CN105959618A - Method of robot remote control - Google Patents
Method of robot remote control Download PDFInfo
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- CN105959618A CN105959618A CN201610091005.9A CN201610091005A CN105959618A CN 105959618 A CN105959618 A CN 105959618A CN 201610091005 A CN201610091005 A CN 201610091005A CN 105959618 A CN105959618 A CN 105959618A
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- robot
- intelligent terminal
- remote control
- communication
- video information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
Abstract
The present invention provides a method of robot remote control. The robot is interconnected with an intelligent terminal, and the robot has a video monitoring module. The robot is in communication connection with the intelligent terminal in the local area network or Internet; the video monitoring module of the robot obtains the environment video information and sends the environment video information to the intelligent terminal; the intelligent terminal displays received environment video information, receives a user's control instruction and sends the control instruction to the robot; and the robot executes the corresponding motion according to the control instruction. The method of robot remote control is able to monitor all the images in the vision range of the video monitoring module of the robot in real time and remotely control the behavior of the robot so as to realize monitoring and control the robot to execute the related motions according to the real conditions, and therefore, the monitoring intelligence is really realized, and the method of robot remote control has a wide market prospect.
Description
Technical field
The present invention relates to technical field of robot control, in particular it relates to a kind of method of remote control robot.
Background technology
Video monitoring is the most prevailing as far back as 1990, is initially the feedback of simple monitoring image around.Mould
Number mixing monitoring is the monitoring of first generation the Internet, has DVR/DVS, numeral rectangle, the technology etc. of local digital storage；
The monitoring of IP Streaming Media is second filial generation video monitoring, existing codec, IP video camera, NVR Network Personal Video Recorder, stream matchmaker
The technology such as body server；The monitoring of IP total exchange is the third generation, now state-of-the-art technology pattern, NGN architectures of communication networks,
The technology such as NVR/IP SAN network videocorder, IP communication fusion, intelligent management, video content intellectual analysis.
IP Streaming Media monitoring technology to the demand of network and server to bear pressure very big, and stream media technology is data
Gather, compress, store, multiple technology such as transmission integrated, the technology that relates to is extensive, Network Video Surveillance application Streaming Media
Key be not only the coding of headend equipment, compression, also include the decoding of back-end client's end software, buffering, need one be
Row relate to software and hardware deep development.Hardware development Capability Requirement is higher, and then safety-security area is to networked control device requirement
Certain standard, safety is not had not to have certain guarantee yet.
Therefore, along with the development of Video Supervision Technique, and the increasing of input cost, if still for traditional simple monitoring,
Certainly will can not play and give full play to its effect, service efficiency is relatively low.
In order to strengthen the application to Video Supervision Technique, carry out some and attempted, such as Bank of Communications's intelligent customer service robot
Tender, what video monitoring ran is exactly the monitoring of the most secondary Video Supervision Technique IP Streaming Media, this robot master
Act on is that complete service is in the numerous clients of Bank of Communications, the hall foreground being positioned at, all scenes of monitoring bank, backstage people
The information that robot feedback is come by member is controlled and answers the answer that client proposes.
But, aforesaid way is final or is answered according to the information of video monitoring by people, to Video Supervision Technique
Application extremely limited.
In view of this, the special proposition present invention.
Summary of the invention
In order to solve the problems referred to above, a kind of method that the invention provides remote control robot, specifically, have employed as
Under technical scheme:
A kind of method of remote control robot, described robot can carry out communication interconnection, described machine with intelligent terminal
Device people has video monitoring module, including:
Robot sets up communication with intelligent terminal by the way of LAN or the Internet and is connected；
The video monitoring module of robot obtains ambient video information, and is sent to intelligent terminal；
Intelligent terminal shows the ambient video information received, and receives the control instruction of user, and sends to robot；
Robot performs corresponding action according to control instruction.
As a kind of preferred implementation of the present invention, described robot sets up logical by the way of LAN with intelligent terminal
News connect:
Robot and intelligent terminal are in same LAN, and intelligent terminal searches for the robot in this LAN；
Intelligent terminal judges whether the robot searched is in connection status；
The most then terminate, if it is not, then intelligent terminal sets up communication with robot and is connected.
Further, a kind of method of remote control robot, including:
Step S11 intelligent terminal opens search, the robot in search LAN；
Step S12 intelligent terminal judges whether to search robot；
Step S13 the most then carries out step S14, if it is not, then terminate；
Step S14 intelligent terminal sends identity validation request to robot；
Step S15 robot receives identity validation request, and verifies；
If step S16 is verified, then feedback identification information and ambient video information, if authentication failed, then tie
Bundle；
The feedback information of step S17 intelligent terminal for reception robot, and show.
Further, described robot sets up communication with intelligent terminal by the way of LAN and is connected, including:
(1) obtain intelligent terminal by WifiManager.getSystemService (WIFI_SERVICE) currently to connect
The network segment of wifi；
(2) the online IP of the current network segment is obtained by NetworkInterface.getNetworkInterfaces ()；
(3) create socket communication, send message to the intelligent terminal that the current network segment is online respectively, only robot meeting
Feedback identity information；
(4) intelligent terminal sets up communication with robot and is connected, and enters and controls the page, opens video monitoring module, to machine
Device people sends control instruction.
As a kind of preferred implementation of the present invention, described robot sets up logical by the way of the Internet with intelligent terminal
News connect:
The video monitoring module of described robot obtains ambient video information, encoder to ambient video information at
Reason, and it is sent to server；
Ambient video information is passed through Internet transmission to intelligent terminal by server.
Further, described intelligent terminal sets up after communication is connected with robot, and intelligent terminal sends to robot and calls
Open the instruction of video monitoring module；
Robot checking instruction authority, if authentication failed, then to intelligent terminal's feedback error information, if being proved to be successful, then
Ambient video information is sent to intelligent terminal；
Intelligent terminal for reception ambient video information also carries out real-time play.
Further, the video monitoring module of described robot uses the monitoring of IP Streaming Media, including:
(1) use the mpeg transport stream meeting network transmission mode to encode, use fine in MPEG-4 standard
Scalable coding PFGSH technology fine for scalable coding FGSH or gradual, H.264 technology passes with network
Transmission protocol combines；
(2) use RTP/transmission control protocol that data are carried out real-time Transmission Error Control；
(3) IP multicast protocol is used to realize the viewing to a video server of multiple Surveillance center.
Further, can distribute corresponding Quick Response Code when described robot is activated, intelligent terminal can be by adding two dimension
Code realizes communication for good friend and connects, to control robot.
As a kind of preferred implementation of the present invention, described intelligent terminal includes that the intelligence that at least one highest weight limits is whole
End, the intelligent terminal of highest weight limit directly can carry out communication with robot and be connected, control robot；
The intelligent terminal of described highest weight limit also can control the connection/disconnection of robot and other intelligent terminal.
Video Supervision Technique is combined by the method for the remote control robot of the present invention with robot, and by LAN or
The mode of person the Internet is set up communication with intelligent terminal and is connected, it is achieved that:
(1) intelligent robot in intelligent terminal's remote control home is used.
(2) situation in family is grasped whenever and wherever possible by the video monitoring module of robot.
(3) intelligence complete system, such as, can realize the monitoring whether having the aspects such as burglar in child's safety and family.
Therefore, the method for the remote control robot of the present invention can the video monitoring module range of vision of supervisory-controlled robot in real time
Interior all images, the behavior of remote control robot, monitoring can not only be realized, moreover it is possible to control according to actual situation
Robot performs relevant action, is truly realized monitoring intelligent, has wide market prospect.
Accompanying drawing explanation
The FB(flow block) of the method for the remote control robot of Fig. 1 present invention；
The another FB(flow block) of the method for the remote control robot of Fig. 2 present invention；
The another FB(flow block) of the method for the remote control robot of Fig. 3 present invention；
The system diagram that the robot of Fig. 4 present invention is connected with intelligent terminal.
Detailed description of the invention
Below in conjunction with the accompanying drawings the method for a kind of remote control robot of the present invention is described in detail:
A kind of method of remote control robot, described robot can carry out communication interconnection, described machine with intelligent terminal
Device people has video monitoring module, including:
Robot sets up communication with intelligent terminal by the way of LAN or the Internet and is connected；
The video monitoring module of robot obtains ambient video information, and is sent to intelligent terminal；
Intelligent terminal shows the ambient video information received, and receives the control instruction of user, and sends to robot；
Robot performs corresponding action according to control instruction.
The method of the remote control robot of the present invention can be in the video monitoring module range of vision of supervisory-controlled robot in real time
All images, the behavior of remote control robot, monitoring can not only be realized, moreover it is possible to control machine according to actual situation
People performs relevant action, is truly realized monitoring intelligent, has wide market prospect.
Specifically, the machine artificial intelligentized Furniture robot of the present invention, the method for the remote control robot of the present invention will regard
Frequently monitoring technology combines with intelligentized Furniture robot, and sets up with intelligent terminal by the way of LAN or the Internet
Communication connects, it is achieved that:
(1) intelligent robot in intelligent terminal's remote control home is used.
(2) situation in family is grasped whenever and wherever possible by the video monitoring module of robot.
(3) intelligence complete system, such as, can realize the monitoring whether having the aspects such as burglar in child's safety and family.
It addition, the robot of the present invention is not limited in intelligentized Furniture robot, it can be also the robot in other field.
As a kind of preferred implementation of the present invention, as it is shown in figure 1, a kind of method of remote control robot, described
Robot sets up communication with intelligent terminal by the way of LAN and is connected:
Robot and intelligent terminal are in same LAN, and intelligent terminal searches for the robot in this LAN；
Intelligent terminal judges whether the robot searched is in connection status；
The most then terminate, if it is not, then intelligent terminal sets up communication with robot and is connected.
The method of the remote control robot of the present invention, according to actual service condition, selects corresponding communication connected mode,
When robot and intelligent terminal are in same LAN, it is considered to LAN connected mode, connected mode is the simplest directly,
Without having considered whether network, range of application is wider.
It addition, the method for above-mentioned remote control robot is in view of the actual condition of robot, intelligent terminal and robot
Connect and there is priority restriction, it is to avoid robot is connected by multiple intelligent terminal meeting condition of contact simultaneously, each intelligence
The different instruction that terminal sends causes robot to be paralysed, it is ensured that the stability of connection.
As in figure 2 it is shown, a kind of method of remote control robot, including:
Step S11 intelligent terminal opens search, the robot in search LAN；
Step S12 intelligent terminal judges whether to search robot；
Step S13 the most then carries out step S14, if it is not, then terminate；
Step S14 intelligent terminal sends identity validation request to robot；
Step S15 robot receives identity validation request, and verifies；
If step S16 is verified, then feedback identification information and ambient video information, if authentication failed, then tie
Bundle；
The feedback information of step S17 intelligent terminal for reception robot, and show.
The robot of the present invention and the connection of intelligent terminal need to carry out identity validation, it is ensured that the safety of connection, concrete
The mode of identity validation can be key checking mode, specifically, can use numerical ciphers checking, pattern password authentification,
Finger-print cipher checking, eyeball password authentification and facial recognition checking etc..
Specifically, robot of the present invention sets up communication with intelligent terminal by the way of LAN and is connected, including:
(1) obtain intelligent terminal by WifiManager.getSystemService (WIFI_SERVICE) currently to connect
The network segment of wifi；
(2) the online IP of the current network segment is obtained by NetworkInterface.getNetworkInterfaces ()；
(3) create socket communication, send message to the intelligent terminal that the current network segment is online respectively, only robot meeting
Feedback identity information；
(4) intelligent terminal sets up communication with robot and is connected, and enters and controls the page, opens video monitoring module, to machine
Device people sends control instruction.
Specifically, serial ports is called by JNI in described (4), send instruction to robot.JNI is Java Native
The abbreviation of Interface, it provides some API and achieves communicate (the mainly C&C++) of Java and other language.
JNI standard local code to be ensured can be operated under any Java virtual machine environment.
As a kind of preferred implementation of the present invention, the method for a kind of remote control robot of the present invention, such as Fig. 4 institute
Showing, described robot sets up communication with intelligent terminal by the way of the Internet and is connected:
The video monitoring module of described robot obtains ambient video information, encoder to ambient video information at
Reason, and it is sent to server；
Ambient video information is passed through Internet transmission to intelligent terminal by server.
A kind of method of the remote control robot of the present invention, the image spread out of in real time by streaming media server, user
Robot can be carried out real-time operation, it was observed that all of image in robot visual range, remotely send instruction control
Robot behavior processed.
The method of remote control robot of the present invention is set up communication with intelligent terminal by the way of the Internet and is connected, and can realize
Monitoring more at a distance, overcome LAN and connect the defect by distance limit, therefore, the present invention uses two ways phase
In conjunction with, make user can select according to practical situation, more flexible and convenient.
The intelligent terminal of the present invention at least includes the intelligent terminal such as computer, notebook computer, mobile phone, panel computer,
Preferably, select portable intelligent terminal more convenient.
As it is shown on figure 3, the method for a kind of remote control robot of the present invention, described intelligent terminal sets up with robot
After communication connects, intelligent terminal sends to robot and calls the instruction opening video monitoring module；
Robot checking instruction authority, if authentication failed, then to intelligent terminal's feedback error information, if being proved to be successful, then
Ambient video information is sent to intelligent terminal；
Intelligent terminal for reception ambient video information also carries out real-time play.
Present invention achieves remote real-time monitoring, user can be helped to understand situation in family in real time, and control robot execution phase
Close instruction, compared with the mode more practicality of existing simple monitoring.
Specifically, the video monitoring module of robot of the present invention uses the monitoring of IP Streaming Media, including:
(1) use the mpeg transport stream meeting network transmission mode to encode, use fine in MPEG-4 standard
Scalable coding PFGSH technology fine for scalable coding FGSH or gradual, H.264 technology passes with network
Transmission protocol combines.The most several coded systems, for the different network bandwidths, can automatically adjust transmission whole when bandwidth variations
Code check, it is ensured that in the case of network condition is relatively more severe, the image that transmission conforms to quality requirements.
(2) use RTP/transmission control protocol that data are carried out real-time Transmission Error Control.This agreement is to net
The loss of data that occurs in network data transmission procedure, out of order, postpone, the mistake such as shake can monitor in real time, and by one
Fixed buffering and compensate corrective networks transmission error to greatest extent, ensures transmission quality.
(3) IP multicast protocol is used to realize the viewing to a video server of multiple Surveillance center.The advantage of this technology
Under conditions of being not increase the network bandwidth of transmitting terminal, it is provided that multiple users access to video server.
Specifically, can distribute corresponding Quick Response Code when robot of the present invention is activated, intelligent terminal can be by adding
Quick Response Code is that good friend realizes communication connection, to control robot.This mode, more simple and fast, it is simple to Yong Hujin
Row operation.
As a kind of preferred implementation of the present invention, intelligent terminal of the present invention includes what at least one highest weight limited
Intelligent terminal, the intelligent terminal of highest weight limit directly can carry out communication with robot and be connected, control robot.Highest weight limits
Intelligent terminal can realize the direct control to robot, this can be set by user when just knowing and set so that takes notice of
In the case of Wai, it is ensured that the absolute control of user, can effectively prevent hacker attacks.
The intelligent terminal of highest weight of the present invention limit also can control the connection/disconnection of robot and other intelligent terminal, when
When user needs emergent management, use the intelligent terminal of highest weight limit can realize controlling.The intelligent terminal of highest weight limit passes through
Certain software mode realizes, and when certain conditions are met, common intelligent terminal just can be made to be changed into highest weight limit
Intelligent terminal.
The above is only presently preferred embodiments of the present invention, and the present invention not makees any pro forma restriction, although
The present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people being familiar with this patent
Member is in the range of without departing from technical solution of the present invention, when the technology contents of available above-mentioned prompting makes a little change or modification
For the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technology according to the present invention is real
Any simple modification, equivalent variations and the modification that confrontation above example is made, all still falls within the range of the present invention program.
Claims (9)
1. a method for remote control robot, described robot can carry out communication interconnection with intelligent terminal, and described robot has video monitoring module, it is characterised in that including:
Robot sets up communication with intelligent terminal by the way of LAN or the Internet and is connected；
The video monitoring module of robot obtains ambient video information, and is sent to intelligent terminal；
Intelligent terminal shows the ambient video information received, and receives the control instruction of user, and sends to robot；
Robot performs corresponding action according to control instruction.
The method of a kind of remote control robot the most according to claim 1, it is characterised in that described robot sets up communication with intelligent terminal by the way of LAN and is connected:
Robot and intelligent terminal are in same LAN, and intelligent terminal searches for the robot in this LAN；
Intelligent terminal judges whether the robot searched is in connection status；
The most then terminate, if it is not, then intelligent terminal sets up communication with robot and is connected.
The method of a kind of remote control robot the most according to claim 2, it is characterised in that including:
Step S11 intelligent terminal opens search, the robot in search LAN；
Step S12 intelligent terminal judges whether to search robot；
Step S13 the most then carries out step S14, if it is not, then terminate；
Step S14 intelligent terminal sends identity validation request to robot；
Step S15 robot receives identity validation request, and verifies；
If step S16 is verified, then feedback identification information and ambient video information, if authentication failed, then terminate；
The feedback information of step S17 intelligent terminal for reception robot, and show.
4. according to the method for a kind of remote control robot described in Claims 2 or 3, it is characterised in that described robot sets up communication with intelligent terminal by the way of LAN and is connected, including:
(1) network segment of the wifi that intelligent terminal currently connects is obtained by WifiManager.getSystemService (WIFI_SERVICE)；
(2) the online IP of the current network segment is obtained by NetworkInterface.getNetworkInterfaces ()；
(3) creating socket communication, send message to the intelligent terminal that the current network segment is online respectively, only robot can feed back identity information；
(4) intelligent terminal sets up communication with robot and is connected, and enters and controls the page, opens video monitoring module, sends control instruction to robot.
The method of a kind of remote control robot the most according to claim 1, it is characterised in that described robot sets up communication with intelligent terminal by the way of the Internet and is connected:
The video monitoring module of described robot obtains ambient video information, and ambient video information is processed, and is sent to server by encoder；
Ambient video information is passed through Internet transmission to intelligent terminal by server.
The method of a kind of remote control robot the most according to claim 5, it is characterised in that described intelligent terminal sets up after communication is connected with robot, and intelligent terminal sends to robot and calls the instruction opening video monitoring module；
Robot checking instruction authority, if authentication failed, then to intelligent terminal's feedback error information, if being proved to be successful, then sends ambient video information to intelligent terminal；
Intelligent terminal for reception ambient video information also carries out real-time play.
The method of a kind of remote control robot the most according to claim 6, it is characterised in that the video monitoring module of described robot uses the monitoring of IP Streaming Media, including:
(1) using the mpeg transport stream meeting network transmission mode to encode, use fine scalable coding PFGSH technology fine for scalable coding FGSH or gradual in MPEG-4 standard, H.264 technology combines with the network transmission protocol；
(2) use RTP/transmission control protocol that data are carried out real-time Transmission Error Control；
(3) IP multicast protocol is used to realize the viewing to a video server of multiple Surveillance center.
The method of a kind of remote control robot the most according to claim 5, it is characterised in that can distribute corresponding Quick Response Code when described robot is activated, intelligent terminal can be that good friend realizes communication connection, to control robot by adding Quick Response Code.
The method of a kind of remote control robot the most according to claim 1, it is characterised in that described intelligent terminal includes that the intelligent terminal that at least one highest weight limits, the intelligent terminal of highest weight limit directly can carry out communication with robot and be connected, control robot；
The intelligent terminal of described highest weight limit also can control the connection/disconnection of robot and other intelligent terminal.
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| CN201610091005.9A CN105959618A (en) | 2016-02-19 | 2016-02-19 | Method of robot remote control |
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| CN201610091005.9A CN105959618A (en) | 2016-02-19 | 2016-02-19 | Method of robot remote control |
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| CN106657246A (en) * | 2016-10-31 | 2017-05-10 | 河池学院 | Security robot capable of remote communication |
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