TWI571365B - An interactive perception machine control system - Google Patents

Description

Interactive sensing vehicle control system

The present invention relates to a control system, and more particularly to an interactive sensing vehicle control system.

As the times continue to advance, the development of science and technology is changing with each passing day. Many jobs with highly repetitive movements, dangerous dangers and environments in which humans cannot stay for a long time are almost completely replaced by robots. For example, in the aspect of home life: using sweeping robots Repetitive nature of sweeping work; in industrial processing management: the use of mechanical arm welding, quality control inspection, material handling, batch assembly; in military safety: the use of robot blasting and dismantling ammunition, unmanned aircraft or target machine applications; In terms of construction: using mechanical arms to dig trenches, bricklaying, applying roof round stones, painting, placing tiles, installing insulation and other similar work; in mining: replacing robots with robotic arms for digging; under the sea Operational aspects: doing some mineral exploration on the seabed and retrieving lost objects; in space robots: for space construction, rescue missions, maintenance and repair, space transportation, material handling and other operations in the space industry Wait.

The reason is that the creator feels the importance and necessity of the robot application, so he deeply conceived and actively researched and developed an interactive sensing vehicle control system that meets the actual situation.

In view of the above, it is an object of the present invention to provide an interactive sensing vehicle control system that can programmatically write action commands, use remote control, and operate using a personal computer or a smart phone.

The interactive sensing vehicle control system of the present invention comprises one a robot user body; a user operation end for inputting each action of operating the robot body by way of command; a cloud storage database, receiving an instruction input by the user operation end, and corresponding to the instruction The corresponding action signal is taken out; and a transceiver signal device receives the action signal generated by the cloud storage database to drive the robot body to perform corresponding actions.

Another technical means of the present invention is that the robot body has a mobile unit and an arm unit, and the transceiver device is a mobile unit that drives the robot body to perform a moving motion, and drives the arm unit of the robot body to perform Arm movements.

Another technical means of the present invention is that the user operating terminal has a warning module, and the robot body has a detecting module, and the detecting module transmits the ambient state of the robot body to the The cloud storage database, when the action signal input by the user terminal is mutually exclusive with the surrounding environment state of the robot body, the cloud storage database returns a signal to the user operation terminal, and The warning module generates a warning signal.

A further technical means of the present invention is that the user operation end has an input interface for inputting an action command, and includes a mobile unit for controlling the robot body to perform forward, backward, left front, right front, left rear, right The rear, left, and right turn movement commands, and the arm commands for controlling the robot body's arm unit to extend, retract, grip, and release.

Another technical means of the present invention is that the input interface of the user's operation terminal can further input a time delay signal, so that each movement instruction and the arm instruction generate a time sequence.

Another technical means of the present invention is that the user operation end establishes at least one job, and the at least one work includes each action instruction and a time delay signal, and is stored in the cloud storage database, the at least one item. Work can be done by using the user terminal or the transceiver signal Set to execute.

A further technical means of the present invention is that the cloud storage database has an interpretation database and an inference module, and the interpretation database can interpret whether the instruction of the user operation end is appropriate according to the environment variable, and the inference module It is used to determine whether the instruction can be executed.

Another technical means of the present invention is that the robot body has a camera module that can transmit the field status to the user operation end.

Another technical means of the present invention is that a plurality of learning materials can be pre-established in the interpretation database of the cloud storage database, corresponding to various environmental states, and the robot body returns a signal to the cloud to store the database. The GPS signal of the location is included, and the cloud storage database can select a proposal from the interpretation database according to the GPS signal.

Another technical means of the present invention is that when the robot body is unable to perform an action, the robot body activates the camera module to transmit the scene condition to the user operation end, allowing the operator to intervene in the machine. The on-site status of the human body to confirm whether new instructions need to be modified.

The beneficial effect of the invention is that the user operation end is used to write the action instruction and then stored in the cloud storage database, so that the user can easily complete the task schedule and action writing setting of the robot, and The user operation terminal or the transceiver device, such as a smart phone, a tablet computer, a notebook computer, or a desktop computer, can be used to command the robot body to execute the above action command, thereby reaching the remote end. Control the purpose of the startup.

1‧‧‧Interactive sensing vehicle control system

10‧‧‧Mechanical body

12‧‧‧User terminal

14‧‧‧Cloud Storage Database

16‧‧‧Transceiver signal device

18‧‧‧Mobile unit

20‧‧‧arm unit

22‧‧‧Detection module

24‧‧‧Input interface

26‧‧‧Warning module

28‧‧‧Interpretation database

29‧‧‧Inference Module

30‧‧‧ camera module

31-35‧‧‧Steps

1 is a system architecture diagram illustrating a preferred embodiment of the interactive sensing vehicle control system of the present invention; and FIG. 2 is a step diagram illustrating the preferred embodiment of the interactive sensing vehicle control system of the present invention in actual operational steps. Process.

The detailed description of the preferred embodiments of the present invention will be apparent from the detailed description of the preferred embodiments.

Before the description, it should be noted that the vehicle referred to in the present invention generally refers to all the controllable machine equipment. In the preferred embodiment, a robot is used as a carrier. limit.

Referring to Figure 1, a preferred embodiment of the interactive sensing vehicle control system 1 of the present invention includes a robot body 10; a user operating terminal 12 for inputting various actions of the robot body 10 in an instructional manner. a cloud storage database 14 receives an instruction input by the user operation terminal 12 and retrieves a corresponding operation signal corresponding to the instruction; and a transceiver signal device 16 receives the action signal generated by the cloud storage database 14 The robot body 10 is driven to perform a corresponding action.

In this embodiment, the robot body 10 has a moving unit 18 and an arm unit 20, and the transceiver unit 16 is a moving unit 18 that drives the robot body 10 to perform a moving motion, and drives the robot body 10 The arm unit 20 performs an arm movement.

The user operating terminal 12 has an input interface 24 for inputting an action command, and includes a moving unit 18 for controlling the robot body 10 to perform forward, backward, left front, right front, left rear, right rear, and left turn. The right-turning movement command and the arm command for controlling the arm unit 20 of the robot body 10 to advance, retract, grip, and release.

In addition to the input action command, the input interface 24 of the user terminal 12 can further input a time delay signal to generate a time sequence for each move command and arm command.

The connection relationship between the units is communicated by using a wireless signal or a wired communication method. For example, the user operation terminal 12 forms a connection with the cloud storage database 14 through the Internet. In addition, the transceiver device 16 is connected to the robot body 10 through a wireless signal. The so-called Internet is a network connection method for obtaining an IP address by using 3G, 4G, zigbee, ADSL, WIFI, etc., so-called The wireless signal is a signal transmission method in which the two devices can directly communicate with each other by using Bluetooth, infrared, NFC, etc., and there are many communication methods between the devices, which are not limited to those disclosed in the preferred embodiment. .

The user operating terminal 12 is a smart phone, a tablet computer, a notebook computer, or a desktop computer, and the transceiver signal device 16 has a Bluetooth function. Wireless signal device.

As for the robot body 10, the present invention adopts LEGO-NXT (Lego Mindstorms NXT), a product of LEGO, as one of the embodiments. The LEGO-NXT can be self-assembled according to preferences and controlled by a self-made program.

The invention additionally adopts the concept of Software as a Service (SaaS) in the cloud, so that the user can use the simple and intuitive personalized graphical interface through the cloud to plan the action of LEGO-NXT, and then It is stored in the cloud storage database 14. In this way, you can use the characteristics of cloud computing, use the concept of the program and the personalized settings set by the user to achieve the "on demand" effect, so that the user can give the machine to the machine after the command is given. LEGO-NXT operates instantly.

Referring to FIG. 2, the actual operation mode is as follows, and includes a total of five steps 31-35, wherein in step 31: the user operation terminal 12 establishes at least one job (Step 1), in which step 32: the at least one job includes each action command and time delay signal, and is stored in the cloud storage database 14 (Step 2). In step 33: the at least one job can utilize the user operation terminal 12 or The transceiver signal device 16 performs (Step 3), and at step 34: then transmits the Bluetooth device (Step 4) to the robot body 10, at step 35: the robot is placed The body 10 performs the action and completes the task assigned by the user (Step 5).

The user transmits the operation message (including the operation of each action command and the time delay signal) from the user operation terminal 12 (using the APP of the smart phone as an example) to the cloud storage database 14 via 3G or WIFI, and the present invention The MySQL database system is used, and the Eclipse program writing tool is used to build a communication bridge between the database, the eJOS program and the remote communication, and the user-set required data is written into the database, so that the user can input the data through the remote end. The database will then create a data sheet for the user to write and access data for personal needs.

Then, the required action is taken out from the database and transmitted to the transceiver device 16 (for example, a personal computer or a smart phone) to send a Bluetooth signal to the robot body 10, and the robot body 10 performs an action. Complete the tasks assigned by the user.

The transceiving signal device 16 of the present invention is a hub relay station, which can be a personal computer or a smart phone, so as to connect the program placed in the cloud and distribute it to the LEGO-NXT, when LEGO-NXT After the robot receives the information and the user sends a message to start execution via the user terminal 12 or the transceiver device 16, the LEGO-NXT robot operates the robot in a motor-driven manner to complete the mission.

The invention further provides a programming method for the robot to be programmed, as follows: the robot first responds to the action input by the user, and according to the reaction, the user adjusts the movement and direction of the robot, and uses After the adjustment is completed, the route of the robot's desired action and the instruction to be completed are completed.

Or the user operating terminal 12 has a warning module 26, the robot body 10 has a detecting module 22, and the detecting module 22 transmits the ambient state of the robot body 10 to the The cloud storage database 14 is when the action signal input by the user terminal 12 is mutually exclusive with the surrounding environment state of the robot body 10, the cloud The storage database 14 sends back a signal to the user terminal 12 and generates an alert signal through the warning module 26. In this way, the user can know the warning signal, and does not write an action that is mutually exclusive with the action of the robot body 10. The user can adjust the movement and direction of the robot according to the warning signal.

In addition, the robot body 10 can also upload the variables of the surrounding environment detected by the detection module 22 to the cloud storage database 14. The cloud storage database 14 has an interpretation database 28 and an inference module 29, which can interpret whether the instruction of the user operation terminal 12 is appropriate according to environmental variables. The inference module 29 is used to determine whether the instruction being executed can be executed. If not, the cloud storage database 14 will reply the user's operation terminal 12 to the user's operation terminal 12.

Moreover, some learning materials may be pre-established in the interpretation database 28 of the cloud storage database 14. The standard operating program may be established first for various environmental states. Once the user's operation instruction does not conform to the field operation, the interpretation database 28 A suggested command can be given to the robot body 10.

When the robot body 10 transmits the signal to the cloud storage database 14, it is the GPS signal of the location, and the interpretation database 28 of the cloud storage database 14 can pre-establish the suggested action data of different locations. When the cloud storage database 14 makes a suggestion, the appropriate suggestion solution can be selected from the interpretation database 28 according to the location of the GPS. For example, when the robot body 10 is in the living room or the kitchen, the environment may be different. The living room action plan or the kitchen action plan.

The detecting module 22 of the robot body 10 mentioned above may be different types of sensors, such as a light source sensor, a collision sensor, a water sensor, or an infrared distance sensor. IRDA, in order to sense the surrounding environment and distance. In addition, the robot body 10 further has a camera module 30 for returning the on-site status to the user operating terminal 12. E.g: In the process of digging things, if the robot body 10 is unable to perform an action, the current situation can be seen through the camera module 30 of the robot body 10.

In more detail, when the robot body 10 cannot be executed according to the instruction of the user operation terminal 12, the cloud storage database 14 is notified first, and the cloud storage database 14 is pre-built according to the pre-built The data is judged, suggesting how the robot operates, and if the motion is still not executable, the robot body 10 activates the camera module 30, and returns the scene condition to the user operation terminal 12, allowing the operator to intervene in the robot's scene. Status to confirm if new instructions need to be modified. Once the user has placed a new command, the camera module 30 will be closed, and the robot body 10 will execute a new action corresponding to the new command.

Alternatively, the robot body 10 first activates the infrared distance sensor IRDA, scans the surrounding topography, and uploads it to the cloud storage database 14, allowing the cloud storage database 14 to first read and make recommendations. If the suggestion is still not feasible, it is not suitable for application in the environment where the robot body 1 is located. At this time, the camera module 30 is activated to allow the remote operator to intervene.

In summary, the user uses the user operation terminal 12 to write an action command, and then stores it in the cloud storage database 14, so that the user can easily complete the task scheduling and action writing setting of the robot. In addition, the user operation terminal 12 or the transceiver signal device 16, such as a smart phone, a tablet computer, a notebook computer, or a desktop computer, can be used to command the robot body 10 to execute the above action command. In order to achieve the purpose of remote control startup.

The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.

1‧‧‧Interactive sensing vehicle control system

10‧‧‧Mechanical body

12‧‧‧User terminal

14‧‧‧Cloud Storage Database

16‧‧‧Transceiver signal device

18‧‧‧Mobile unit

20‧‧‧arm unit

22‧‧‧Detection module

24‧‧‧Input interface

26‧‧‧Warning module

28‧‧‧Interpretation database

29‧‧‧Inference Module

30‧‧‧ camera module

Claims (2)

An interactive sensing vehicle control system includes: a robot body having a mobile unit, an arm unit, a detecting module, and a camera module; and a user operating terminal for operating Each action of the robot body is input by a command mode, the user operation end has a warning module, and an input interface; a cloud storage database receives the instruction input by the user operation end, and corresponds to the The instruction module takes out the corresponding motion signal, and the detection module transmits the ambient state of the robot body to the cloud storage database, and the action signal input by the user operation terminal is surrounded by the robot body When the environment state is mutually exclusive, the cloud storage database sends back a signal to the user's operation terminal, and generates a warning signal through the warning module. The cloud storage database has a reading database and a reasoning model. The reading database can interpret whether the instruction of the user operation terminal is appropriate according to the environment variable, and the reasoning module is used to determine the instruction Whether it can be executed; and a transceiver signal device, receiving an action signal generated by the cloud storage database, to drive the robot body to perform a corresponding action, the transceiver signal device is a mobile unit that drives the robot body to perform a movement action, And driving the arm unit of the robot body to perform an arm movement; the input interface is used for inputting an action instruction, and includes a moving unit for controlling the robot body to perform forward, backward, left front, right front, left rear, right rear, left turn Right-turning movement instructions and used to control the machine The arm unit of the robot body performs an arm command for extending, retracting, clamping, and releasing, and the input interface of the user operation end can further input a time delay signal to generate a time sequence for each movement instruction and the arm instruction; The operator terminal establishes at least one job, and the at least one job includes each action command and a time delay signal, and is stored in the cloud storage database, and the at least one work can utilize the user operation terminal or the transceiver signal. The device performs the execution; the camera module can transmit the field status to the user operation end, and when the robot body cannot perform the action, the robot body activates the camera module to transmit the scene status to the use. The operator, the operator is involved in the field state of the robot body to confirm whether the new instruction needs to be modified. According to the interactive sensing vehicle control system described in claim 1, wherein the learning data base of the cloud storage database can pre-establish various learning materials, and the robot body returns signals corresponding to various environmental states. When the database is stored in the cloud, it includes the GPS signal of the location, and the cloud storage database can select a proposal from the interpretation database according to the GPS signal.