KR101778156B1 - A remote controlling method using toy type robot based on mobile network - Google Patents

A remote controlling method using toy type robot based on mobile network Download PDF

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Publication number
KR101778156B1
KR101778156B1 KR1020160015156A KR20160015156A KR101778156B1 KR 101778156 B1 KR101778156 B1 KR 101778156B1 KR 1020160015156 A KR1020160015156 A KR 1020160015156A KR 20160015156 A KR20160015156 A KR 20160015156A KR 101778156 B1 KR101778156 B1 KR 101778156B1
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KR
South Korea
Prior art keywords
user terminal
server
identification information
user
mobile robot
Prior art date
Application number
KR1020160015156A
Other languages
Korean (ko)
Other versions
KR20170094049A (en
Inventor
박관호
박현철
배종걸
신민진
김현덕
박용택
Original Assignee
경북대학교 산학협력단
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Priority to KR1020160015156A priority Critical patent/KR101778156B1/en
Publication of KR20170094049A publication Critical patent/KR20170094049A/en
Application granted granted Critical
Publication of KR101778156B1 publication Critical patent/KR101778156B1/en

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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link

Abstract

The present invention includes a toy-type autonomous mobile robot connected to the user terminal via a short-range wireless communication network, in a system in which a server inputs user identification information and a network connected with a database storing the user identification information (A) downloading and installing a service program by accessing the server by the user terminal; (b) requesting the user terminal to select a resolution and a screen quality adjustment when the server has selected a camera icon or a control icon from the user terminal; And (c) generating a list of connected devices and requesting the user terminal to select the connected device when the server has selected a Bluetooth right request from the user terminal, Method and system.

Description

Technical Field [0001] The present invention relates to a mobile-based toy-type autonomous mobile robot and a remote-

The present invention relates to a remote control service, and more particularly, to a remote control service method and system such as a cleaning function, a video surveillance or a real-time confirmation of a pet by implementing an autonomous mobile robot as a toy type and being remotely controllable through a smart phone or the like .

Currently, devices and systems using mobile environments such as smart phones and tablets are providing various services based on the platform, and the scalability of future service platforms is getting larger through high-performance processors such as smart phones.

In addition, toy robots implement small-sized autonomous or semi-autonomous moving functions by implementing high-performance circuit design.

Although these toy robots are widely used as cleaning robots in addition to autonomous or semi-autonomous moving functions, the mobile robots currently provided are simply used as robot-type vacuum cleaners with a simple cleaning function, It is not enough to implement simple service.

Disclosure of the Invention The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide an autonomous mobile robot as a toy type and remote control through a smart phone or the like to provide various services such as cleaning function, video surveillance, .

In order to accomplish the above object, the present invention provides a system for connecting a user terminal to a local wireless communication network in a system in which a server is connected to at least one user terminal for inputting user identification information and a database for storing the user identification information, Type autonomous mobile robot that includes a connected toy type autonomous mobile robot and controls the toy type autonomous mobile robot through the user terminal.

Preferably, the autonomous mobile robot includes: an ultrasonic sensor for sensing whether an obstacle is present in front of the robot; a camera for photographing a screen in a forward direction while rotating 360 degrees; a communication unit for performing Bluetooth communication with the user terminal in a master- A motor driver for controlling a speed and a direction of the driving motor, and a controller for receiving a control command of the user terminal according to a control command received and received through the communication unit, And a control unit for controlling the motor or controlling the camera through the motor driver.

According to another aspect of the present invention, there is provided a control method in a system in which a server is connected to at least one user terminal for inputting user identification information and a database for storing the user identification information, (A) the user terminal connects to the server to download and install a service program; (b) requesting the user terminal to select a resolution and a screen quality adjustment when the server has selected a camera icon or a control icon from the user terminal; And (c) generating a list of connected devices and requesting the user terminal to select the connected device when the server has selected a Bluetooth right request from the user terminal, ≪ / RTI >

Preferably, in the step (a), the server may include a step of selecting whether the old user terminal is recycled to the user terminal, and a step of requesting recycling registration when the new terminal is selected.

The method may further include confirming identification information input from the user terminal in the selection of the resolution and the screen quality adjustment in the step (b), and confirming whether or not to provide the service.

Preferably, the step (c) further comprises confirming the identification information inputted from the user terminal in the selection of the connected device to approve the service provision.

The present invention realizes an autonomous mobile robot as a toy type and can be remotely controlled through a smart phone or the like, and thus can be utilized for various services such as a cleaning function, video surveillance, or real-time confirmation of a pet.

 In addition, the autonomous mobile robot can be implemented in a simple form including an interface for connecting other user terminals such as a smart phone, as a toy type, and can be recycled by utilizing a low-end smartphone or a scrapped smartphone have.

1 is a block diagram of a remote control system using a toy-type autonomous mobile robot according to a preferred embodiment of the present invention;
FIG. 2 is a view showing a configuration of a toy-type autonomous mobile robot in the system of FIG. 1;
FIG. 3 illustrates a remote control process using the system of FIGS. 1 and 2;
FIGS. 4 to 14 are views showing an exemplary screen of a remote control service using a toy-type autonomous mobile robot according to the present invention as a smartphone application.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of a remote control system using a toy-type autonomous mobile robot according to a preferred embodiment of the present invention, and FIG. 2 is a block diagram of a toy autonomous mobile robot in the system of FIG.

1 and 2, a remote control system 100 according to the present invention includes a plurality of user terminals 1041 to 104N, a service server 101 connected to a wired / wireless network, and a database 102, The terminal 104 and the toy-type autonomous mobile robot 200 are connected by short-range wireless communication. At this time, the service server 100 implements a remote control service for the autonomous mobile robot 200 forming a short-range wireless communication network such as Bluetooth communication to a plurality of user terminals 1041 to 104N connected through a wire / wireless network do.

The user terminal 104 may be a smart phone or a tablet PC that is portable and utilizes fast accessibility. A master slave Bluetooth module is preferable for forming a short-range wireless communication network with the autonomous mobile robot 200, But the present invention is not limited thereto, and may be a Wi-Fi module, ZigBee communication, NFC, or the like.

Also, the user identification information for a plurality of users is stored in the database 102. The user identification information corresponds to personal information such as a domain, an IP address, an ID, a password, etc., and can be updated by a user.

The toy type autonomous mobile robot 200 includes an ultrasonic sensor 220 for detecting an obstacle ahead of the robot 200, a camera 210 for photographing the screen in the traveling direction in a 360-degree direction in real time, a user terminal 104 And a driving motor 232 for moving the wheel unit 231 forward or backward and a driving motor 232 for driving the driving motor 232. [ A motor driver 233 for controlling the speed and direction of the motor 232 via the motor driver 233 according to a control command received and received through the communication unit 240, And a controller 250 for controlling the camera 210 or the like. In addition, the toy-type autonomous mobile robot 200 is provided with a memory 260 for storing information such as a battery for supplying electric power, information received from an ultrasonic sensor or a camera, command information received from a communication unit, a display, And controls the respective components through the control unit 250. [0034] FIG.

Particularly, in the toy type autonomous mobile robot 200, in addition to the ultrasonic sensor 220, the wheel part 232, and the driving motor 232, an interface for connecting other user terminals such as a smart phone, , There is an advantage that it can be recycled by utilizing a low-end smartphone or a scrapped smartphone.

FIG. 3 is a view showing a remote control process using the system of FIGS. 1 and 2, and FIGS. 4 to 14 are views showing an example screen of a remote control service using a toy-type autonomous mobile robot according to the present invention, . Hereinafter, a remote control process using the toy-type autonomous mobile robot according to the preferred embodiment of the present invention will be described with reference to FIG. 3 to FIG.

As shown in FIG. 3, in the remote control service according to the present invention, each user terminal accesses a web site of the service server 101 through a touch panel to download and install a remote control program (app) (S201). As described above, the toy-type autonomous mobile robot 200 includes an ultrasonic sensor 220, a wheel part 232, and a driving motor 232, an interface for connecting other user terminals such as a smart phone, It is advantageous in that it can be recycled in a simple form including a low-end smartphone or a scrapped smartphone. Accordingly, it is possible to select whether a user terminal such as a smart phone or the like, which has been revoked for use in the service step, is recycled, and when the user selects the recycled user terminal, the recycling registration step of the member subscriber can be further provided. . The above registration can be made for a fee, and free of charge can be utilized as a coupon for registration of a recycling smartphone.

The remote control service application may also be implemented by a hardware circuit (e.g., a CMOS-based logic circuit), firmware, software, or a combination thereof at the user terminal 104 without downloading from the service server 101 . For example, it can be implemented utilizing transistors, logic gates, and electronic circuits in the form of various electrical structures. Hereinafter, it can be seen that the service server 101 can provide an app service or can be applied only between a user terminal and an autonomous mobile robot.

Next, if there is a selection of a camera icon or a control icon from the user terminal 104 (S202), the process proceeds to a selection step of resolution and screen quality adjustment (S203). At this time, identification information (password) of the inputted user can be confirmed in the resolution and screen quality selection, and the service provision can be approved.

If the Bluetooth right request is selected (S204), the user terminal 104 and the autonomous mobile robot 200 activate the Bluetooth, and the list of connected devices can be created and selected in the application screen (205). At this time, in the selection of the connected device, the identification information (password) of the input user can be confirmed to confirm whether or not the service is provided.

More specifically, referring to FIG. 4, the autonomous mobile robot equipped with the ultrasonic sensor can be remotely controlled through the user terminal 104.

Referring to FIG. 5, the service application screen includes a camera button connected to the autonomous mobile robot and a control button for direct manipulation. As shown in FIG. 6, when the camera button is pressed, And a password can be set.

Then, as shown in FIG. 7, when the user presses the start button, a Bluetooth permission request screen is displayed. If the user presses the 'No' button, the application is turned off. If the user presses 'Yes', the process proceeds to the next step.

Then, as shown in FIG. 8, when 'Yes' is pressed, the Bluetooth is activated in the user terminal, and when the magnifying glass button having a red circle is clicked on, a list of devices connectable via Bluetooth is displayed.

Next, as shown in FIG. 9, a screen showing a list of devices capable of Bluetooth connection with a user terminal that has executed an application can be searched by a device search button below.

Next, as shown in FIG. 10, an application screen when a control button other than a camera button is pressed is displayed. When a control button is pressed, a domain IP for login for connection with a user terminal connected to the robot, do.

Then, as shown in FIG. 11, when the internal IP network is connected, the IP display is displayed as a red circle, and the required password is a scrolling number set on the screen displayed by pressing the camera button.

Then, as shown in FIG. 12, when the user logs in, the camera connected to the robot can view the image.

13A to 13D, an icon is displayed on the app screen, and each of the buttons includes (a) a robot autonomous navigation button, (b) a button for stopping autonomous travel, (c) ) It is an execution button to take a picture.

14A and 14B, an icon is displayed on the app screen, and each of them is (a) a joystick that directly controls the robot, and can be controlled by touching. (b) The flash can be turned on and off by touching the flash.

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 present invention as defined by the following claims and their equivalents. Only. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

The present invention can be applied to a remote control service of an autonomous or semi-autonomous traveling robot in a system that can be serviced in a web or mobile environment. In addition, it can be applied to autonomous or semi-autonomous mobile robots in the form of toys in a compact or portable form. Also, the present invention can be applied to application programs applicable to the system and apparatus.

100: Remote control system
101: service server
102: Database
104: User terminal
200: Toy type autonomous mobile robot

Claims (6)

delete delete A control method in a system in which a server is connected to at least one user terminal for inputting user identification information and a database for storing the user identification information,
And a toy type autonomous mobile robot connected to the user terminal through a short-range wireless communication network,
(a) downloading and installing a service program by connecting the user terminal to the server;
(b) requesting the user terminal to select a resolution and a screen quality adjustment when the server has selected a camera icon or a control icon from the user terminal; And
(c) if the server has selected a Bluetooth right request from the user terminal, generating a list of connected devices and requesting the user terminal to select the connected devices. / RTI > The method of claim 3,
In the step (a)
Wherein the server selects whether the old user terminal is recycled to the user terminal or not and requests recycling registration when the old user terminal is selected. The method of claim 3,
In the step (b)
Further comprising confirming identification information inputted from the user terminal in the selection of the resolution and the screen quality adjustment to approve the service provision. The method of claim 3,
In the step (c)
Further comprising the step of confirming identification information inputted from the user terminal in the selection of the connected device and confirming whether or not to provide the service.
KR1020160015156A 2016-02-05 2016-02-05 A remote controlling method using toy type robot based on mobile network KR101778156B1 (en)

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KR1020160015156A KR101778156B1 (en) 2016-02-05 2016-02-05 A remote controlling method using toy type robot based on mobile network

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107463156B (en) * 2017-08-29 2024-04-09 烟台大学 Robot control system
CN108568819A (en) * 2018-04-20 2018-09-25 郑州科技学院 A kind of intelligent robot autonomous control method based on artificial intelligence

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001287180A (en) * 2000-04-04 2001-10-16 Sony Corp Robot remote-control system and software distribution method

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001287180A (en) * 2000-04-04 2001-10-16 Sony Corp Robot remote-control system and software distribution method

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