CN107290987A - A kind of telepresence equipment and telepresence interactive system - Google Patents
A kind of telepresence equipment and telepresence interactive system Download PDFInfo
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- CN107290987A CN107290987A CN201610221220.6A CN201610221220A CN107290987A CN 107290987 A CN107290987 A CN 107290987A CN 201610221220 A CN201610221220 A CN 201610221220A CN 107290987 A CN107290987 A CN 107290987A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
This application provides a kind of telepresence equipment and telepresence interactive system, telepresence equipment includes head and fuselage, in addition to processing unit, moving cell and communication unit；Communication unit receives the control command that remote control equipment is sent, and control instruction is control command corresponding with the head movement data of user；Control command is processed into the control instruction matched with moving cell by processing unit；Moving cell performs move so that the head of telepresence equipment and/or fuselage motion corresponding with control instruction.The telepresence equipment that the application is provided can receive the control of remote control equipment, and move head and/or fuselage under the control of remote control equipment, in addition, the application shoots left video using binocular camera and right video is supplied to remote control equipment so that 3D videos can be presented for user in remote control equipment.The telepresence functions of the equipments that the application is provided relatively are enriched, better user experience.
Description
Technical field
The present invention relates to remote control technology field, more particularly to a kind of telepresence equipment and telepresence
Interactive system.
Background technology
In the today in internet cloud epoch, user is not only satisfied with current existing communication mode already,
The concept of telepresence is progressively recognized by masses, is received, is yearned for.Current telepresence equipment
The starting stage is still in, in terms of some products come out also rest on simple video communication mostly, work(
Can relatively it limit to.
The content of the invention
In view of this, the invention provides a kind of telepresence equipment and telepresence interactive system, it is used to
The problem of existing telepresence functions of the equipments are relatively limited to is solved, its technical scheme is as follows：
A kind of telepresence equipment, including head and fuselage, it is single that the telepresence equipment also includes processing
Member, and, the moving cell and communication unit being connected respectively with the processing unit；
The communication unit, the control command for receiving remote control equipment transmission, and by the control
Order is sent to the processing unit, and the control instruction is control corresponding with the head movement data of user
System order；
The processing unit, for the control command to be processed into the control matched with the moving cell
Instruction, and the control instruction is sent to the moving cell；
The moving cell, for when receiving the control instruction, performing and the control instruction pair
That answers moves so that the head of the telepresence equipment and/or fuselage motion.
Preferably, the telepresence equipment also includes binocular camera, and the binocular camera is arranged at
The head；
The binocular camera, for gathering left video data and right video data, and by the left video
Data and right video data transmitting deliver to the processing unit；
The processing unit, is additionally operable to handle the left video data and the right video data, and will place
Left video data and right video data after reason are sent to the remote control by the communication unit to be set
It is standby, so that 3D videos are presented to user in the remote control equipment.
Preferably, the moving cell includes：Head movement unit and fuselage moving cell, the then control
System order includes first kind control command and Equations of The Second Kind control command；
The processing unit, specifically for when the control command is the first kind control command, inciting somebody to action
The first kind control command is processed into the first kind control instruction with the head movement units match, and
The first kind control instruction is sent to the head movement unit；
The head movement unit, specifically for when receiving the first kind control instruction, perform with
The corresponding motion of the first kind control instruction；
The processing unit, is specifically additionally operable to when the control command is the Equations of The Second Kind control command,
The Equations of The Second Kind control command is processed into the Equations of The Second Kind control instruction matched with the fuselage moving cell,
And send the Equations of The Second Kind control instruction to the fuselage moving cell；
The fuselage moving cell, specifically for when receiving the Equations of The Second Kind control instruction, perform with
The corresponding motion of the Equations of The Second Kind control instruction.
Preferably, the head movement unit includes：The first driving being connected respectively with the processing unit
Motor, the second motor, the 3rd motor, the 4th motor and the 5th motor；And,
Head base, first be connected with the head base motion subelement and the described first motion subelement
Second motion subelement of connection, the 3rd motion subelement being connected with the described second motion subelement；
The binocular camera is arranged on the 3rd motion subelement；
The first kind control instruction include the first control instruction, the second control instruction, the 3rd control instruction,
4th control instruction and the 5th control instruction；
First motor, for receiving first control instruction of the processing unit
When, drive the first motion subelement to be moved in the first direction in the head base；
Second motor, for receiving second control instruction of the processing unit
When, drive the first motion subelement to be moved in a second direction in the head base；
3rd motor, for receiving the 3rd control instruction of the processing unit
When, the second motion subelement is driven along the first Plane Rotation；
4th motor, for receiving the 4th control instruction of the processing unit
When, the 3rd motion subelement is driven along the second Plane Rotation；
5th motor, for receiving the 5th control instruction of the processing unit
When, the 3rd motion subelement is driven along the 3rd Plane Rotation；
Wherein, the first direction is two different directions, first plane, institute from second direction
It is three different planes that the second plane, which is stated, with the 3rd plane.
Wherein, the fuselage moving cell includes：The motor being connected with the processing unit；
And, wheel；
Then the Equations of The Second Kind control instruction at least includes wheel driving instruction；
The then motor, for when receiving the wheel driving instruction of the processing unit, driving
The wheel is moved so that the fuselage is moved.
Preferably, the telepresence equipment also includes：Voice playing unit and voice collecting unit；
The communication unit, is additionally operable to receive the voice data that the remote control equipment is sent；
The processing unit, is additionally operable to the voice data being processed into the voice playing unit and can play
Audio；
The voice playing unit, is additionally operable to play the audio；
The voice collecting unit, is additionally operable to gather the voice of the telepresence equipment, and will be described remote
The voice that journey faces field device is sent to the processing unit；
Then the processing unit, is additionally operable to the voice of the telepresence equipment passing through the communication unit
Send to the remote control equipment.
Preferably, the telepresence equipment also includes：The detection of obstacles being connected with the processing unit
Unit；
The detection of obstacles unit, for detecting the obstacle information in the fuselage direction of motion, and
When detecting the obstacle information, the obstacle information is sent to the processing unit；
The processing unit, is additionally operable to when receiving the obstacle information, is sent out to the moving cell
Motion is sent to stop control instruction, so that the moving cell stop motion.
Preferably, the telepresence equipment also includes：The alarm unit being connected with the processing unit；
The processing unit, is additionally operable to when receiving the obstacle information, is sent out to the alarm unit
Go out controlling alarm instruction；
The alarm unit, for when receiving the controlling alarm instruction, being alarmed.
Preferably, the detection of obstacles unit is infrared sensor and/or supersonic detector.
A kind of interactive system of coming personally, it is characterised in that including：Telepresence equipment and remote control equipment；
The telepresence equipment is described telepresence equipment；
The remote control equipment, for obtaining the head movement data of user and by the head movement number
Sent according to corresponding control command is processed into the telepresence equipment.
Above-mentioned technical proposal has the advantages that：
In telepresence equipment and telepresence interactive system that the present invention is provided, communication unit can be received far
The control command corresponding with user's head exercise data that program control control equipment is sent, processing unit can control this
Command process processed into the control instruction matched with moving cell, moving cell when receiving control instruction,
Executable motion corresponding with control instruction is so that the head of telepresence equipment and/or fuselage motion.
As can be seen here, the telepresence equipment that the present invention is provided can receive the control of remote control equipment, and remote
Move head and/or fuselage under the setting of program control control equipment, i.e., user is remote controlled by head movement
The head of telepresence equipment, fuselage motion.In addition, the present invention binocular camera can also be shot regard
Take place frequently give remote control equipment make remote control equipment for user present 3D video effects.The present invention is provided
Telepresence functions of the equipments relatively enrich, better user experience.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to reality
The accompanying drawing used required for applying in example or description of the prior art is briefly described, it should be apparent that, below
Accompanying drawing in description is only embodiments of the invention, for those of ordinary skill in the art, not
On the premise of paying creative work, other accompanying drawings can also be obtained according to the accompanying drawing of offer.
Fig. 1 is a kind of structural representation of telepresence equipment provided in an embodiment of the present invention；
Fig. 2 is another structural representation of telepresence equipment provided in an embodiment of the present invention；
Fig. 3 be telepresence equipment provided in an embodiment of the present invention in, the structural representation of head movement unit
Figure；
Fig. 4 be telepresence equipment provided in an embodiment of the present invention in, the knot of head movement unit upper bed-plate
Structure schematic diagram；
Fig. 5 is the structural representation of telepresence interactive system provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the invention, and
The embodiment being not all of.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out the every other embodiment obtained under the premise of creative work, belong to the scope of protection of the invention.
The embodiments of the invention provide a kind of telepresence equipment, the telepresence equipment can be machine
The moveable smart machine such as people, autopilot facility or unmanned equipment, the telepresence equipment can
With including head and fuselage, referring to Fig. 1, the structural representation of the telepresence equipment is shown, can
With including processing unit 101, and, the moving cell 102 that is connected respectively with processing unit 101 and logical
Believe unit 103.Wherein：
Communication unit 103, the control command for receiving remote control equipment transmission, and by control command
Send to processing unit.
In the present embodiment, communication unit 103 can include the WiFi moulds communicated with remote control equipment
Block, infrared module, bluetooth module, radar module, 3G module and/or 4G modules etc..
Wherein, the wearable head in user of remote control equipment, can detect the head movement number of user
According to.The control command that remote control equipment is sent is control life corresponding with the head movement data of user
Order.Exemplary, the motion of user's head is that then control command is that control telepresence is set to left movement
The standby order to left movement, the head of user travels forward, then control command is control telepresence equipment
The order travelled forward.
Processing unit 101, for control command to be processed into the control instruction matched with moving cell, and
Control instruction is sent to moving cell 102.
Moving cell 102, for when receiving control instruction, performing motion corresponding with control instruction
So that the head of telepresence equipment and/or fuselage motion.
In telepresence equipment provided in an embodiment of the present invention, communication unit can receive remote control equipment hair
The control command can be processed into by the control command corresponding with user's head exercise data sent, processing unit
The control instruction matched with moving cell, moving cell can perform and control when receiving control instruction
The corresponding motion of instruction is so that the head of telepresence equipment and/or fuselage motion.As can be seen here, originally
The telepresence equipment that invention is provided can receive the control of remote control equipment, and in remote control equipment
Move head and/or fuselage under setting, i.e., user passes through the remote controlled telepresence equipment of head movement
Head, fuselage motion.The telepresence functions of the equipments that the present invention is provided relatively are enriched, more intelligently, more
Plus hommization, better user experience.
Referring to Fig. 2, showing another structural representation of telepresence equipment provided in an embodiment of the present invention
Figure, the telepresence equipment can be removable for robot, autopilot facility or unmanned equipment etc.
Smart machine, the telepresence equipment can include head and fuselage, can also include Fig. 2 shown in
Processing unit 201, and, moving cell 202, the communication unit being connected respectively with processing unit 201
203rd, binocular camera 204, voice playing unit 205, voice collecting unit 206, detection of obstacles
Unit 207 and alarm unit 208.Wherein：
Communication unit 103, the control command for receiving remote control equipment transmission, and by control command
Send to processing unit.
In the present embodiment, communication unit 103 can include the WiFi moulds communicated with remote control equipment
Block, infrared module, bluetooth module, radar module, 3G module and/or 4G modules.
Wherein, the wearable head in user of remote control equipment, can detect the head movement number of user
According to.The control command that remote control equipment is sent is control life corresponding with the head movement data of user
Order.
Processing unit 101, for control command to be processed into the control instruction matched with moving cell, and
Control instruction is sent to moving cell 202.
Moving cell 102, for when receiving control instruction, performing motion corresponding with control instruction
So that the head of telepresence equipment and/or fuselage motion.
In the present embodiment, moving cell 102 can include：Head movement unit and fuselage moving cell.
The control command that then communication unit 103 is received includes first kind control command and Equations of The Second Kind control command.
When the control command that processing unit 201 is received by communication unit 203 is first kind control command
When, first kind control command is processed into the first kind control instruction with head movement units match, and will
First kind control instruction is sent to head movement unit.Head movement unit receive the first kind control refer to
When making, motion corresponding with first kind control instruction is performed.
When the control command that processing unit 201 is received by communication unit 203 is Equations of The Second Kind control command
When, Equations of The Second Kind control command is processed into the Equations of The Second Kind control instruction matched with fuselage moving cell, and will
Equations of The Second Kind control instruction is sent to fuselage moving cell.Fuselage moving cell receive Equations of The Second Kind control refer to
When making, motion corresponding with Equations of The Second Kind control instruction is performed.
Further, fuselage moving cell can include：Wheel, and the driving being connected with processing unit
Motor.Then Equations of The Second Kind control instruction at least includes wheel driving instruction.Motor, for receiving
During the wheel driving instruction of processing unit, driving wheel is moved so that fuselage is moved.
Further, Fig. 3 and Fig. 4 are referred to, the concrete structure schematic diagram of head movement unit is shown,
Head movement unit can include：First motor, the second motor, the 3rd motor,
Four motors and the 5th motor (motor is not shown in Fig. 3), and, head base 300,
First be connected with head base 300 moves subelement 301, moves what subelement 301 was connected with first
Second motion subelement 302, the 3rd motion subelement 303 being connected with the second motion subelement 302.
Wherein, the first motor, the second motor, the 3rd motor, the 4th motor and
5th motor is connected with processing unit 201 respectively.
Specifically, first kind control instruction includes the first control instruction, the second control instruction, the 3rd control
Instruction, the 4th control instruction and the 5th control instruction.
Then the first motor, for when receiving the first control instruction from processing unit 201,
Driving first is moved subelement 302 and moved in the first direction in head base 300；Second motor,
For when receiving the second control instruction from processing unit 201, subelement to be moved in driving first
301 move in a second direction in head base 300.That is, the first motion subelement 301 can be first
Moved under the driving of motor along the first direction of head base 300, x-axis direction as shown in Figure 4,
Also it can be moved under the driving of the second motor along the second direction of head base 300, as Fig. 4 is shown
Y-axis direction.
3rd motor, for when receiving three control instruction from processing unit 201, driving
Dynamic second moves subelement 302 along the first Plane Rotation.That is, the second motion subelement 302 drives the 3rd
Can be along the first Plane Rotation, x-plane as shown in Figure 3 under the driving of dynamic motor.
4th motor, for when receiving four control instruction from processing unit 201, driving
Dynamic 3rd moves subelement 303 along the second Plane Rotation.5th motor, for receiving the 5th
During control instruction, driving the 3rd moves subelement 303 along the 3rd Plane Rotation.I.e. the 3rd motion subelement
Can the 4th motor the Plane Rotation of driving lower edge second, y plane as shown in Figure 3 also can be
The Plane Rotation of driving lower edge the 3rd of 5th motor, z-plane as shown in Figure 3.
Wherein, first direction and second direction are two different directions, the first plane, the second plane and
3rd plane is three different planes.
In the present embodiment, telepresence equipment is additionally provided with binocular camera 204.Binocular camera 204
It is arranged at the head of telepresence equipment.
Binocular camera 204 gathers left video data and right video data, and left video data and the right side are regarded
Frequency is according to transmission to processing unit.Processing unit after left video data and right video data are received,
Left video data and right video data are handled, and by the left video data and right video counts after processing
Send to remote control equipment, regarded so that 3D is presented to user in remote control equipment according to by communication unit
Frequently.Specifically, remote control equipment is provided with two display units, remote control equipment can be glasses
Formula, two display units are as two eyeglasses, display left video and right video, when user wears remotely
During control device, just it can be seen that 3D videos.
In a kind of preferred implementation, binocular camera is arranged on the 3rd motion subelement 303,
As shown in Figure 3.As seen from Figure 3, when the first motion subelement 301 is moved, it can drive and it
Second motion subelement 302 of connection is moved, meanwhile, the second motion subelement 302, which drives, to be connected thereto
The 3rd motion subelement 303 move, this binocular for be arranged on the 3rd motion subelement 303 is taken the photograph
As first 204 can in the first direction or second direction motion.When the second motion subelement 302 is along the first plane
When (x-plane in Fig. 3) rotates, connected 3rd motion subelement 303 along first can be driven flat
Face rotates, and this binocular camera 204 for be arranged on the 3rd motion subelement 303 can be flat along first
Face rotates.When the 3rd motion subelement 303 rotates along the second plane (y plane in Fig. 3), it can make
Binocular camera 204 is along the second Plane Rotation, when the 3rd motion subelement 303 is along the 3rd plane (Fig. 3
In z-plane) rotation when, binocular camera 204 can be made along the 3rd Plane Rotation.
That is, the motion son list of subelement 302 and the 3rd is moved by the first motion subelement 301, second
The motion of member 303 can make binocular camera 204 move or rotate, so as to reach adjustment binocular camera 204
Position, adjust binocular camera 204 angle effect.
Telepresence equipment provided in an embodiment of the present invention also includes voice playing unit 205 and voice collecting
Unit 206.
After the voice data that communication unit 203 receives remote control equipment transmission, processing unit
Voice data data are processed into the playable audio of voice playing unit 205 by 201, and the audio is sent out
Voice playing unit 205 is delivered to play out.Communication unit 203 can also receive remote control equipment transmission
Voice control command, the parsing voice control command of processing unit 201, and then control corresponding unit to hold
The corresponding operation of row.In the present embodiment, voice playing unit 205 can be loudspeaker.
Voice collecting unit 206 can gather the voice of telepresence equipment, and by the language of telepresence equipment
Sound is sent to processing unit 201, and processing unit 201 is receiving the language of the collection of voice collecting unit 206
After sound, the voice is sent to remote control equipment by communication unit 203.In the present embodiment,
Voice collecting unit 206 can be microphone.
Telepresence equipment inevitably runs into barrier during movement, this in order to tackle
Situation, telepresence equipment is provided with detection of obstacles unit 207 and alarm unit 208.Barrier
Detection unit 207 and alarm unit 208 are connected with processing unit 201 respectively.
Detection of obstacles unit 207, for detecting the obstacle information in the fuselage direction of motion, and in inspection
When measuring obstacle information, obstacle information is sent to processing unit 201.Processing unit 201 is connecing
When receiving obstacle information, send motion to moving cell 202 and stop control instruction, so that moving cell
202 stop motions.Processing unit 201 is sent when receiving obstacle information to alarm unit 208
Controlling alarm is instructed, and alarm unit 208 is alarmed after receiving alarm command.
In the present embodiment, detection of obstacles unit 207 may be disposed on fuselage moving cell, barrier
Detection unit 207 is specially infrared sensor and/or supersonic detector.
The telepresence equipment that the present invention is provided, communication unit can receive remote control equipment transmission with
The control command can be processed into single with motion by the corresponding control command of account portion exercise data, processing unit
The control instruction of member matching, moving cell can perform corresponding with control instruction when receiving control instruction
Motion so that the head of telepresence equipment and/or fuselage motion.As can be seen here, the present invention is provided
Telepresence equipment can receive the control of remote control equipment, and make under the setting of remote control equipment
Head and/or fuselage motion, i.e. user by the head of the remote controlled telepresence equipment of head movement,
Fuselage is moved.In addition, the video that binocular camera is shot can be also sent to remote control equipment by the present invention
Make remote control equipment that 3D video effects are presented for user, also, it is adjustable by the motion of moving cell
The position of whole binocular camera and angle, so that the shooting of double frequency camera is more flexible and changeable.This
Invent the telepresence functions of the equipments provided relatively to enrich, better user experience.
The embodiment of the present invention additionally provides a kind of interactive system of coming personally, referring to Fig. 5, showing the system
Structural representation, the telepresence interactive system can include remote control equipment 501 and telepresence
Equipment 502.Wherein, the telepresence that telepresence equipment 502 can provide for any of the above-described embodiment is set
Standby, telepresence equipment 502 can be removable for robot, autopilot facility or unmanned equipment etc.
Dynamic smart machine, its 26S Proteasome Structure and Function can be found in above-described embodiment, and therefore not to repeat here.Remote control
Equipment 501, is ordered for obtaining the exercise data of user's head and exercise data being processed into corresponding control
Order is sent to telepresence equipment 502.
The embodiment of each in this specification is described by the way of progressive, and each embodiment is stressed
Be between the difference with other embodiment, each embodiment identical similar portion mutually referring to.
In several embodiments provided herein, it should be understood that disclosed method, device and
Equipment, can be realized by another way.For example, device embodiment described above is only to show
Meaning property, for example, the division of the unit, only a kind of division of logic function can when actually realizing
To there is other dividing mode, such as multiple units or component can combine or be desirably integrated into another
System, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling is communicated to connect, and can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, make
It can be for the part that unit is shown or may not be physical location, you can with positioned at a place,
Or can also be distributed on multiple NEs.Can select according to the actual needs part therein or
Person's whole units realize the purpose of this embodiment scheme.In addition, each in each embodiment of the invention
Functional unit can be integrated in a processing unit or unit is individually physically present,
Can be integrated in a unit with two or more units.
If the function is realized using in the form of SFU software functional unit and as independent production marketing or made
Used time, it can be stored in a computer read/write memory medium.Understood based on such, the present invention
The part that is substantially contributed in other words to prior art of technical scheme or the technical scheme portion
Dividing can be embodied in the form of software product, and the computer software product is stored in a storage medium
In, including some orders to cause a computer equipment (can be personal computer, server,
Or the network equipment etc.) perform all or part of step of each embodiment methods described of the invention.And it is preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various
Can be with the medium of store program codes.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use
The present invention.A variety of modifications to these embodiments will be aobvious and easy for those skilled in the art
See, generic principles defined herein can not depart from the situation of the spirit or scope of the present invention
Under, realize in other embodiments.Therefore, the present invention is not intended to be limited to these realities shown in this article
Example is applied, and is to fit to the most wide scope consistent with features of novelty with principles disclosed herein.
Claims (10)
1. a kind of telepresence equipment, including head and fuselage, it is characterised in that the telepresence
Equipment also includes processing unit, and, the moving cell being connected respectively with the processing unit and communication
Unit；
The communication unit, the control command for receiving remote control equipment transmission, and by the control
System order is sent to the processing unit, and the control instruction is corresponding with the head movement data of user
Control command；
The processing unit, for the control command to be processed into the control matched with the moving cell
System instruction, and the control instruction is sent to the moving cell；
The moving cell, for when receiving the control instruction, performing and the control instruction
It is corresponding to move so that the head of the telepresence equipment and/or fuselage motion.
2. telepresence equipment according to claim 1, it is characterised in that the telepresence
Equipment also includes binocular camera, and the binocular camera is arranged at the head；
The binocular camera, for gathering left video data and right video data, and by the left view
Frequency evidence and right video data transmitting deliver to the processing unit；
The processing unit, is additionally operable to handle the left video data and the right video data, and will
Left video data and right video data after processing are sent to the remote control by the communication unit
Equipment, so that 3D videos are presented to user in the remote control equipment.
3. telepresence equipment according to claim 2, it is characterised in that the moving cell
Including：Head movement unit and fuselage moving cell, then the control command include the first kind control life
Order and Equations of The Second Kind control command；
The processing unit, specifically for the control command be the first kind control command when,
The first kind control that the first kind control command is processed into the head movement units match refers to
Order, and the first kind control instruction is sent to the head movement unit；
The head movement unit, specifically for when receiving the first kind control instruction, performing
Motion corresponding with the first kind control instruction；
The processing unit, is specifically additionally operable to when the control command is the Equations of The Second Kind control command,
The Equations of The Second Kind control command is processed into the Equations of The Second Kind control matched with the fuselage moving cell to refer to
Order, and the Equations of The Second Kind control instruction is sent to the fuselage moving cell；
The fuselage moving cell, specifically for when receiving the Equations of The Second Kind control instruction, performing
Motion corresponding with the Equations of The Second Kind control instruction.
4. telepresence equipment according to claim 3, it is characterised in that the head movement
Unit includes：The first motor for being connected respectively with the processing unit, the second motor,
Three motors, the 4th motor and the 5th motor；And, head base and the head
First motion subelement of portion's base connection, the second motion being connected with the described first motion subelement
Unit, the 3rd motion subelement being connected with the described second motion subelement；
The binocular camera is arranged on the 3rd motion subelement；
The first kind control instruction refers to including the first control instruction, the second control instruction, the 3rd control
Make, the 4th control instruction and the 5th control instruction；
First motor, for receiving first control instruction of the processing unit
When, drive the first motion subelement to be moved in the first direction in the head base；
Second motor, for receiving second control instruction of the processing unit
When, drive the first motion subelement to be moved in a second direction in the head base；
3rd motor, for receiving the 3rd control instruction of the processing unit
When, the second motion subelement is driven along the first Plane Rotation；
4th motor, for receiving the 4th control instruction of the processing unit
When, the 3rd motion subelement is driven along the second Plane Rotation；
5th motor, for receiving the 5th control instruction of the processing unit
When, the 3rd motion subelement is driven along the 3rd Plane Rotation；
Wherein, the first direction and second direction are two different directions, first plane,
Second plane is three different planes with the 3rd plane.
5. telepresence equipment according to claim 3, it is characterised in that the fuselage motion
Unit includes：The motor being connected with the processing unit；
And, wheel；
Then the Equations of The Second Kind control instruction at least includes wheel driving instruction；
The then motor, for when receiving the wheel driving instruction of the processing unit, driving
The dynamic wheel is moved so that the fuselage is moved.
6. telepresence equipment as claimed in any of claims 1 to 4, it is characterised in that
The telepresence equipment also includes：Voice playing unit and voice collecting unit；
The communication unit, is additionally operable to receive the voice data that the remote control equipment is sent；
The processing unit, being additionally operable to the voice data being processed into the voice playing unit to broadcast
The audio put；
The voice playing unit, is additionally operable to play the audio；
The voice collecting unit, is additionally operable to gather the voice of the telepresence equipment, and will be described
The voice of telepresence equipment is sent to the processing unit；
Then the processing unit, is additionally operable to the voice of the telepresence equipment passing through the communication unit
Member is sent to the remote control equipment.
7. telepresence equipment as claimed in any of claims 1 to 4, it is characterised in that
The telepresence equipment also includes：The detection of obstacles unit being connected with the processing unit；
The detection of obstacles unit, for detecting the obstacle information in the fuselage direction of motion,
And when detecting the obstacle information, the obstacle information is sent to the processing unit；
The processing unit, is additionally operable to when receiving the obstacle information, to the moving cell
Send motion and stop control instruction, so that the moving cell stop motion.
8. telepresence equipment according to claim 7, it is characterised in that the telepresence
Equipment also includes：The alarm unit being connected with the processing unit；
The processing unit, is additionally operable to when receiving the obstacle information, to the alarm unit
Send controlling alarm instruction；
The alarm unit, for when receiving the controlling alarm instruction, being alarmed.
9. telepresence equipment according to claim 7, it is characterised in that the obstacle quality testing
It is infrared sensor and/or supersonic detector to survey unit.
The interactive system 10. one kind is come personally, it is characterised in that including：Telepresence equipment and long-range control
Control equipment；
The telepresence equipment is the telepresence equipment as described in any one in claim 1-9；
The remote control equipment, for obtaining the head movement data of user and by the head movement
Data are processed into corresponding control command and sent to the telepresence equipment.
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| CN201610221220.6A CN107290987A (en) | 2016-04-11 | 2016-04-11 | A kind of telepresence equipment and telepresence interactive system |
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