CN212305500U - Robot system - Google Patents

Abstract

The utility model discloses a robot system, which comprises a robot and a controller in communication connection with the robot; wherein the robot comprises a recording device to capture video and a first antenna, the recording device being electrically connected to the first antenna; the controller comprises a second antenna, a display device and a signal detection device, wherein the signal detection device is electrically connected with the second antenna, and the second antenna is in communication connection with the first antenna and is electrically connected with the display device. The invention can improve the quality of video image output.

Description

Robot system

Technical Field

The utility model relates to a robot system.

Background

Although existing robotic systems can provide remote monitoring images, there is a risk that the images will suddenly disappear completely. In addition, existing robotic systems are not robust enough and flexible enough to quickly and accurately enter a target area.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is an object of the present invention to provide a robot system capable of improving the output quality of video images.

The utility model provides a robot system, which comprises a robot and a controller in communication connection with the robot; wherein the robot comprises a recording device to capture video and a first antenna, the recording device being electrically connected to the first antenna; the controller comprises a second antenna, a display device and a signal detection device, wherein the signal detection device is electrically connected with the second antenna, and the second antenna is in communication connection with the first antenna and is electrically connected with the display device.

In a particular embodiment, the recording device comprises a camera module.

In a particular embodiment, the camera module includes a front-drive camera and/or a 360 degree camera.

In a specific embodiment, the number of the camera modules is one or more.

In a specific embodiment, the controller includes a plurality of buttons that are each communicatively coupled to the robot.

In a particular embodiment, the controller includes a joystick communicatively coupled to the robot.

In a particular embodiment, the controller comprises a first speaker and/or the first microphone.

In a particular embodiment, the number of the first speakers and/or the first microphones is one or more.

In a particular embodiment, the robot comprises a second speaker and/or a second microphone.

In a particular embodiment, the number of said second loudspeakers and/or said second microphones is one or more.

The utility model discloses owing to take above technical scheme, it has following advantage:

the utility model discloses not only can improve video image's output quality, can control the robot in addition nimble, the steady operation, and then make the robot can get into the target area fast and accurately, the controllability is strong.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following will briefly introduce the drawings required in the description of the embodiments:

fig. 1 shows a graph of perceived quality versus signal strength for video transmission for analog video and digital video;

FIG. 2 shows a graph of perceived quality versus signal strength for video transmission of analog video and digital video at multiple bit rates;

FIG. 3 illustrates a schematic diagram of a robotic system in accordance with a particular embodiment;

FIG. 4 illustrates how image resolution is reduced to alert the user to a drop in signal strength;

FIG. 5 illustrates the amount of noise artifact introduced into a digital video signal as a function of signal strength;

FIG. 6 illustrates an example digital video frame in which different amounts of noise artifact are introduced;

FIG. 7 illustrates an example digital video frame having portions that introduce different amounts of noise artifacts;

fig. 8 shows the amount of noise artifact introduced into digital video signals having different bit rates in relation to signal strength.

Detailed Description

The following detailed description will be made with reference to the accompanying drawings and examples, so as to solve the technical problems by applying technical means to the present invention, and to fully understand and implement the technical effects of the present invention. It should be noted that, as long as no conflict is formed, the embodiments and the features in the embodiments of the present invention may be combined with each other, and the technical solutions formed are all within the scope of the present invention. The directional terms used in the present invention, such as "inner", "outer" and "front", are used with reference to the attached drawings. Accordingly, the directional terms used are used for describing and understanding the present invention, and are not used for limiting the present invention.

Fig. 1 shows a graph of perceived quality versus signal strength for video transmission for analog video and digital video. Although the figure describes a video signal, similar effects may be observed for audio signals, control signals or any other communication signals. As shown in fig. 1, analog video is gradually attenuated until it reaches an unusable level, while digital video can maintain a certain quality, and then suddenly attenuated without typically alerting the user monitoring the video transmission.

In some applications, "digital attenuation" can lead to unfortunate results. As one example, law enforcement personnel outside a building may be inspecting the interior of the building using a robotic system that includes a camera and a controller. As the robot traverses various corridors and rooms in the building, the number of walls and other obstacles between the controller and the robot may increase, which in turn may increase the noise in the video signal. Using an analog video signal, the officer can see that the quality of the analog video signal gradually decreases as the noise increases. Thus, the officer may wish to take appropriate action to prevent the complete loss of the analog video signal. For example by reversing the path of the robot and bringing the robot closer to the police officer. With digital video signals, the officer may not notice any degradation in the quality of the digital video signal until a digital fade occurs. However, when this happens, it is difficult or impossible for the police officer to guide the robot to a location where communication can be reestablished due to the lack of digital video signals from the robot. A lower latency signal will also cause the officer to react or respond better or faster to the conditions they may encounter. Further, other applications requiring low latency may be any teleoperation requiring human control, such as a robot in space, a surgical robot, or any other suitable application. Embodiments of the present disclosure intentionally reduce the data rate and thus the potential reproduction quality of the video signal as noise increases so that the system user is alerted to potential attenuation of the signal by degradation of the video quality. Adjusting the data rate can also reserve bandwidth for other wireless communications (e.g., control signals) other than video signals. Some embodiments may reduce the data rate or other quality determining factor to reduce the delay of the signal. As the delay improves, the data rate of the signal may be increased, resulting in a higher quality signal being transmitted.

Fig. 2 shows a graph of perceived quality versus signal strength for video transmission of analog video and digital video at multiple bit rates. As the signal strength decreases, the data rate of the digital signal is decreased to reduce the video quality, visually alerting the user that the signal strength is decreasing and also being able to reserve bandwidth for non-video communications. As shown in fig. 2, data rate a is shown to be higher than data rate B, and both are shown to be higher than data rate C. A higher data rate will generally correspond to a higher video transmission quality. Any number of different data rates can be used in various embodiments. A greater number of data rates allows for a greater level of video quality that can be used to alert the user of signal strength. Notably, the delay can be better maintained at lower data rates.

In some specific embodiments, the lower bit rate can be displayed as pixelation in a digital video frame. A viewer of the video signal can estimate the signal strength by the level of pixelation and make an appropriate decision.

In some specific embodiments, the color depth and/or color palette (color resolution) is adjusted to communicate to the viewer that the signal strength is decreasing. A viewer of the video signal will notice the color adjustment, which will serve as a reminder that the signal strength is decreasing and that there may be a risk of the signal being lost altogether.

FIG. 3 illustrates a robotic system according to a particular embodiment. The robot system 10 includes a controller 20 and a robot 30. The controller 20 (wireless controller) includes any type of controller for wirelessly communicating with the robot 30.

Further, the robot 30 includes a first antenna for wireless communication configured to send and receive data including video data, audio data, and/or control data for the robot 30. The number of the first antennas is one or more. Wherein the first antenna comprises an external antenna (external antenna) and/or an internal antenna (internal antenna).

Further, the robot 30 includes a recording device capable of capturing video. The recording device includes a front-drive camera 31 and/or a 360-degree camera 32 for capturing video. Wherein the recording device is electrically connected to the first antenna.

Further, the recording device can receive the signal strength of the video detected by the signal strength detection device and adjust the transmission quality of the video according to the signal strength of the video. Wherein the recording device is configured to: transmitting video data of a first quality to the controller 20 if the signal strength of the video is above a threshold; transmitting video data of a second quality to the controller 20 if the signal strength of the video is below the threshold; and the quality of the video data of the second quality is lower than the quality of the video data of the first quality.

As shown in fig. 3, the controller 20 includes: a second antenna 21 for wireless communication configured to transmit and receive data including video data, audio data, and/or control data for the robot 30; and a signal intensity detection means (or signal intensity detector). The number of the second antennas 21 is one or more. The signal strength detection means can detect the signal strength of each second antenna 21. The second antenna 21 includes an external antenna (external antenna) and/or an internal antenna (internal antenna). Wherein the second antenna 21 is in communication connection with the first antenna and is electrically connected with the signal strength detection device.

As shown in fig. 3, the controller 20 includes a display device 22 (or display) electrically connected to the second antenna. The display device 22 can be any type of display or output device, including a touch screen display. The display device 22 is capable of supporting split screen viewing of a multi-camera system, which would allow a single controller 20 to control more than one controlled device simultaneously. Display device 22 can also allow controller 20 to display multiple video feeds from a single robot 30.

Further, the controller 20 further includes: a plurality of buttons 23 communicatively connected to the robot 30 for performing various operations and operating various features on the controlled device, which enables the robot to be flexible in operation and highly controllable; and one or more joysticks 24, such as joysticks 24a and 24b, communicatively coupled to the robot 30 for controlling the movement of the robot 30 or controlling accessories associated with the robot 30, such as cameras or robotic arms, enabling robust operation of the robot 30 (robotic accessories) with high controllability; and a first speaker and/or a first microphone 25 for remote communication with people, animals and objects at the robot 30 or in the vicinity of the robot 30. Wherein the number of the first speaker and/or the first microphone 25 is one or more.

Further, the controller 20 also includes a plurality of internal components (not shown) for providing functions in the robotic system 10, such as one or more computer processing chips configured to perform functions associated with the robotic system 10, one or more memory modules for storing data, a GPS or other location detection module, and hardware for accessing a cellular network, which is capable of sending and/or receiving voice or data.

Further, the controller 20 also includes audio or video components for sending, receiving, displaying, outputting, or processing audio or video data, as well as hardware and/or software operable to communicate over a wireless channel.

Further, the controller 20 includes hardware, software, or a combination of hardware and software to measure the delay of signals transmitted over the wireless channel.

In some specific embodiments, the signal strength is measured (using any known hardware or technique) and used to derive a delay measurement.

In some specific embodiments, the robot 30 sends a beacon message to the controller 20, which the controller 20 bounces back. The time between transmission and reception of these beacon messages can be used to calculate the delay.

In some specific embodiments, the robot 30 transmits a beacon message to the controller 20 persistently. The controller 20 bounces back the beacon message and measures the time (T) between these events. This time value is then used to calculate the average delay (L), as follows: l ═ T) + ((L-w) × L);

where L' is the delay of the update and L is the previous delay; the initial value of L of the first iteration is 0; w represents a weighting factor.

In some specific embodiments, the value of w used varies depending on whether T is greater than L. When T > L, a weighting factor wl is used; when T < ═ L, a weighting factor w2 is used, where w1 > w 2. Using the weighting factor, the pull-up average delay can be made faster than the pull-down average delay. The purpose of this is to suppress oscillations that may occur when dynamic quality adjustments are made (since adjusting video quality affects delay measurements).

In some embodiments, the recording device reduces the quality of data transmitted over the wireless channel by reducing the data rate of the digital transmission. At the same time, reducing the data rate also allows bandwidth to be reserved for other wireless communications (e.g., control signals) in addition to video signals.

In some specific embodiments, the robot 30 further includes a second speaker 33 and/or a second microphone (not shown). Wherein the robot 30 collects video via the front-facing drive camera 31 and/or the 360 degree camera 32 and wirelessly transmits it to the controller 20, at which time the user can view the video on the display device 22. Also, audio and other data can be collected and transmitted wirelessly. The controller 20 uses a signal strength detection device to monitor the strength of the signal received from the robot 30. Wherein the number of the second speaker 33 and/or the second microphone is one or more.

In some particular embodiments, the controller 20 can monitor the delay of the signal instead of monitoring the signal strength, or both. After receiving the signal and determining its signal strength (and/or measuring the delay of the signal), the controller 20 communicates the signal strength to the robot 30, which the robot 30 responds to and adjusts the data rate of the video signal being wirelessly transmitted to the controller 20 (as shown in fig. 2). The lower data rate of the video can improve the delay of the signal (e.g., improve the average delay and reduce delay jitter) and can also reserve some bandwidth for other wireless data transmissions from the robot 30 to the controller 20.

Fig. 4 shows how the image resolution is reduced to alert the user to the drop in signal strength. The three images shown in fig. 4 represent example screen shots of video received and displayed on the display device 22. Image a is a first example image showing a star being generated from a video signal transmitted at a high data rate. Image B is a second example image showing a star being displayed from a video signal transmitted at a lower data rate than the data rate of the video signal that generated image a. As shown in fig. 4, the lower transmission data rate has created a pixilated image of a star in image B. Image C is a third example image, and the data transfer rate of the video signal that generates image C is lower than the data rate of the video signal that generates image B. As shown in FIG. 4, image C is a block that is approximately the same size and location as the planets in image A, but of lower quality. The motion of the object in image a, image B or image C may occur with about the same delay. If the user is controlling the device, the user will recognize the motion and be able to respond quickly to it, since the delay reduction achieved by transmitting the low resolution image, and therefore the functionality of the robot system can be preserved with a lower delay.

It will be appreciated that reduced resolution images can provide other advantages to a user of the system. The reduced resolution images can be used by the operator of the robot to make decisions in situations where stress, danger or to bypass obstacles is high, in which case the low resolution images are always better than the no images. The reduced resolution image can also conserve bandwidth to be allocated to other communications, such as navigation instructions from controller 20 to robot 30. The reduced resolution image can be accompanied by a lower delay to allow the robotic system to function better.

In some specific embodiments, the recording device reduces the quality of data transmitted over the wireless channel by reducing the resolution of the image.

In some specific embodiments, the recording device further signals the user by adjusting other characteristics of the signal transmission (e.g., color resolution).

In some specific embodiments, the recording device communicates to the viewer that the signal strength is decreasing by adjusting the color depth and/or color palette (color resolution). A viewer of the video signal will notice the color adjustment, which will serve as a reminder that the signal strength is decreasing and that there may be a risk of the signal being lost altogether.

Fig. 5 shows the amount of noise artifact introduced into a digital video signal in relation to signal strength. Although the figure describes video data, similar effects can be observed for audio signals. As described above, analog video is gradually attenuated until it is unusable, while digital video can maintain a certain quality, and then suddenly drops without typically alerting the user of the monitored transmission. As shown in fig. 5, noise (or noise artifacts) is inserted into the digital signal being transmitted to visually alert the recipient of the digital signal that there may be a risk of the transmission being cut off due to digital attenuation by corresponding degradation in the reproduced video. This inserted noise can subtly inform the user that the signal strength is decreasing and the user can take appropriate action before reaching the digital attenuation. This process (for digital signals) emulates the effect of reducing signal strength on analog signals.

As shown in fig. 5, the gradually rising noise is inserted in inverse proportion to the signal strength. That is, as the signal strength decreases, the amount of inserted noise increases. Conversely, as the signal strength increases, the amount of noise inserted decreases.

Fig. 6 shows an example digital video frame or image in which different amounts of noise artifact are introduced. These digital video frames represent example screenshots of video received and displayed on the display device 22. In this fig. 6, noise artifacts are introduced to affect the quality of the entire image frame. Image a represents a digital video frame without inserted noise artifacts. Image B and image C represent digital video frames with noise artifacts inserted, wherein the amount of noise artifacts inserted in the digital video frames of image B is less than the amount of noise artifacts inserted in the digital video frames of image C.

Fig. 7 shows an example digital video frame, a portion of which introduces a different amount of noise artifacts. Image a represents a digital video frame without any inserted noise artifacts. Images B and C represent digital video frames with noise artifacts inserted in their lower right corners, wherein the amount of noise artifacts inserted in the digital video frames of image B is less than the amount of noise artifacts inserted in the digital video frames of image C. In this example, the noise is not inserted into the entire image frame, but rather into a portion of the image frame. Noise is inserted into the corners or other non-invasive locations of the image to allow the user to see a large portion of the image without noise, while still being able to monitor signal strength through the visually perceived noise levels in the corners of the image.

Fig. 8 shows the amount of noise artifact introduced into digital video signals having different bit rates in relation to signal strength. As the signal strength decreases, the data rate of the digital video signal is decreased to reduce the video quality, visually alerting the user that the signal strength is decreasing and reserving bandwidth for non-video communications. As shown in fig. 8, data rate a is higher than data rate B, and both are higher than data rate C. In addition to reducing the data rate, noise artifacts are introduced into the digital video signal in relation to the signal strength to alert the user that the signal strength is reduced at a finer granularity. For example, the insertion of noise artifacts would alert the user that the signal strength is increasing or decreasing at all points within region a, all points within region B, and all points within region C, rather than merely crossing region boundaries.

In some particular embodiments, one portion of the data is transmitted at a higher quality and another portion of the data is transmitted at a lower quality. These embodiments may be useful in a variety of situations. For example, the transmission range of video data may have increased, which would require a lower data rate to transmit the video. However, a portion of the video image being transmitted may be more important than the rest of the image. In this way, more important portions may be transmitted at a higher data rate or data quality, and other portions may be transmitted at a lower data rate or data quality. For example, a police officer may be using a remote video system to monitor the interior of a building. The officer may be viewing a criminal suspect and would like to receive a higher quality transmission of the suspect's face while being willing to accept a lower quality transmission of other portions of the image, such as the background of the image. The remote video system may initiate appropriate video capture and processing, transmitting a portion of the video at a high resolution that displays the face of the suspect, and transmitting the remainder of the video at a lower resolution.

Although the embodiments of the present invention have been disclosed, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A robot system, comprising a robot and a controller communicatively coupled to the robot; wherein the content of the first and second substances,

the robot comprises a recording device for capturing video and a first antenna, wherein the recording device is electrically connected with the first antenna;

the controller comprises a second antenna, a display device and a signal detection device, wherein the signal detection device is electrically connected with the second antenna, and the second antenna is in communication connection with the first antenna and is electrically connected with the display device.

2. The robotic system as claimed in claim 1, wherein the recording device includes a camera module.

3. The robotic system as claimed in claim 2, wherein the camera module comprises a front drive camera and/or a 360 degree camera.

4. The robotic system as claimed in claim 2, wherein the number of camera modules is one or more.

5. The robotic system as claimed in claim 1, wherein the controller includes a plurality of buttons that are each communicatively coupled to the robot.

6. The robotic system as claimed in claim 1, wherein the controller includes a joystick communicatively coupled with the robot.

7. The robotic system as claimed in claim 1, wherein the controller comprises a first speaker and/or the first microphone.

8. A robotic system as claimed in claim 7, wherein the number of the first loudspeakers and/or the first microphones is one or more.

9. A robot system according to claim 1, characterized in that the robot comprises a second loudspeaker and/or a second microphone.

10. A robotic system as claimed in claim 9, wherein the number of the second loudspeakers and/or the second microphones is one or more.

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