TWI667556B - Remote control system and control method thereof - Google Patents
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Abstract
一種遙控系統，其一伺服器單元儲存有多個分別對應多個第一動作指令的第二動作指令組，該等第二動作指令組的每一者包含多個分別對應多個第二受控機械裝置的第二動作指令。一遙控器裝置將該等第一動作指令的其中一被輸入者傳送給一第一受控機械裝置。第一受控機械裝置做出對應於被輸入第一動作指令的一第一動作，且將一通知傳送給伺服器單元。伺服器單元將對應於被輸入第一動作指令的第二動作指令組的該等第二動作指令分別傳送給對應之該等第二受控機械裝置。該等第二受控機械裝置的每一者做出一對應於第二動作指令的一第二動作。A remote control system, wherein a server unit stores a plurality of second action instruction groups respectively corresponding to a plurality of first action instructions, each of the second action instruction groups comprising a plurality of corresponding second and second controlled The second action command of the mechanical device. A remote control device transmits one of the first motion commands to the first controlled mechanical device. The first controlled mechanical device makes a first action corresponding to the input of the first action command and transmits a notification to the server unit. The server unit transmits the second action commands corresponding to the second action command group to which the first action command is input to the corresponding second controlled mechanical devices. Each of the second controlled mechanical devices makes a second action corresponding to the second motion command.
Description
本發明是有關於一種遙控系統，特別是指一種有關機械裝置的遙控系統。The present invention relates to a remote control system, and more particularly to a remote control system for a mechanical device.
機器人技術領域是近年熱門的研究領域。機器人被應用於製造、客服、醫療、居家、教育等各樣的領域及產業。如何發展出一種新的系統架構及控制方法，能同時控制多個機械裝置，為本案主要要探討的主題。The field of robotics is a hot research area in recent years. Robots are used in manufacturing, customer service, medical, home, education and other fields and industries. How to develop a new system architecture and control method, which can control multiple mechanical devices at the same time, is the main topic to be discussed in this case.
因此，本發明的目的，即在提供一種遙控系統。Accordingly, it is an object of the present invention to provide a remote control system.
本發明的另一目的，在於提供一種遙控系統的控制方法。Another object of the present invention is to provide a control method of a remote control system.
於是，本發明遙控系統，包含一遙控器裝置、一第一受控機械裝置、多個第二受控機械裝置，及一伺服器單元。該遙控器裝置供使用者輸入多個第一動作指令的其中一者。該第一受控機械裝置能與該遙控器裝置通訊。該伺服器單元能與該第一受控機械裝置及該等第二受控機械裝置通訊，且儲存有多個分別對應該等第一動作指令的第二動作指令組，該等第二動作指令組的每一者包含多個分別對應該等第二受控機械裝置的第二動作指令。該遙控器裝置將由使用者輸入的該等第一動作指令的其中一被輸入者傳送給該第一受控機械裝置。當該第一受控機械裝置接收到該被輸入第一動作指令，該第一受控機械裝置根據該被輸入第一動作指令做出對應於該被輸入第一動作指令的一第一動作，且將一相關於該被輸入第一動作指令的通知傳送給該伺服器單元。當該伺服器單元接收到該通知，該伺服器單元將對應於該被輸入第一動作指令的該第二動作指令組的該等第二動作指令分別傳送給對應之該等第二受控機械裝置。當該等第二受控機械裝置的每一者接收到對應之該第二動作指令，該等第二受控機械裝置的每一者根據接收到的該第二動作指令做出對應於該第二動作指令的一第二動作。Thus, the remote control system of the present invention comprises a remote control device, a first controlled mechanical device, a plurality of second controlled mechanical devices, and a server unit. The remote controller device is for the user to input one of a plurality of first motion commands. The first controlled mechanical device is capable of communicating with the remote control device. The server unit can communicate with the first controlled mechanical device and the second controlled mechanical device, and stores a plurality of second action instruction groups respectively corresponding to the first action command, and the second action command Each of the groups includes a plurality of second action commands respectively corresponding to the second controlled mechanism. The remote control device transmits one of the first motion commands input by the user to the first controlled mechanical device. When the first controlled mechanical device receives the input first action instruction, the first controlled mechanical device makes a first action corresponding to the input first action command according to the input first action command, And transmitting a notification related to the input of the first action instruction to the server unit. When the server unit receives the notification, the server unit transmits the second action instructions corresponding to the second action instruction group that is input with the first action instruction to the corresponding second controlled machine respectively. Device. When each of the second controlled mechanical devices receives the corresponding second motion instruction, each of the second controlled mechanical devices responds to the second motion instruction according to the received A second action of the second action command.
在一些實施態樣中，該等第二動作指令組的每一者的該等第二動作指令彼此相異。該等第二動作指令組的每一者的該等第二動作指令彼此相異。In some implementations, the second motion instructions of each of the second set of action instructions are different from one another. The second action instructions of each of the second set of action instructions are different from one another.
本發明遙控系統的控制方法，該遙控系統包含一遙控器裝置、一第一受控機械裝置、多個第二受控機械裝置及一伺服器單元，該遙控器裝置供使用者輸入多個第一動作指令的其中一者，該伺服器單元儲存有多個分別對應該等第一動作指令的第二動作指令組，該等第二動作指令組的每一者包含多個分別對應該等第二受控機械裝置的第二動作指令，該方法包含：該遙控器裝置將由使用者輸入的該等第一動作指令的其中一被輸入者傳送給該第一受控機械裝置；當該第一受控機械裝置接收到該被輸入第一動作指令，該第一受控機械裝置根據該被輸入第一動作指令做出對應於該被輸入第一動作指令的一第一動作，且將一相關於該被輸入第一動作指令的通知傳送給該伺服器單元；當該伺服器單元接收到該通知，該伺服器單元將對應於該被輸入第一動作指令的該第二動作指令組的該等第二動作指令分別傳送給對應之該等第二受控機械裝置；及當該等第二受控機械裝置的每一者接收到對應之該第二動作指令，該等第二受控機械裝置的每一者根據接收到的該第二動作指令做出對應於該第二動作指令的一第二動作。The control method of the remote control system of the present invention comprises a remote control device, a first controlled mechanical device, a plurality of second controlled mechanical devices and a server unit, wherein the remote control device allows the user to input a plurality of One of the action instructions, the server unit stores a plurality of second action instruction sets respectively corresponding to the first action instruction, each of the second action instruction sets including a plurality of corresponding corresponding a second action command of the second controlled mechanism, the method comprising: transmitting, by the remote control device, one of the first action instructions input by the user to the first controlled mechanism; when the first The controlled mechanism receives the input of the first action command, and the first controlled mechanism generates a first action corresponding to the input first action command according to the input first action command, and the relevant Transmitting the notification to the server unit to the first action command; when the server unit receives the notification, the server unit will correspond to the first action command input The second action commands of the two action command sets are respectively transmitted to the corresponding second controlled mechanical devices; and when each of the second controlled mechanical devices receives the corresponding second action command, the Each of the second controlled mechanical devices makes a second action corresponding to the second action command according to the received second action command.
本發明的功效在於：藉由該第一受控機械裝置將該通知傳送給該伺服器單元，並藉由該伺服器單元將對應於該被輸入第一動作指令的該第二動作指令組的該等第二動作指令分別傳送給對應之該等第二受控機械裝置，從而控制該等第二受控機械裝置的每一者做出對應於該第二動作指令的該第二動作。The effect of the present invention is that the notification is transmitted to the server unit by the first controlled mechanism, and the server unit corresponds to the second action instruction group that is input with the first action instruction. The second action commands are respectively transmitted to the corresponding second controlled mechanical devices, thereby controlling each of the second controlled mechanical devices to make the second action corresponding to the second motion command.
參閱圖1與圖2，本發明遙控系統100的一實施例，包含一遙控器裝置1、一第一受控機械裝置2、多個第二受控機械裝置3，及一伺服器單元4。在本實施例中，該遙控器裝置1與該第一受控機械裝置2之間以無線的方式（例如短距離通訊技術）通訊，該伺服器單元4與該第一受控機械裝置2及該等第二受控機械裝置3之間也以無線的方式（例如行動通訊技術）通訊。Referring to Figures 1 and 2, an embodiment of the remote control system 100 of the present invention includes a remote control device 1, a first controlled mechanical device 2, a plurality of second controlled mechanical devices 3, and a server unit 4. In this embodiment, the remote control device 1 communicates with the first controlled mechanical device 2 in a wireless manner (for example, short-distance communication technology), and the server unit 4 and the first controlled mechanical device 2 The second controlled mechanical devices 3 also communicate in a wireless manner (e.g., mobile communication technology).
該遙控器裝置1供使用者輸入多個第一動作指令的其中一者。伺服器單元4儲存有多個分別對應該等第一動作指令的第二動作指令組。該等第二動作指令組的每一者包含多個分別對應該等第二受控機械裝置3的第二動作指令。在本實施例中，該等第二動作指令組的每一者的該等第二動作指令彼此相異。The remote controller device 1 is for a user to input one of a plurality of first motion commands. The server unit 4 stores a plurality of second action command groups respectively corresponding to the first action command. Each of the second set of action commands includes a plurality of second action commands respectively corresponding to the second controlled mechanical device 3. In this embodiment, the second motion instructions of each of the second action instruction groups are different from each other.
該遙控系統100的控制方法首先如步驟S01所示，該遙控器裝置1將由使用者輸入的該等第一動作指令的其中一被輸入者傳送給該第一受控機械裝置2。The control method of the remote control system 100 is first transmitted to the first controlled mechanical device 2 by one of the first motion commands input by the user, as shown in step S01.
接著，如步驟S02所示，當該第一受控機械裝置2接收到該被輸入第一動作指令，該第一受控機械裝置2根據該被輸入第一動作指令做出對應於該被輸入第一動作指令的一第一動作，且將一相關於該被輸入第一動作指令的通知傳送給該伺服器單元4。Then, as shown in step S02, when the first controlled mechanical device 2 receives the input first action command, the first controlled mechanical device 2 makes a corresponding input according to the input first action command. a first action of the first action command, and transmitting a notification related to the input of the first action command to the server unit 4.
接著，如步驟S03所示，當該伺服器單元4接收到該通知，該伺服器單元4將對應於該被輸入第一動作指令的該第二動作指令組的該等第二動作指令分別傳送給對應之該等第二受控機械裝置3。Then, as shown in step S03, when the server unit 4 receives the notification, the server unit 4 transmits the second action instructions corresponding to the second action instruction group to which the first action instruction is input, respectively. The corresponding second controlled mechanical device 3 is given.
最後，如步驟S04所示，當該等第二受控機械裝置3的每一者接收到對應之該第二動作指令，該等第二受控機械裝置3的每一者根據接收到的該第二動作指令做出對應於該第二動作指令的一第二動作。Finally, as shown in step S04, when each of the second controlled mechanical devices 3 receives the corresponding second action command, each of the second controlled mechanical devices 3 is based on the received The second action instruction makes a second action corresponding to the second action command.
舉例來說，該第一受控機械裝置2為一可行走的機器人，該等第二受控機械裝置3分別為多個可行走的機器人，該等第二受控機械裝置3被使用者排列成一橫排，該第一受控機械裝置2被使用者放置於該等第二受控機械裝置3前方，形成由該第一受控機械裝置2帶領該等第二受控機械裝置3的隊型。於步驟S01中，該被輸入第一動作指令用於控制該第一受控機械裝置2如同通過操場的彎道處一般向左前方轉彎地前行。於步驟S02，該第一受控機械裝置2所做出的該第一動作即為如步驟S01所述向左前方轉彎地前行之動作。於步驟S03，該等第二動作指令分別用於控制該等第二受控機械裝置3以維持原橫排隊型的方式並如同通過操場的彎道處一般向左前方轉彎地前行，值得一提的是，該等第二動作指令分別控制該等第二受控機械裝置3以不同的速率前行，使迴轉半徑越短的該第二受控機械裝置3的前行速率越低，使迴轉半徑越長的該第二受控機械裝置3的前行速率越高，從而使該等第二受控機械裝置3前行時維持原橫排隊型。於步驟S04，該等第二受控機械裝置3所做出的該等第二動作即為步驟S03所述之向左前方橫排地且轉彎地前行之動作。藉此，能營造一種由該第一受控機械裝置2帶領該等第二受控機械裝置3行軍的視覺效果。For example, the first controlled mechanical device 2 is a walkable robot, and the second controlled mechanical devices 3 are respectively a plurality of walkable robots, and the second controlled mechanical devices 3 are arranged by a user. In a horizontal row, the first controlled mechanical device 2 is placed by the user in front of the second controlled mechanical devices 3 to form a team leading the second controlled mechanical devices 3 by the first controlled mechanical device 2 type. In step S01, the first action command is input for controlling the first controlled mechanical device 2 to generally turn to the left front as if passing through the curve of the playground. In step S02, the first action made by the first controlled mechanical device 2 is an action of turning to the left front as described in step S01. In step S03, the second action commands are respectively used to control the second controlled mechanical device 3 to maintain the original horizontal alignment type and to turn to the left front as usual through the corner of the playground, which is worth one. It is noted that the second motion commands respectively control the second controlled mechanical devices 3 to advance at different rates, so that the shorter the radius of gyration, the lower the forward rate of the second controlled mechanical device 3, so that The longer the radius of gyration of the second controlled mechanical device 3 is, the higher the forward rate is, so that the second controlled mechanical device 3 maintains the original transverse alignment type when it is advanced. In step S04, the second actions performed by the second controlled mechanical devices 3 are the actions of the horizontally forward and leftward directions described in step S03. Thereby, a visual effect of the marching of the second controlled mechanical devices 3 by the first controlled mechanical device 2 can be created.
補充說明的是，雖前段中該第一受控機械裝置2及該等第二受控機械裝置3是以機器人實施，但不以此為限，該第一受控機械裝置2及該等第二受控機械裝置3也可以例如是以遙控飛機、無人機等其他可受遙控的機械裝置實施。It is to be noted that, although the first controlled mechanical device 2 and the second controlled mechanical device 3 are implemented by a robot in the preceding paragraph, the first controlled mechanical device 2 and the like are not limited thereto. The second controlled mechanical device 3 can also be implemented, for example, by a remotely controlled aircraft, a drone or the like that can be remotely controlled.
綜上所述，本發明遙控系統100藉由該第一受控機械裝置2將該通知傳送給該伺服器單元4，並藉由該伺服器單元4將對應於該被輸入第一動作指令的該第二動作指令組的該等第二動作指令分別傳送給對應之該等第二受控機械裝置3，從而控制該等第二受控機械裝置3的每一者做出對應於該第二動作指令的該第二動作，此外，藉由適當地安排該等第一受控機械裝置2及該等第二受控機械裝置3的擺放位置及該等第一動作指令及該等第二動作指令組的內容還能營造一種由該第一受控機械裝置2帶領該等第二受控機械裝置3做動作的視覺效果，故確實能達成本發明的目的。In summary, the remote control system 100 of the present invention transmits the notification to the server unit 4 by the first controlled mechanism 2, and the server unit 4 will correspond to the input of the first action command. The second action commands of the second action command group are respectively transmitted to the corresponding second controlled mechanical devices 3, thereby controlling each of the second controlled mechanical devices 3 to correspond to the second The second action of the action command, in addition, by appropriately arranging the placement positions of the first controlled mechanical device 2 and the second controlled mechanical device 3, and the first action commands and the second The content of the action command set can also create a visual effect by the first controlled mechanical device 2 leading the second controlled mechanical device 3 to operate, so that the object of the present invention can be achieved.
惟以上所述者，僅為本發明的實施例而已，當不能以此限定本發明實施的範圍，凡是依本發明申請專利範圍及專利說明書內容所作的簡單的等效變化與修飾，皆仍屬本發明專利涵蓋的範圍內。However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the simple equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still Within the scope of the invention patent.
S01~S04‧‧‧流程步驟 S01~S04‧‧‧ Process steps
100‧‧‧遙控系統100‧‧‧Remote control system
1‧‧‧遙控器裝置1‧‧‧Remote control device
2‧‧‧第一受控機械裝置2‧‧‧First controlled mechanical device
3‧‧‧第二受控機械裝置3‧‧‧Second controlled mechanical device
4‧‧‧伺服器單元4‧‧‧Server unit
本發明的其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中： 圖1是本發明遙控系統的一實施例的一硬體連接關係示意圖；及 圖2是該實施例的一流程圖。Other features and advantages of the present invention will be apparent from the embodiments of the present invention, wherein: FIG. 1 is a schematic diagram of a hardware connection relationship of an embodiment of the remote control system of the present invention; and FIG. 2 is the embodiment. a flow chart.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201312304A (en) * | 2011-09-08 | 2013-03-16 | Chunghwa Telecom Co Ltd | Automated building monitoring system |
| TWM479249U (en) * | 2014-01-16 | 2014-06-01 | yi-hong Zhang | Windshield wiper control system coupled with vehicle lamp |
| TWM535380U (en) * | 2016-08-12 | 2017-01-11 | First General Tech Inc | Smart monitoring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201312304A (en) * | 2011-09-08 | 2013-03-16 | Chunghwa Telecom Co Ltd | Automated building monitoring system |
| TWM479249U (en) * | 2014-01-16 | 2014-06-01 | yi-hong Zhang | Windshield wiper control system coupled with vehicle lamp |
| TWM535380U (en) * | 2016-08-12 | 2017-01-11 | First General Tech Inc | Smart monitoring device |
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