CN110561414A - Robot based on handheld terminal control - Google Patents
Robot based on handheld terminal control Download PDFInfo
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- CN110561414A CN110561414A CN201910545824.XA CN201910545824A CN110561414A CN 110561414 A CN110561414 A CN 110561414A CN 201910545824 A CN201910545824 A CN 201910545824A CN 110561414 A CN110561414 A CN 110561414A
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- 238000004891 communication Methods 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000009471 action Effects 0.000 claims abstract description 5
- 238000012544 monitoring process Methods 0.000 claims description 13
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- 239000013078 crystal Substances 0.000 description 7
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- 230000002452 interceptive effect Effects 0.000 description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
A robot based on handheld terminal control, comprising: the system comprises a communication unit, a decision maker database and an identification unit, wherein the communication unit is configured to carry out a communication link with a handheld terminal through a network and receive an instruction sent by the handheld terminal remotely, the decision maker database is configured to sequentially store characteristic information of a decision maker which can guide the movement and the action of a robot and holds the handheld terminal according to a command level, the identification unit is configured to request characteristic authentication to a command sender after receiving the instruction, the characteristic authentication comprises the steps of sequentially comparing the characteristic information of the command sender with the characteristic information of the decision maker in the decision maker database, and judging whether to move and act according to the received instruction according to a comparison result. The robot based on the handheld terminal control has an identification function, and the robot cannot be operated by mistake and/or moved when receiving an instruction of an unauthorized user.
Description
Technical Field
the invention relates to a robot based on handheld terminal control, and belongs to the technical field of robots.
Background
In the prior art, a robot capable of being remotely controlled is provided, for example, chinese patent application with publication number CN 106060058A, which discloses an industrial robot remote control method based on the internet. The robot operates and/or acts according to instructions sent by the remote terminal. However, the business competition is very intense, and if an illegal user steals the login password and sends an instruction to the robot, the robot also operates or acts according to the instruction, which inevitably causes great loss to production and life.
Disclosure of Invention
The invention aims to provide a robot controlled by a handheld terminal, which has an identification function and does not operate and/or act by mistake even if an instruction of an illegal user is received.
In order to achieve the object, the present invention provides a robot based on handheld terminal control, comprising: a communication unit configured to perform a communication link with the handheld terminal through a network and receive an instruction remotely transmitted from the handheld terminal; the display is used for displaying the image information sent by the handheld terminal; the system comprises a decision maker database, a suspicious personnel database and an identification unit, wherein the decision maker database is configured to store characteristic information of decision makers which can guide the movement and the action of the robot and hold a handheld terminal in sequence according to command levels, the suspicious personnel database is further used for requesting image authentication to a sender after receiving an instruction, and the image authentication comprises the following steps: the head data of the instruction sender is obtained and compared with the characteristic information of the decision maker in the decision maker database in sequence according to levels, if the comparison is successful, the authentication is passed, the instruction of the instruction sender which is successfully compared is executed, if the comparison is not successful, the image information of the instruction sender which is not successfully compared is stored in the suspicious personnel database, and a request is sent to the decision maker in sequence according to the priority level to report that the comparison is successful
Preferably, the process of acquiring the head data of the sender includes: selecting image data of consecutive m +1 frames from the received image; sequentially obtaining the difference between the input image data of the current frame and the image data of the previous frame adjacent to the current frame to generate m differential images; adding the m difference images and taking an average of the difference images, thereby obtaining an average difference image; obtaining active object rectangle data from the average difference image: acquiring all motion areas from the average difference image, wherein the left and right horizontal coordinates of each motion area are the left and right horizontal coordinates of the rectangular data of the moving object; the minimum ordinate of each motion area is determined as the top of the active object; retrieving the image from the top down to obtain a maximum ordinate of the motion region, the maximum ordinate being determined as the bottom of the active object rectangle; all head data is acquired from the moving object rectangle data.
Preferably, the robot controlled by the hand-held terminal further comprises one or more of the following information of an illegal commander: web address, region, hand-held terminal number.
Preferably, the robot controlled based on the handheld terminal further comprises a state monitoring unit, wherein the state monitoring unit further determines whether an emergency state occurs in the process of executing the command, and the emergency notification unit provides a control signal to the brake to stop the servo motor and keep the action before the emergency state when the emergency state occurs.
Preferably, the communication unit includes at least a mixer, a detector, and a modulator, and is characterized by further including a first phase-locked loop, a second phase-locked loop, a first frequency divider, and a fixed frequency source, the first phase-locked loop generating a first high-frequency signal based on a fixed-frequency signal generated by the fixed frequency source and a first reference voltage, the first high-frequency signal being supplied to the mixer, the mixer mixing a received high-frequency signal with the first high-frequency signal to generate a signal including an intermediate-frequency signal; the frequency divider is used for dividing the frequency of the first high-frequency signal to obtain a second high-frequency signal to be supplied to the detector, and the detector is used for extracting a modulation signal in the received high-frequency signal from the intermediate-frequency signal; the second phase-locked loop generates a third high-frequency signal according to a signal generated by the frequency source and the second reference voltage, the third high-frequency signal is provided for the modulator, and the modulator modulates a signal to be transmitted onto the third high-frequency signal to generate a high-frequency modulation signal carrying information.
Preferably, the communication unit further includes an analog-to-digital converter and a square wave signal generator, the analog-to-digital converter is configured to convert the modulation signal demodulated by the detector into a digital signal, the square wave signal generator includes a third phase-locked loop and a zero-crossing comparator, the third phase-locked loop generates a fourth high-frequency signal according to a signal generated by the frequency source and a third reference voltage, the fourth high-frequency signal is provided to an inverting terminal of the zero-crossing comparator, a non-inverting terminal of the zero-crossing comparator is connected to ground, an output terminal of the zero-crossing comparator is configured to provide the square wave signal to the digital-to-analog converter, and the digital-to-analog converter samples the modulation signal demodulated by the detector by.
Preferably, the communication unit further includes a power divider, a frequency discriminator band-pass filter and a control circuit thereof, the power divider divides power provided by the limiter, one path of the divided power is provided to the frequency converter, the other path of the divided power is provided to the frequency discriminator, the frequency discriminator is used for discriminating the central working frequency of the input signal and outputting a voltage signal (VPF) with voltage varying with the central working frequency, the voltage signal (VPF) is provided to the control circuit of the band-pass filter, the control circuit of the band-pass filter linearly superimposes the voltage and a direct current voltage to generate a control voltage and then provides the control voltage to the band-pass filter, and the band-pass filter adjusts the central working frequency according to the control voltage so as to track and filter the input signal.
Compared with the prior art, the robot based on handheld terminal control provided by the invention has the following beneficial effects: (1) the method has the identification function, and the information of the illegal user is received, so that the misoperation and/or the action can not occur; (2) the communication unit is low in cost.
Drawings
FIG. 1 is a flow chart of the present invention for controlling a robot based on a handheld terminal;
FIG. 2 is a block diagram of the communication unit in the robot control system provided by the present invention;
Fig. 3 is a circuit diagram of a bandpass filter in a communication unit provided by the present invention.
Detailed Description
Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings.
The invention provides a handheld terminal based control robot connected to a handheld terminal located in a remote area remote from a site via a network. The movement control of the robot can be remotely controlled by a handheld terminal. The robot is connected to the network via an access point provided at the station. The robot comprises a microprocessor, a memory, a storage device, a mobile device, a display device, a camera, a microphone, a loudspeaker and a communication unit which are connected through a bus, wherein the microprocessor works based on a control program stored in the storage device, and the memory temporarily stores mobile control information and interaction control information received by the robot; the storage device is configured with a Hard Disk Drive (HDD) and a Solid State Drive (SSD), and stores control programs for controlling respective units of the robot.
The moving device includes a tire, a motor, a transmission, a brake, a direction control device, a current position detecting device, and a locking device that prevents an unintentional operation of the moving device in an emergency. The movement of the mobile device is controlled by a mobile controller. The display device includes a display screen provided with a liquid crystal display, which is disposed at an upper portion of the robot. The display device displays images and data transmitted from the remote handheld terminal. The display device includes a status indicator lamp configured with a high brightness LED lamp in addition to a display screen. The high brightness LED lamp is turned on or blinks in case of an emergency to inform an emergency state.
The camera captures images of the live participants on the site and the environment on the site and stores the images in memory. The microphone detects the voice of the participants on the scene and other sounds on the scene and stores the detected voice information in the memory. The speaker outputs the voice of the remote handheld end user provided by the interactive controller of the robot. The speaker also outputs an indication of an emergency condition. The communication unit performs communication control so that the robot communicates with a remote handheld terminal via an access point.
according to an embodiment of the present invention, the robot operates the movement controller, the interaction controller, the state monitoring unit, the candidate list creator, the emergency notification unit, and the recognition unit by controlling the microprocessor to execute the control program stored in the storage device. The storage device is further configured to store a database of decision maker intelligence information and a database of suspect intelligence information.
The movement controller controls the mobile device to move the robot forward or backward, stop or change direction based on remote operation information from the remote handheld terminal. The mobile controller starts locking of the locking device in case of emergency or unlocks the locking device according to an instruction from the remote handheld terminal.
the interactive controller performs interactive control such that video received from the remote handheld terminal is displayed on the display device and received voice is uttered by the speaker. Further, the interactive controller performs control to transmit sounds around the robot detected by the microphone and video around the robot photographed by the camera to the remote handy terminal.
The state monitoring unit monitors a state of the robot and determines whether the state is an emergency state. For example, if a predetermined condition is satisfied, the state monitoring unit determines that the state is an emergency state. Specifically, the state monitoring unit monitors the communication situation between the robot and the remote hand-held terminal. The state monitoring unit determines that the state is an emergency state if a communication failure occurs or if a predetermined time elapses after a communication error occurs. The emergency notification unit notifies the robot of the emergency state through a display screen of a display device or a status indicator lamp or a speaker if the state monitoring unit determines that the robot is in the emergency state. Specifically, the notification is performed by displaying emergency notification information indicating an emergency state on a display screen of the display device. Turn on or flash a status indicator light, or notify an emergency status through a speaker. On the display screen of the display device, the color of the screen display may be changed (for example, to a red screen display) so that the emergency state is easily recognized from the surrounding environment.
the candidate list creator lists the order of priority in accordance with the priority of the decision. The robot may sequentially select remote handheld terminals for which to perform operations, authentication requests, in order of priority listed by the candidate list creator.
If the remote hand-held terminal performs login to remotely control the robot, the recognition unit checks login information and requests image authentication to determine whether it is a legitimate sender of the commander.
The remote handheld terminal includes: a CPU, a memory, a storage device, a user interface, a communication unit, a camera, a microphone, and a speaker, which are connected to the control bus. The CPU controls the operations of its respective units based on a control program stored in the storage device. The memory temporarily stores data. The memory stores video and voice received by the remote handheld terminal from the robot, video captured by its own camera, voice signals detected by a microphone, and the like. The storage is a storage device configured with a hard disk (HDD) or a Solid State Drive (SSD). The storage stores control programs for controlling the respective units of the remote hand-held terminal and application programs for the robot. The display device displays an image of its surroundings captured by the robot and emergency notification information transmitted from another robot when the robot is in an emergency. And the input device is used for inputting login information when the remote handheld terminal logs in so as to remotely control the movement of the robot. The communication unit performs communication control so that a remote handheld terminal is connected to the robot via a network to perform communication. If the remote handheld terminal is a notebook personal computer or a tablet terminal, the camera is for example a front camera. The camera captures images of the user holding the remote handheld terminal and its surroundings. The microphone detects the voice of the user operating the remote handheld terminal. The speaker reproduces sound transmitted from the robot.
The remote hand-held terminal executes an application program stored in the storage device to control the login unit, the remote controller, and the interactive controller.
The login unit displays a login screen on a display device of the user interface, requests input of login information, and transmits the login information to the robot after the login information is input. The remote controller generates remote control information to control the robot to move forward, move backward, stop and change direction. The interactive controller transmits the video of the commander to be transmitted captured by the camera and the voice of the remote operator detected by the microphone to the robot. The interactive controller displays an image received from the robot on the display device and reproduces a received voice from the speaker.
Next, the workflow of the robot control system will be described with reference to the drawings. Fig. 1 is a flowchart of the operation of the robot provided by the present invention. As shown in figure 1 of the drawings, in which,
in step S1, the recognition unit of the robot determines whether an instruction has been received from the remote handy terminal. If not, the identification unit waits until receiving the instruction; if the identification unit determines that an instruction has been received from the remote handy terminal, it proceeds to step S02;
In step S02, the sending commander is requested to turn on the video, if the sending commander refuses to turn on the video, the current sending commander is determined to be a condensable person, and if the sending commander turns on the video, the image authentication is performed, and the image recognition includes the following processes:
In step S201, image data of consecutive m +1 frames is selected from the received image, and the difference between the input image data of the current frame and the image data of the previous frame adjacent thereto is sequentially obtained to generate m difference images;
In step S202, the m difference images are added and an average value of the difference images is taken, thereby obtaining an average difference image;
In step S203, moving object rectangle data is obtained from the average differential image: acquiring all motion areas from the average difference image, wherein the left and right horizontal coordinates of each motion area are the left and right horizontal coordinates of the rectangular data of the moving object; the minimum ordinate of each motion area is determined as the top of the active object; retrieving the image from the top down to obtain a maximum ordinate of the motion region, the maximum ordinate being determined as the bottom of the active object rectangle;
In step S204, all head data is obtained from the rectangular data of the moving object, and feature information is obtained from the head data and is compared with the feature information of the decision maker in the decision maker database in sequence according to the level, if the comparison is successful, the authentication is passed, the instruction of the command sender who is successfully compared is executed, and the related information of the command sender, the time for sending the instruction, and the content of the instruction are recorded; if the comparison is not successful, storing the characteristic information of the instruction sender which is not successfully compared in the database of the suspicious personnel, sequentially sending a request to the decision maker according to the priority recorded in the candidate list creator, reporting that the suspicious personnel exist, sending the image of the suspicious personnel to the handheld terminal of the decision maker which receives the request and responds through the communication unit, requesting the responded decision maker to check the instruction sender to verify the characteristic information, if the responded decision maker confirms that the suspicious personnel is the appointed instruction sender, executing the instruction, recording the relevant information of the instruction sender and the time for sending the instruction, recording the content of the instruction, and if not, abandoning the instruction execution, and marking the image of the instruction sender which is not successfully compared and verified as an illegal instruction sender.
In step S205, one or more of the following information of the illegal sender are obtained: web address, region, hand-held terminal number.
According to an embodiment of the invention, the method is compiled into source program codes executable by a processor through a computer language, and the source program codes are stored on a storage medium and used by a plurality of robots.
In addition, the state monitoring unit also judges whether an emergency state occurs during the execution of the instructions by the robot. If the state monitoring unit determines that the robot is in an emergency state, an emergency handling procedure is performed. If the state monitoring unit determines that the robot is not in an emergency state, the recognition unit determines whether a logout request has been received from the remote handheld terminal. And if the logout request is not received, continuously executing the remote control of the remote handheld terminal. If the identification unit determines that the logout request has been received, the identification unit sends a message that logout has been normally performed to the remote handheld terminal.
Executing the emergency event handler includes: the robot movement controller locks a locking device provided in a movement device, such as a servo motor for driving a robot arm, by a brake, to lock the movement of the robot, and in an emergency state, an emergency notification unit provides a control signal to the brake to stop the servo motor and maintain the operation before the emergency state, so that the robot operates at the fastest speed when the emergency state disappears. The emergency notification unit of the robot displays on the display device that its own equipment is in an emergency state. Specifically, the emergency notification unit displays emergency notification information indicating an emergency situation on a display screen of the display device, or turns on or blinks a status indicator lamp. Further, the emergency notification unit makes a notification indicating that its own apparatus is in an emergency state through a speaker. The emergency notification unit also makes a login request to a handheld terminal owned by the site participant, the handheld terminal is an interaction partner of the robot before the emergency state occurs, the interaction partner is requested to inform the remote handheld terminal that the emergency state has occurred, and the instruction sending is requested to be suspended. Or making a login request to another robot remotely controlled by the remote handheld terminal, wherein the other robot is an interaction partner of the robot before the emergency state occurs, the interaction partner is requested to inform the remote handheld terminal that the emergency state occurs, and the command is requested to be suspended. The robot controlled by the remote terminal and located in the same site and the robot site can be self-organized with the network, thus becoming interaction partners with each other.
The composition of the communication unit of the robot is described below.
Fig. 2 is a block diagram of a communication unit in the robot control system provided by the present invention, as shown in fig. 2, according to an embodiment of the present invention, the communication unit at least includes a receiving antenna, a limiter 101, a first band pass filter 102, a small signal amplifier 103, a frequency converter, a second band pass filter 106, a detector 107, a low frequency amplifier 108, and an analog-to-digital conversion circuit 109, wherein the receiving antenna is configured to receive an electromagnetic signal forwarded by a station, convert the electromagnetic signal into a high frequency electric signal, and provide the high frequency electric signal to the first band pass filter 102 after being limited by the limiter 101, the first band pass filter 102 extracts the high frequency signal carrying a modulation signal and provides the high frequency signal to the small signal amplifier 103, the small signal amplifier 103 is configured to amplify the high frequency signal provided by the first band pass filter 102 and provide the high frequency signal to the frequency converter, the frequency converter includes a mixer 104 and a first high frequency, the mixer 104 is used for mixing the high frequency signal carrying the modulation signal with the first high frequency signal generated by the first high frequency signal source and then supplying the mixed signal to the band pass filter 105, in the present invention, the mixer 104 is preferably a multiplier, and the band pass filter 105 is used for filtering the low frequency and high frequency signals, taking out the intermediate frequency signal and supplying the intermediate frequency signal to the detector 106. The first high-frequency signal source at least comprises the first phase-locked loop, the first phase-locked loop generates a first high-frequency signal according to a signal generated by a frequency source 122 and a first reference voltage Vf1, the first phase-locked loop comprises a voltage-controlled oscillator (VCO)110, a frequency divider 113 with a ratio of N, a phase detector 112 and a low-pass filter 111, wherein the frequency source is preferably a crystal oscillator 122, and is used for generating a constant-amplitude signal with a fixed frequency and providing the constant-amplitude signal to the phase detector 112; the Voltage Controlled Oscillator (VCO)110 generates an oscillation signal according to the voltage provided by the first reference Vf1 and the low pass filter 111, and frequency-divides the oscillation signal by the frequency divider 113 and then provides the oscillation signal to the phase detector 112, the phase detector 112 compares the phases of the signals provided by the frequency divider 113 and the crystal oscillator 122 and filters a high frequency by the Low Pass Filter (LPF)109 to generate a voltage signal, the voltage signal is linearly related to the phase difference, the voltage signal is superimposed with Vf1 to further control the first high frequency signal generated by the voltage controlled oscillator, and the first high frequency signal is provided to the mixer 104 by the first buffer 114.
The detector 106 is configured to multiply the intermediate frequency signal provided by the band pass filter 105 with the second high frequency signal, thereby generating a signal including a modulation signal, and provide the signal to the low pass filter 107. The second high frequency signal is obtained by dividing the first high frequency signal by a frequency divider 115 having a frequency dividing ratio M, and is preferably supplied to the detector 106 through a buffer 116.
The low pass filter 107 is used to filter out the high frequency components in the signal provided by the detector 106, and extract the modulated signal transmitted by the remote handheld terminal, which is amplified by the low frequency amplifier 108 and provided to the analog-to-digital converter 109 for analog-to-digital conversion. The low frequency amplifier 108 controls its amplification according to the automatic gain control voltage AGC.
The communication unit further comprises a square wave signal generator, wherein the square wave signal generator comprises a third phase-locked loop and a zero-crossing comparator 117, the third phase-locked loop generates a fourth high-frequency signal according to a signal generated by the frequency source and a third reference voltage, the fourth high-frequency signal is provided to an inverting terminal (or a non-inverting terminal) of the zero-crossing comparator 117, the non-inverting terminal (or the non-inverting terminal) of the zero-crossing comparator 117 is connected to the ground, the output terminal is used for providing the square wave signal for the digital-to-analog converter 109, and the digital-to-analog converter 109 samples the modulated signal demodulated by the detector by using the square wave signal. The third phase-locked loop generates a fourth high-frequency signal according to a signal generated by a frequency source 122 and a third reference voltage, and the fourth phase-locked loop includes a Voltage Controlled Oscillator (VCO)120, a frequency divider 121 with a ratio of K, a phase detector 118, and a low-pass filter 119, where the crystal oscillator 122 is configured to generate a fixed frequency signal and provide the fixed frequency signal to the phase detector 118; a Voltage Controlled Oscillator (VCO)120 generates an oscillation signal according to the voltage provided by the third reference Vf3 and the low pass filter 119, and is divided by a frequency divider 121 and then provided to a phase detector 118, and the phase detector 118 compares the phases of the signals provided by the frequency divider 121 and the crystal oscillator 122 and filters a high frequency by the low pass filter 119 to generate a voltage signal, which is superimposed with Vf3 to further control a fourth high frequency signal generated by the voltage controlled oscillator 120.
the communication unit further comprises a second high frequency signal source comprising said second phase locked loop which generates a third high frequency signal based on the signal generated by the frequency source 122 and a second reference voltage, said third high frequency signal being provided to a modulator 128, said modulator 128 modulating the signal to be transmitted onto the third high frequency signal to generate a high frequency modulated signal carrying the information. The second phase locked loop includes a Voltage Controlled Oscillator (VCO)123, a frequency divider 126, a phase detector 125, and a low pass filter 124, where the crystal oscillator 122 is configured to generate a fixed frequency signal and provide the fixed frequency signal to the phase detector 125; a Voltage Controlled Oscillator (VCO)123 generates an oscillation signal according to the voltage provided by the second reference Vf2 and the low pass filter 124, and the oscillation signal is divided by the frequency divider 126 and then provided to the phase detector 125, and the phase detector 1258 compares the phases of the signals provided by the frequency divider 126 and the crystal oscillator 122 and filters out high frequencies by the low pass filter 124 to generate a voltage signal, which is added to Vf2 to further control the third high frequency signal generated by the voltage controlled oscillator 123.
According to an embodiment, the communication unit further comprises a frequency divider with a division ratio Q, which divides the third high frequency signal into a fifth high frequency signal, which is supplied to the modulator 128, preferably via the buffer 127 to the modulator 128. The modulator 128 is configured to modulate a signal to be transmitted by the robot processing unit onto a third high-frequency signal or a second high-frequency signal, transmit the signal to the high-frequency power amplifier 129, amplify the power of the signal, and transmit the signal to the transmitting antenna, where the transmitting antenna converts the signal provided by the high-frequency power amplifier 129 into an electromagnetic wave and transmits the electromagnetic wave to the air.
in the invention, the frequency dividing ratios M, N, K, P and Q are integers which are more than 1, the specific numerical values are controlled by the processor according to a program, and the first reference voltage Vf1, the second reference voltage Vf2 and the third reference voltage Vf3 are controlled by the processor according to the program.
According to one embodiment, the radio frequency circuit further comprises: the power divider divides a signal provided by the amplitude limiter 101, one path of the signal is provided to the band-pass filter 102, the other path of the signal is provided to the frequency discriminator, the frequency discriminator is used for discriminating the center frequency of an output signal of the antenna loop, the center frequency corresponds to the center frequency of the receiving antenna loop and outputs a voltage signal VPF with voltage changing along with the center frequency, the voltage signal VPF is provided to the control circuit of the band-pass filter, the control circuit of the band-pass filter superposes the voltage and a direct current voltage linearly to generate control voltage and then provides the control voltage to the band-pass filter 102, and the band-pass filter 102 adjusts the center working frequency according to the control voltage so as to track and filter the input signal. The invention provides the band-pass filter which can track the center frequency of the input signal, so that various carrier frequency signals can be processed according to the requirement, namely, various wireless networks can be accessed.
Fig. 3 is a circuit diagram of a bandpass filter in a communication unit provided by the present invention, and as shown in fig. 3, the bandpass filter provided by the present invention includes an inductor L, a capacitor C, a varactor D1, and a resistor R1, wherein the capacitor C and the varactor D1 are connected in series to form a series branch, the series branch is connected in parallel with the inductor L, so as to form a voltage-controlled bandpass filter, an output of the limiter is connected to an input terminal in, the input terminal in is connected to a first terminal of the resistor R1, a second terminal of the resistor R1 is connected to an output terminal out, and the output terminal out is connected to an input terminal of the high-frequency small-signal amplifier. The second terminal of the resistor R1 is connected to ground via the LC parallel branch. The first end of the resistor R2 is connected to the middle node of the series connection of the capacitor C and the varactor D1, and the second end of the resistor R2 is connected to the control circuit.
As also shown in fig. 3, the control circuit of the bandpass filter of the present invention includes an adder for adding the voltage VPF output from the discriminator to a set dc voltage and applying the added voltage to both ends of the varactor diode D1 for amplification, so that the voltage VPF is applied to both ends of the varactor diode D1The capacitance of the varactor diode varies as the center frequency of the received signal varies, thereby changing the center operating frequency of the bandpass filter. The adder comprises an operational amplifier IC, a resistor R3, a resistor R4, a resistor R5, a resistor R6 and a resistor RW, wherein a first end of the resistor R3 is connected to an inverting input end of the operational amplifier IC, a second end of the resistor R3 is connected to an output end of the operational amplifier IC, and an output end of the frequency discriminator 121 is connected to a non-inverting input end of the operational amplifier IC through a resistor R5; the resistor RW is connected in series with the resistor R4 and is connected between the power supply ECC and the ground, and the intermediate node of the resistor RW in series with the resistor R4 is connected to the non-inverting input terminal of the operational amplifier to provide the operational amplifier IC with a DC voltage:the dc voltage is added to VPF and then scaled up and applied to the varactor diode through resistor R2. In the present invention, the value of the resistor RW is controlled by a processor according to a program.
The high-frequency signal output by the voltage-controlled oscillator of any phase-locked loop in the communication unit provided by the invention can provide an intermediate-frequency clock signal for the intermediate-frequency circuit after being frequency-divided by the frequency divider.
The communication unit provided by the invention generates high-frequency signals of various required frequencies by one frequency source, thereby saving the cost, miniaturizing the volume and facilitating the integration. When the communication unit is formed as an integrated circuit, an inductance element, a crystal oscillator, or the like in the band-pass filter can be accessed from the outside of the integrated circuit.
The embodiments have been described by way of example for purposes of illustration and description. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications. Thereby enabling others skilled in the art to understand the invention for various embodiments and with various modifications as are suited to the particular use contemplated. The scope of the invention is defined by the appended claims.
Claims (7)
1. A robot based on handheld terminal control, comprising: a communication unit configured to perform a communication link with the handheld terminal through a network and receive an instruction remotely transmitted from the handheld terminal; the display is used for displaying the image information sent by the handheld terminal; the system comprises a decision maker database, a suspicious personnel database and an identification unit, wherein the decision maker database is configured to store characteristic information of decision makers which can guide the movement and the action of the robot and hold a handheld terminal in sequence according to command levels, the suspicious personnel database is further used for requesting image authentication to a sender after receiving an instruction, and the image authentication comprises the following steps: the head data of the commander is compared with the characteristic information of the decision maker in the decision maker database according to the grade, the comparison is successful, the authentication is passed, the command of the command sender which is successfully compared is executed, if the comparison is not successful, storing the image information of the command sender which is not compared successfully in a suspicious personnel database, sending requests to the decision maker in sequence according to the priority level to report that suspicious personnel exist, sending the image of the suspicious personnel to the handheld terminal of the decision maker which receives the requests and responds, requesting the responded decision maker to check the command sender for feature information verification, and if the responded decision maker confirms that the sender is the appointed command sender, executing the instruction, otherwise, abandoning the instruction execution, and marking the image of the instruction sender which is not compared successfully and verified to be not confirmed as an illegal instruction sender.
2. The robot based on handheld terminal control of claim 1, wherein the process of acquiring the head data of the commander comprises: selecting image data of consecutive m +1 frames from the received image; sequentially obtaining the difference between the input image data of the current frame and the image data of the previous frame adjacent to the current frame to generate m differential images; adding the m difference images and taking an average of the difference images, thereby obtaining an average difference image; obtaining active object rectangle data from the average difference image: acquiring all motion areas from the average difference image, wherein the left and right horizontal coordinates of each motion area are the left and right horizontal coordinates of the rectangular data of the moving object; the minimum ordinate of each motion area is determined as the top of the active object; retrieving the image from the top down to obtain a maximum ordinate of the motion region, the maximum ordinate being determined as the bottom of the active object rectangle; all head data is acquired from the moving object rectangle data.
3. The robot based on the handheld terminal control as claimed in claim 2, further comprising one or more of the following information of the illegal commander: web address, region, hand-held terminal number.
4. The robot based on the handheld terminal control of claim 1, further comprising a status monitoring unit, wherein the status monitoring unit further determines whether an emergency occurs during the execution of the command by the robot, and the emergency notification unit provides a control signal to the brake to stop the operation of the servo motor and maintain the operation before the emergency when the emergency occurs.
5. The robot according to claim 1, wherein the communication unit includes at least a mixer, a detector, and a modulator, and further includes a first phase-locked loop generating a first high-frequency signal based on a fixed-frequency signal generated by the fixed-frequency source and a first reference voltage, a second phase-locked loop, a first frequency divider, and a fixed-frequency source, the first high-frequency signal being supplied to the mixer, the mixer mixing the received high-frequency signal with the first high-frequency signal to generate a signal including an intermediate-frequency signal; the frequency divider is used for dividing the frequency of the first high-frequency signal to obtain a second high-frequency signal to be supplied to the detector, and the detector is used for extracting a modulation signal in the received high-frequency signal from the intermediate-frequency signal; the second phase-locked loop generates a third high-frequency signal according to a signal generated by the frequency source and the second reference voltage, the third high-frequency signal is provided for the modulator, and the modulator modulates a signal to be transmitted onto the third high-frequency signal to generate a high-frequency modulation signal carrying information.
6. The robot of claim 5, further comprising an analog-to-digital converter and a square wave signal generator, wherein the analog-to-digital converter is configured to convert the modulated signal demodulated by the detector into a digital signal, the square wave signal generator comprises a third phase-locked loop and a zero-crossing comparator, the third phase-locked loop generates a fourth high-frequency signal according to a signal generated by the frequency source and a third reference voltage, the fourth high-frequency signal is provided to an inverting terminal of the zero-crossing comparator, a non-inverting terminal of the zero-crossing comparator is connected to ground, an output terminal of the zero-crossing comparator is configured to provide the square wave signal to the digital-to-analog converter, and the digital-to-analog converter samples the modulated signal demodulated by the detector by using the square wave signal.
7. The robot based on the handheld terminal control as recited in claim 6, further comprising a power divider, a frequency discriminator band-pass filter and a control circuit thereof, wherein the power divider divides power provided by the limiter, one path of the divided power is provided to the frequency converter, the other path of the divided power is provided to the frequency discriminator, the frequency discriminator is used for discriminating the central operating frequency of the input signal and outputting a voltage signal (VPF) with a voltage varying with the central operating frequency, the voltage signal (VPF) is provided to the control circuit of the band-pass filter, the control circuit of the band-pass filter linearly superposes the voltage and a direct current voltage to generate a control voltage and then provides the control voltage to the band-pass filter, and the band-pass filter adjusts the central operating frequency according to the control voltage so as to track and filter the input signal.
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