot self AP focus and adds, and is set up even with robot by this AP focus
Connect, remote controller input initial log address (such as 192.168.1.1) and the log-on message of robot,
Log in, by SSID and the initial log address of remote controller amendment robot and by the side instructed
Formula sends and preserves to robot, and now robot will restart；Due to SSID when each robot dispatches from the factory
Code is identical with entry address, and amendment SSID is to better discriminate between each machine with entry address
People.
Operation principle that in present invention robot start be described below:
Robot scans periphery WIFI hot spot after starting the most automatically, if there is WIFI hot spot during scanning,
The WIFI hot spot scanned is matched, if any identical by robot with the WIFI list of preservation in the machine
SSID attempts connecting WIFI hot spot, as not having identical SSID then robot with the password prestored the most one by one
Ap mode will be switched to；If robot does not scan any WIFI hot spot, robot will cut equally
Shift to ap mode.
After robot switches to ap mode, unlatching being monitored service, whether robot self-inspection in every 60 seconds
Having remote controller to connect, if connecting, then repeating aforesaid operations, if not connecting, then robot will again
The WIFI hot spot of scanning periphery, and so forth.
If robot connects WIFI success, then enter WIFI pattern, the most also can open monitoring service
Determine whether that remote controller is attached thereto.Robot attempts Connection Service device, as robot connects upper clothes
Business device, server will carry out checking identification to the identity of robot, if being proved to be successful, then robot becomes
Merit is logined server and is entered remote server pattern, and can carry out telecommunication with remote controller and be connected, if
Authentication failed or do not connect server, every 60 seconds by local for holding WIFI pattern and are tasted by robot
Examination is connected with server, it addition, network failure has WIFI also cannot surf the Net, or remote service
Device self breaks down, and robot all will be caused not connect server.
Robot, when any connection status, will be allowed by appropriate ways (such as light, buzzer etc.)
User understand current robot be in remote server pattern, LAN (local WIFI) pattern or
Ap mode；
The above-mentioned robot self-test operations of every 60 seconds is in order to robot may select more preferable connected mode,
To support higher network broadband, high-quality audio video transmission can be carried out with remote controller.
In the present invention, the information mode in edit-modify robot is not limited to above-mentioned preferred forms,
If installing touch screen or other display input equipments in robot, can be by directly in robot
The mode of upper scanner uni input SSID password, it is not necessary to connect in advance with remote controller and could be connected new WIFI
Focus.
Anyone should learn the structure change made under the enlightenment of the present invention, and every have with the present invention
There is same or like technical scheme, within each falling within protection scope of the present invention.
Claims (9)
1. robot sets up, with remote controller, the method being connected, it is characterised in that comprise the following steps:
Judge whether robot can set up with remote controller in same LAN to be connected；
When the two can not be successfully established connection, it is judged that whether robot can be by interconnection with remote controller
Net is respectively connecting to remote server, and sets up connection therebetween；
When the two can not be successfully established connection, robot opens self AP focus, and remote controller utilizes should
AP focus add robot set up LAN and with robot set up be connected.
2. the method for claim 1, it is characterised in that robot and remote controller are in same office
Set up, in the net of territory, the method connected as follows:
Remote controller sends broadcast singal by LAN, and the robot in same LAN receives broadcast letter
After number, return the response message comprising oneself identity information, and preserve with tabular form on a remote control；
Remote controller selects a robot therein to set up connection by list.
3. the method for claim 1, it is characterised in that robot and remote controller are by remotely
It is as follows that server sets up the method connected:
Robot and remote controller are connected through the internet to remote server respectively；
Remote controller sends scan instruction, and remote server returns the current remote controller controllable machine person
The response message of part, and preserve with tabular form on a remote control；
Remote controller selects a robot therein to set up connection by list.
4. the method for claim 1, it is characterised in that if robot and remote controller are same
LAN is interior and can connect remote server, gives tacit consent to and sets up connection by LAN.
5. the method for claim 1, it is characterised in that be provided with support in described robot
The wireless network adapter of APmode.
6. the method for claim 1, it is characterised in that described remote controller is that mobile terminal sets
Standby.
7. the method for claim 1, it is characterised in that described remote controller can manage editor institute
The all information lists preserved in stating robot, including WIFI list and controlled remote controller list, use
The information list that family will be edited or revise, sends extremely described robot and is also saved in described robot.
8. the method for claim 1, it is characterised in that described robot passes through light, honeybee
Song reminds user's current robot to use which kind of mode to set up connection.
9. the method for claim 1, it is characterised in that robot either leads to remote controller
Cross remote server foundation to connect, or set up connection by AP focus, when discovery can be by same
LAN is set up when connecting, then switch to and set up connection by same LAN.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610251433.3A CN105844881A (en) | 2016-04-21 | 2016-04-21 | Method for establishing connection between robot and remote controller |
| PCT/CN2017/081075 WO2017181956A1 (en) | 2016-04-21 | 2017-04-19 | Method for establishing connection with and controlling intelligent robot through intelligent terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610251433.3A CN105844881A (en) | 2016-04-21 | 2016-04-21 | Method for establishing connection between robot and remote controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105844881A true CN105844881A (en) | 2016-08-10 |
Family
ID=56588703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610251433.3A Pending CN105844881A (en) | 2016-04-21 | 2016-04-21 | Method for establishing connection between robot and remote controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105844881A (en) |
Cited By (7)
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| CN106357492A (en) * | 2016-09-27 | 2017-01-25 | 美的智慧家居科技有限公司 | Network access method and device for household appliance and household appliance |
| WO2017181956A1 (en) * | 2016-04-21 | 2017-10-26 | 孙天齐 | Method for establishing connection with and controlling intelligent robot through intelligent terminal |
| CN109981422A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Method, multi-robot system and the mobile terminal of mobile terminal control robot |
| CN110191191A (en) * | 2019-06-06 | 2019-08-30 | 深圳市福瑞达显示技术有限公司 | Fan screen display control method and its system based on local network and public network |
| CN112153614A (en) * | 2020-08-19 | 2020-12-29 | 北京旷视机器人技术有限公司 | Control method and device applied to robot, robot and storage medium |
| CN113179491A (en) * | 2021-04-29 | 2021-07-27 | 北京云迹科技有限公司 | Multi-network communication method, device, robot and storage medium |
| CN114664072A (en) * | 2022-03-18 | 2022-06-24 | 广州极飞科技股份有限公司 | Remote control link management system, method, device, electronic device and storage medium |
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| WO2017181956A1 (en) * | 2016-04-21 | 2017-10-26 | 孙天齐 | Method for establishing connection with and controlling intelligent robot through intelligent terminal |
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| CN113179491A (en) * | 2021-04-29 | 2021-07-27 | 北京云迹科技有限公司 | Multi-network communication method, device, robot and storage medium |
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| CN114664072A (en) * | 2022-03-18 | 2022-06-24 | 广州极飞科技股份有限公司 | Remote control link management system, method, device, electronic device and storage medium |
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