CN109981422A - Method, multi-robot system and the mobile terminal of mobile terminal control robot - Google Patents
Method, multi-robot system and the mobile terminal of mobile terminal control robot Download PDFInfo
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- CN109981422A CN109981422A CN201711467918.7A CN201711467918A CN109981422A CN 109981422 A CN109981422 A CN 109981422A CN 201711467918 A CN201711467918 A CN 201711467918A CN 109981422 A CN109981422 A CN 109981422A
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- Prior art keywords
- robot
- mobile terminal
- area network
- local area
- configuration information
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/2803—Home automation networks
- H04L12/2816—Controlling appliance services of a home automation network by calling their functionalities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/2803—Home automation networks
- H04L2012/284—Home automation networks characterised by the type of medium used
- H04L2012/2841—Wireless
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
Abstract
The invention discloses method, multi-robot system and the mobile terminals of a kind of mobile terminal control robot.This method is applied to multi-robot system, which includes mobile terminal and multiple robots, this method comprises: mobile terminal creates local area network, and the configuration information of local area network is sent to robot；Robot establishes connection according to configuration information and local area network；Mobile terminal generates control signal, and sends control signals to robot by local area network；Robot receives control signal, and executes corresponding operation according to control signal, to realize control of the mobile terminal to multiple robots.In this way, it can be realized the multirobot control of low cost.
Description
Technical field
The present invention relates to robotic technology fields, method, multimachine more particularly to a kind of mobile terminal control robot
Device people system and mobile terminal.
Background technique
Robot becomes the research hotspot of scientific research and business in recent years, wherein business machine people is many kinds of, for example pacifies
Anti- robot, guest-meeting robot, amusement robot, educational robot etc..Robot is put greatly in collective's control and business performance
Extraordinary splendor, the scene of collective's singing and dancing of various robots are very shocks.
But the present inventor has found in long-term R&D work, at present to the control of robot, usually in machine
Special 433 wireless module etc. is installed on device people, to realize the communication of terminal and robot, for this purpose, user must buy it is dedicated
The equipment such as 433 wireless modules, but die for special purpose group price is more expensive, and needs specially to be debugged.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of methods of mobile terminal control robot, multirobot system
System and mobile terminal, to realize the multirobot control of low cost.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of mobile terminal control machine is provided
The method of device people is applied to multi-robot system, which includes mobile terminal and multiple robots, this method comprises: mobile
Terminal creates local area network, and the configuration information of local area network is sent to robot；Robot is built according to configuration information and local area network
Vertical connection；Mobile terminal generates control signal, and sends control signals to robot by local area network；Robot receives control
Signal, and corresponding operation is executed according to control signal, to realize control of the mobile terminal to multiple robots.
Wherein, before mobile terminal creates local area network, method further comprises: mobile terminal creates short with robot
Distance communication；It includes: that mobile terminal passes through short haul connection for local area network that the configuration information of local area network, which is sent to robot,
Configuration information is sent to robot.
Wherein, short haul connection is Bluetooth communication, ZigBee communication, NFC communication, UWB are communicated, any in LiFi communication
It is a kind of.
Wherein, it includes: robot reception configuration information that robot, which establishes connection according to configuration information and local area network, and pre-
The priority of query configuration information in setting priority list；If priority is greater than pre-set priority, robot is according to confidence
Breath establishes connection with local area network.
Wherein, local area network is WIFI hot spot.
Wherein, after robot establishes connection according to configuration information and local area network, control signal is generated in mobile terminal
It before include: that the mark information of robot by WIFI hot spot is fed back to mobile terminal by robot；Mobile terminal generates control
Signal, and sending control signals to robot by local area network includes: mobile terminal according to mark information generation control signal；
Mobile terminal sends control command to robot with the forms of broadcasting by WIFI hot spot.
In order to solve the above technical problems, another technical solution used in the present invention is: a kind of multi-robot system is provided,
The system includes mobile terminal and multiple robots, and mobile terminal creates local area network, and the configuration information of local area network is sent to
Robot；Robot establishes connection according to configuration information and local area network；Mobile terminal generates control signal, and will by local area network
Control signal is sent to robot, and robot receives control signal, and executes corresponding operation according to control signal, is moved with realizing
Dynamic control of the terminal to multiple robots.
Wherein, before mobile terminal creates local area network, the short haul connection of mobile terminal creation and robot, and pass through
The configuration information of local area network is sent to robot by short haul connection.
Wherein, robot receive configuration information, and in pre-set priority list query configuration information priority；If excellent
First grade is greater than pre-set priority, then robot establishes connection according to configuration information and local area network.
In order to solve the above technical problems, another technical solution that the present invention uses is: providing a kind of mobile terminal, the shifting
For dynamic terminal for controlling multiple robots, which includes the processor, memory and transceiver being mutually coupled；Processor
Create local area network；The configuration information of memory storage area network；The configuration information of local area network is sent to robot by transceiver, with
Robot is set to establish connection according to configuration information and local area network；Processor further generates control signal；Transceiver further leads to
It crosses local area network and sends control signals to robot, to control multiple robots.
The beneficial effect of the embodiment of the present invention is: being different from the prior art, mobile terminal of the embodiment of the present invention controls machine
The method of people is applied to multi-robot system, which includes mobile terminal and multiple robots, this method comprises: mobile terminal
Local area network is created, and the configuration information of local area network is sent to robot；Robot is established according to configuration information and local area network to be connected
It connects；Mobile terminal generates control signal, and sends control signals to robot by local area network；Robot receives control letter
Number, and corresponding operation is executed according to control signal, to realize control of the mobile terminal to multiple robots.Pass through this side
The local area network that multiple robots are established with mobile terminal can be attached by formula, and it is more to can be realized general mobile terminal control
A robot, without controlling multiple robots using expensive special equipment, therefore, the embodiment of the present invention can be realized low
The multirobot of cost controls.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of multi-robot system of the present invention；
Fig. 2 is the flow diagram of the method first embodiment of mobile terminal control of the present invention robot；
Fig. 3 is the idiographic flow schematic diagram of step S202 in Fig. 2 embodiment；
Fig. 4 is the flow diagram of the method second embodiment of mobile terminal control of the present invention robot；
Fig. 5 is the flow diagram of the method 3rd embodiment of mobile terminal control of the present invention robot；
Fig. 6 is the structural schematic diagram of one embodiment of mobile terminal of the present invention.
Specific embodiment
The method that the present invention proposes a kind of mobile terminal control robot, is applied to multi-robot system 101, such as Fig. 1 institute
Show, to realize control of the mobile terminal 102 to multiple robots 103.
Specifically, as shown in Fig. 2, Fig. 2 is the process of the method first embodiment of mobile terminal control of the present invention robot
Schematic diagram.The method of the present embodiment specifically includes the following steps:
S201: mobile terminal 102 creates local area network 104, and the configuration information of local area network 104 is sent to robot 103.
The local area network 104 of the present embodiment can use ICP/IP protocol, and the configuration information of local area network 104 includes local area network
The information such as 104 IP address and subnet mask.Certainly, in other embodiments, other communication protocols can also be used, such as
NetBEUI agreement or IPX/SPX agreement etc..
The local area network 104 of the present embodiment can be stelliform connection topology configuration, be also possible to tree topology etc..
S202: robot 103 establishes connection according to configuration information and local area network 104.
The robot 103 of the present embodiment parses the letter such as IP address and subnet mask from the configuration information of local area network 104
Breath, after opening network settings, is configured the parameters such as IP address and subnet mask, with access to LAN 104.
In the application scenarios of 103 substantial amounts of robot, general mobile terminal 102 may be due to soft and hardware performance
Limitation, the limited amount for the robot 103 for causing it that can control, if controlling all machines using a mobile terminal 102
Device people 103 will lead to the problems such as loss of data or delay of control increase.For this purpose, the present embodiment can use multiple mobile terminals
102 respectively control multiple groups (every group includes multiple) robot 103.For example, in a large evening party scene, Yong Huke
Performed with controlling one group of robot 103 by a mobile terminal 102, while can be controlled by another mobile terminal 102
It makes another group of robot 103 and carries out security etc..To realize that each robot 103 can accurately access corresponding local area network 104,
The present embodiment proposes method as shown in Figure 3, specifically, the method for the present embodiment the following steps are included:
S301: robot 103 receive configuration information, and in pre-set priority list query configuration information priority.
S302: if priority is greater than pre-set priority, robot 103 is established according to configuration information and local area network 104 to be connected
It connects.
When the priority of only configuration information (corresponding to mobile terminal 102) is greater than the pre-set priority, robot 103 is
Connection is established with local area network 104.In this way, the dry of illegal mobile mobile terminal (not shown) can on the one hand be reduced
It disturbs, while multiple mobile terminals 102 can also be distinguished, be conducive to the orderly progress that multiple robots 103 execute operation.
S203: mobile terminal 102 generates control signal, and sends control signals to robot by local area network 104
103。
The present embodiment does not limit the concrete form of control signal, and mobile terminal 102 can be generated for multiple robots 103
Then multiple control instructions are sent respectively to corresponding robot 103 by local area network 104 by multiple control instructions, mobile whole
End 102 also can produce a control instruction, and the control instruction is then sent respectively to each robot by local area network 104
103, it parses robot 103 to the control instruction, obtains corresponding control information, etc..
S204: robot 103 receives control signal, and executes corresponding operation according to control signal, mobile eventually with realization
Hold the control of 102 pairs of multiple robots 103.
The control signal of the present embodiment can control multiple robots 103 and execute different single operation or multioperation, for example,
It controls signal and controls a robot 103 dancing one, human-computer interaction etc., make another robot 103 and execute the single actions such as wave, take pictures
Make, also can control multiple robots 103 and execute identical single operation or multioperation.
The mobile terminal 102 of the present embodiment can be mobile phone, intelligent wearable device, plate and PAD etc. with communication function
Electronic device.
It is different from the prior art, the local area network 104 that the present embodiment can establish multiple robots 103 with mobile terminal 102
It is attached, can be realized general mobile terminal 102 and control multiple robots 103, without being set using the dedicated of valuableness
Standby to control multiple robots 103, therefore, the multirobot 103 that can be realized low cost controls.
Present invention further propose that the method for the mobile terminal control robot of second embodiment, as shown in figure 4, Fig. 4 is
The flow diagram of the method second embodiment of mobile terminal control of the present invention robot.The method of the present embodiment specifically include with
Lower step:
S401: the short haul connection of mobile terminal 102 creation and robot 103.
Wherein, the short haul connection of the present embodiment is Bluetooth communication, and Bluetooth communication easily realizes point-to-point communication, and power consumption
It is few, it is highly-safe.
Bluetooth communication is mobile terminal 102 and robot 103 is common communicate, to realize mobile terminal 102 and robot 103
Bluetooth communication needs that the bluetooth of robot 103 is switched to open state in advance, and mobile terminal 102 need to carry out bluetooth equipment
It searches for and establishes connection.
Certainly, in other embodiments, can also be communicated using ZigBee communication, short-range communication (NFC) communication, UWB,
LiFi communication, infrared data transmission (IrDA) communication, RFID communication, ultra-wideband (Ultra WideBand) communication etc. replace bluetooth
Communication.
S402: mobile terminal 102 creates local area network 104, and mobile terminal 102 passes through short haul connection for local area network 104
Configuration information is sent to robot 103.
S404: robot 103 establishes connection according to configuration information and local area network 104.
Mobile terminal 102 receives after robot 103 and local area network 104 establish connection, or in robot 103 with confidence
After breath, the short haul connection is closed.
S405: mobile terminal 103 generates control signal, and sends control signals to robot by local area network 104
103。
S406: robot 103 receives control signal, and executes corresponding operation according to control signal, mobile eventually with realization
Hold the control of 102 pairs of multiple robots 103.
The step S404-S406 of the present embodiment and the step S202-S204 of above-described embodiment are identical.
In one embodiment, local area network 104 is WIFI hot spot, and WIFI is the commonly wireless communication function of mobile terminal 102
Can, and it is able to achieve one-to-many communication, for this purpose, present invention further propose that the mobile terminal of 3rd embodiment controls robot
Method, as shown in figure 5, Fig. 5 is the flow diagram of the method 3rd embodiment of mobile terminal control of the present invention robot.This reality
Apply the method for example the following steps are included:
S501: the short haul connection of mobile terminal 102 creation and robot 103.
S502: mobile terminal 102 creates WIFI hot spot, and mobile terminal 102 passes through short haul connection matching WIFI hot spot
Confidence breath is sent to robot 103.
S503: robot 103 establishes connection according to configuration information and WIFI hot spot.
S504: the mark information of robot 103 is fed back to mobile terminal 102 by WIFI hot spot by robot 103.
S505: mobile terminal 102 generates control signal according to mark information.
S506: mobile terminal 102 sends control command to robot 103 with the forms of broadcasting by WIFI hot spot.
S507: robot 103 receives control signal, and executes corresponding operation according to control signal, mobile eventually with realization
Hold the control of 102 pairs of multiple robots 103.
The present embodiment uses WIFI hot spot to send control signal to multiple robots 103 with the forms of broadcasting, to realize movement
Control of the terminal 102 to multiple robots 103.
The present embodiment passes through Bluetooth communication first and the configuration information for the WIFI hot spot that mobile terminal 102 is established is sent to machine
Then device people 103 carries out the transmission of control signal by WIFI hot spot.On the one hand, Bluetooth communication and WIFI communication are general shiftings
The common communication of dynamic terminal 102 and robot 103, therefore the other communication modules of additional or equipment are not needed, on the other hand,
Bluetooth communication can be with communication point-to-point between simple realization mobile communication 102 and robot 103, and WIFI hot spot is then able to achieve shifting
Point-to-points communication between dynamic terminal 102 and multiple robots 103.
Present invention further propose that a kind of multi-robot system, as shown in Figure 1, the present embodiment multi-robot system 101 wraps
Include mobile terminal 102 and multiple robots 103, wherein mobile terminal 102 creates local area network 104, and matching local area network 104
Confidence breath is sent to robot 103；Robot 103 establishes connection according to configuration information and local area network 104；Mobile terminal 102 produces
Raw control signal, and robot 103 is sent control signals to by local area network 104, robot 103 receives control signal, and
Corresponding operation is executed according to control signal, to realize control of the mobile terminal 102 to multiple robots 103.
The present embodiment does not limit the concrete form of control signal, and mobile terminal 102 can be generated for multiple robots 103
Then multiple control instructions are sent respectively to corresponding robot 103 by local area network 104 by multiple control instructions, mobile whole
End 102 also can produce a control instruction, and control instruction is then sent respectively to each robot by local area network 104
103, it parses robot 103 to the control instruction, obtains corresponding control information, etc..
The control signal of the present embodiment can control multiple robots 103 and execute different single operation or multioperation, can also
Identical single operation or multioperation are executed to control multiple robots 103.
The mobile terminal 102 of the present embodiment can be mobile phone, intelligent wearable device, plate and PAD etc. with communication function
Electronic device.
It is different from the prior art, the local area network 104 that the present embodiment can establish multiple robots 103 with mobile terminal 102
It is attached, can be realized general mobile terminal 102 and control multiple robots 103, without being set using the dedicated of valuableness
Standby to control multiple robots 103, therefore, the multirobot 103 that can be realized low cost controls.
Optionally, before mobile terminal 102 creates local area network 104, mobile terminal 102 creates short with robot 103
Distance communication, and the configuration information of local area network 104 is sent to by robot 103 by short haul connection.
Wherein, the short haul connection of the present embodiment is Bluetooth communication, and local area network is WIFI hot spot.The present embodiment passes through first
The configuration information for the WIFI hot spot that mobile terminal 102 is established is sent to robot 103 by Bluetooth communication, then passes through WIFI hot spot
Carry out the transmission of control signal.On the one hand, Bluetooth communication and WIFI communication are the normal of general mobile terminal 102 and robot 103
With communication, therefore the other communication modules of additional or equipment are not needed, on the other hand, Bluetooth communication can be mobile with simple realization
Point-to-point communication between communication 102 and robot 103, and WIFI hot spot is then able to achieve mobile terminal 102 and multiple robots 103
Between point-to-points communication.
Further, the robot 103 of the present embodiment receives configuration information, and the query configuration in pre-set priority list
The priority of information；If priority is greater than pre-set priority, robot 103 is established according to configuration information and local area network 104 to be connected
It connects.In this way, when the priority of only configuration information (corresponding to mobile terminal 102) is greater than the pre-set priority, machine
103 ability of device people establishes connection with local area network 104.In this way, on the one hand can reducing illegal mobile mobile terminal, (figure is not
Show) interference, while multiple mobile terminals 102 can also be distinguished, be conducive to multiple robots 103 and execute having for operation
Sequence carries out.
Present invention further proposes a kind of mobile terminals, as shown in fig. 6, the mobile terminal of this embodiment 601 is for controlling
Multiple robot (not shown), mobile terminal 601 include processor 602, memory 603 and the transceiver 604 being mutually coupled；Place
It manages device 602 and creates local area network (not shown)；The configuration information of 603 storage area network of memory；Transceiver 604 is matched local area network
Confidence breath is sent to robot, so that robot establishes connection according to configuration information and local area network；Processor 602 further generates
Control signal；Transceiver 604 further sends control signals to robot by local area network, to control multiple robots.
It is controlled here about the specific Principle of Communication of mobile terminal 601 and multiple robots and to the specific of multiple robots
It does not repeat.
During the embodiment of the present invention can be applied to street show, personal small theatre, amusement etc. is applied privately, purchase volume is not had to
Outer expensive device reduces expense, does not also need specially to debug, and has popularization and versatility, conducive to the universal of robot.
It is different from the prior art, the embodiment of the present invention can connect the local area network that multiple robots are established with mobile terminal
It connects, can be realized general mobile terminal and control multiple robots, without controlling multiple machines using expensive special equipment
Device people, therefore, the embodiment of the present invention can be realized the multirobot control of low cost.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of method of mobile terminal control robot, which is characterized in that it is applied to multi-robot system, the system comprises
The mobile terminal and multiple robots, which comprises
The mobile terminal creates local area network, and the configuration information of the local area network is sent to the robot；
The robot establishes connection according to the configuration information and the local area network；
The mobile terminal generates control signal, and the control signal is sent to the robot by the local area network；
The robot receives the control signal, and executes corresponding operation according to the control signal, to realize the shifting
Dynamic control of the terminal to multiple robots.
2. the method according to claim 1, wherein the mobile terminal create local area network before, the side
Method further comprises:
The short haul connection of the mobile terminal creation and the robot；
The configuration information by the local area network is sent to the robot
The configuration information of the local area network is sent to the robot by the short haul connection by the mobile terminal.
3. control method according to claim 2, which is characterized in that the short haul connection is Bluetooth communication, ZigBee
Communication, NFC communication, UWB communication, LiFi communication in any one.
4. the method according to claim 1, wherein the robot is according to the configuration information and the local
Net establishes connection
The robot receives the configuration information, and the priority of the configuration information is inquired in pre-set priority list；
If the priority is greater than pre-set priority, the robot is established according to the configuration information and the local area network to be connected
It connects.
5. the method according to claim 1, wherein the local area network is WIFI hot spot.
6. control method according to claim 5, which is characterized in that in the robot according to the configuration information and institute
It states local area network to establish after connection, includes: before the mobile terminal generates control signal
The mark information of the robot is fed back to the mobile terminal by the WIFI hot spot by the robot；
The mobile terminal generates control signal, and the control signal is sent to the robot packet by the local area network
It includes:
The mobile terminal generates the control signal according to the mark information；
The mobile terminal sends the control command to the robot with the forms of broadcasting by the WIFI hot spot.
7. a kind of multi-robot system, which is characterized in that the system comprises mobile terminal and multiple robots, the shiftings
Dynamic terminal creates local area network, and the configuration information of the local area network is sent to the robot；The robot is according to
Configuration information and the local area network establish connection；The mobile terminal generates control signal, and will be described by the local area network
Control signal is sent to the robot, and the robot receives the control signal, and executes phase according to the control signal
The operation answered, to realize control of the mobile terminal to multiple robots.
8. system according to claim 7, which is characterized in that before the mobile terminal creates local area network, the shifting
The short haul connection of dynamic terminal creation and the robot, and pass through the short haul connection for the configuration information of the local area network
It is sent to the robot.
9. system according to claim 8, which is characterized in that the robot receives the configuration information, and default
The priority of the configuration information is inquired in priority list；If the priority is greater than pre-set priority, the robot
Connection is established according to the configuration information and the local area network.
10. a kind of mobile terminal, which is characterized in that the mobile terminal is for controlling multiple robots, the mobile terminal packet
Include the processor, memory and transceiver being mutually coupled；
The processor creates local area network；
The memory stores the configuration information of the local area network；
The configuration information of the local area network is sent to the robot by the transceiver, so that the robot matches according to
Confidence breath establishes connection with the local area network；
The processor further generates control signal；
The transceiver further passes through the local area network and the control signal is sent to the robot, to control multiple institutes
State robot.
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| CN110543436A (en) * | 2019-09-06 | 2019-12-06 | 北京云迹科技有限公司 | Robot data acquisition method and device |
| CN110614634A (en) * | 2019-08-15 | 2019-12-27 | 北京致行慕远科技有限公司 | Control method, portable terminal, and storage medium |
| CN110936375A (en) * | 2019-12-04 | 2020-03-31 | 路邦科技授权有限公司 | Synchronous multi-connection system and synchronous multi-connection method of robot |
| CN111462731A (en) * | 2020-03-27 | 2020-07-28 | 四川虹美智能科技有限公司 | Voice test system and test method thereof |
| 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 |
| CN113055849A (en) * | 2021-03-01 | 2021-06-29 | Oppo广东移动通信有限公司 | Vehicle control method and device, electronic equipment and computer readable storage medium |
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