WO2016062276A1 - Remote control mobile phone person system and method - Google Patents
Remote control mobile phone person system and method Download PDFInfo
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- WO2016062276A1 WO2016062276A1 PCT/CN2015/092724 CN2015092724W WO2016062276A1 WO 2016062276 A1 WO2016062276 A1 WO 2016062276A1 CN 2015092724 W CN2015092724 W CN 2015092724W WO 2016062276 A1 WO2016062276 A1 WO 2016062276A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- the present invention relates to the field of wireless mobile communication and electromechanical device technology, and more particularly to a remote control system using a mobile phone and a computer as main components of a robot.
- Embodiments of the present invention provide a "remote control mobile phone person" system: using a mobile phone or a computer as a core processor of a robot, an audio video capture device, a display, etc., that is, similar to a human brain, face, and facial features, called “machine First, the electromechanical device acts as the “body” of the robot, and the other mobile phone or computer acts as the “remote controller.”
- the “remote controller” sends control signals to the “head” via the wireless network.
- the “head” sends control signals to the “body” via the headphone jack, USB interface, LightningDock interface, Bluetooth interface or WLAN (including Wi-Fi). ", control the "body” to run. Some types of body movements can drive the "head” movement.
- the remote control mobile phone human system has the following components:
- the "header” of the control signal receiving, processing, forwarding and video and audio information collector can also play video and audio;
- the above-mentioned "interface circuit” for processing the "header” interface signal and the “body” control signal conversion may be an ordinary circuit, or may be a chip, a dedicated circuit board, a single chip microcomputer or a special computer, and convert the mobile phone interface signal into an external driving signal. , convert external mechanical and photoelectric signals into mobile phone interface signals.
- the "interface circuit” can be a separate, separate module.
- the communication signal is transferred or converted between the "body” and the "head”, which is called “machine neck”; the “interface circuit” can also be integrated into the “body”. This way there is no "machine neck” in the system.
- the "interface circuit” can be integrated as part of the "body”; it can also be a separate device with one end connected to the "head” interface and one end connected to the "body".
- the system in which the "interface circuit” is integrated in the "body” is mainly described, and the case where the "interface circuit” is a separate module can be referred to.
- the invention combines the "head” and the “body” as “mobile phone people”.
- Remote controller input devices include: physical buttons, touch control screens, touchpads, joysticks, light and shadow input devices, voice input and recognition systems (devices and software such as Apple Smart Voice Assistant Siri), speed and gravity sensors Wait. Control signals, such as “left and right rotation”, “pitch rotation”, “switching light”, etc., can be generated by operating an input device such as a touch, voice input, or rotary motion mobile phone.
- Remote controller can connect to the “header” indirectly through the wired broadband network; or connect to the “head” indirectly through the WLAN/Wi-Fi wireless network; or through GSM/3G/LTE /4G wireless network access, directly establish a communication connection with the "head”. The "head” can establish a communication connection with the "remote controller” via at least one of the GSM/3G/LTE/4G/WLAN/WiFi wireless networks.
- the components of the “body” may include an electric roller, a rotatable shaft, a robot arm, an acoustic device, and a light-emitting device.
- the “head” and “body” perform signal relay and conversion through the “interface circuit”, and the “body” moves or stops according to the received control signal, and sounds or goes off, lights up or turns off.
- the system can be divided into the following subsystems:
- the combination of “head” and “body” becomes “mobile phone person”, and the electromechanical device as “body” includes humanoid robot, animal-shaped robot, robot arm, rotating platform, circuit-driven roller, model car, small in the present invention.
- Electromechanical, mechanical, and electronic devices such as airplanes, children's toys, signal light sets, electric vehicles, and motor vehicles.
- the “remote control mobile phone people” system uses mobile phones and computers as one of the main components of robots, which improves the modularity of robot products, reduces the cost of robots, and greatly exerts the "immersive” communication between mobile phones and computers.
- remote controller Using another mobile phone or computer as the "remote controller", in which "remote controller control software” is installed.
- the manual operation input device generates input information
- the “remote controller control software” can generate a control signal according to the input information, and the control signal includes the information of the number of turns for controlling the rolling of the “body” scroll wheel and the angle information of the rotation of the rotating shaft; “remote controller The control software can also automatically generate control signals.
- the “remote controller” can choose to send control signals to the “head” via a wireless network such as GSM/3G/LTE/4G/WLAN/Wi-Fi.
- the “head” uses the “head control software” to receive and process the control signals sent by the “remote controller control software” and use the interface such as headphone interface, USB interface, LightningDock interface or Bluetooth interface, or WLAN control. Signal output.
- “Face” uses the “headset” headphone interface, USB interface, LightningDock interface or Bluetooth interface, or WLAN to establish a communication connection with the "head”, receive the control signal of the "head” output, drive " The rolling wheel and the rotating shaft of the “body” operate according to the control signal, which drives the "head movement”.
- the “head control software” of the “head” can also automatically generate control signals, or manually operate the “head control software” to generate control signals to drive the “body” scroll wheel and the rotary axis to operate according to the control signal. , to drive the "head” movement.
- the “head” camera, microphone and other components capture environmental information, “head” obtains various information of “body”, and uses “head control software” or other “head” software to process, store and send In particular, it is transmitted to an "intermediate server” or "remote controller” via a wireless network such as GSM/3G/LTE/4G/WLAN/Wi-Fi.
- a wireless network such as GSM/3G/LTE/4G/WLAN/Wi-Fi.
- the "header” sends various feedback signals such as an interaction signal for establishing and maintaining a communication link, and a feedback signal of a control signal to the "intermediate server” or "remote controller”.
- Body can obtain voltage and current information of itself and external equipment, environment humidity, temperature, volume, light and pressure information
- body can be installed or connected with temperature sensor, humidity sensor, smoke sensor, ampere Table, etc., the detected information is transmitted to the "intermediate server” or "remote controller” via the "headset”.
- the system can be divided into the following subsystems:
- Robot local control subsystem The "head” uses its interface to establish a communication connection with the “body”, send control signals to the “body”, and control the "body” operation.
- Remote control subsystem The “remote controller” uses the “remote controller control software” to generate control signals, which are sent to the “head” via the wireless network for processing and forwarding by the “header”.
- Remote feedback subsystem The “head” will transmit the video information acquired by its camera, the audio information acquired by the sound pickup hole, the received external device information and various information fed back by the “body” to the wireless network. "Intermediate server” or “remote controller”.
- the "remote controller” and “header” remote communication can be implemented by: “head control software” and “remote controller control software” can be integrated with the instant messaging software client, including The “control module” in instant messaging software.
- the "header” installs the instant messaging software client.
- the instant messaging software client has two main functional modules “text message, audio, video communication module” and “control module”.
- the "text message, audio, video communication module” contains the text, audio and video interaction functions of the traditional instant messaging software client.
- the "control module” contains the main functions of the "head control software”, namely receiving and processing "remote controller control”.
- the software sends out control signals and uses the headphone interface, USB interface, LightningDock interface or Bluetooth interface, or WLAN to control signal output.
- the “head” establishes a connection with the “intermediate server” through the network, and the “head” registers on the “intermediate server” to obtain the “robot identification code” (or “robot identification name”) assigned to the “head” and Corresponding password; run the instant messaging software client in the “head”, input “robot identification code” (or “robot identification name”) and corresponding password in the instant messaging software client, you can log in to the "intermediate server” .
- control password In the "headset” instant messaging software client, you can set the password that the "remote controller” needs to provide when controlling the "header” and store it in the "intermediate server", called "control password”.
- Remote controller installs the instant messaging software client.
- the instant messaging software client has two main functional modules “text message, audio, video communication module” and “control module”, "text message, audio, video communication module” Contains the text, audio and video interaction functions of the traditional instant messaging software client.
- the “control module” contains the main functions of the “remote controller control software”, which generates the control signals and sends them.
- the functions of the “control module” and the “machine” The functions of the first "control module” are different.
- the “remote controller” establishes a connection with the “intermediate server” through the network, and obtains the “remote controller ID” (or “remote controller identification name”) and the corresponding password by registering on the “intermediate server”; Enter the “remote controller ID” (or “remote controller ID”) and the corresponding password in the "Remote Controller” instant messaging software client to log in to the "Intermediate Server”.
- Intermediate server responsible for user registration, password management, authentication, authentication, communication link establishment, communication link maintenance, communication connection security, and communication data of "robot identification code” and "remote controller identification code” , storage of various data such as audio and video data.
- the “intermediate server” handles the "control request” of the "remote controller". If the "header” setting has “control password”, the "remote controller” is required to enter the password, and the “intermediate server” is used to verify the password. If the entered password is the same as the preset password, the “intermediate server” sends the link connection establishment. Request to "head”, send “control request” to "head”; if “header” does not set “control password”, "intermediate server” directly sends link connection establishment request to "head”, send "control” Request "to the head of the machine”. After the "header” allows “control request”, the "remote controller” can control the "header".
- control password check can also be placed in the "header".
- the "intermediate server” receives the "control request” of the "remote controller” and directly sends the link connection. Create a request to the "head” and establish From the “remote controller” to the “header” communication link, the “header” verifies the password submitted by the "remote controller”. If the password is correct, the "control request” is allowed and the subsequent control signals are processed.
- the "remote controller” of the “remote controller” can be set to three categories: the number class that can directly connect and control the "head”; can be manually selected whether The number class that allows control of the "head”; the number class that directly rejects control. For the preset number class number that can directly connect and control the "head”, directly connect and accept the control; for the preset manually select whether to allow control of the "header” number class number, manually select whether to accept the control For the default number class number of the direct rejection control, the control request is directly rejected.
- the head can directly connect and control the number belonging to the preset
- the "robot identification code” can be selected to correspond to the "immediate communication software client” running routine of the login, or can be selected one-to-one with the "header” device, or can be selected one-to-one with the "body” device.
- the unique "header” hardware corresponds to the "robot identification code” defined by the "intermediate server", and if the "header” is a mobile phone,
- the "robot identification code” can be selected as a mobile phone number, a user identification code, a device identification code, or a number corresponding to the three.
- the unique "body” hardware corresponds to the "robot identification code” defined by the "intermediate server”.
- the “head”, “remote controller” and “intermediate server” can call the corresponding relationship data, and automatically select the “head control software” and “remote controller” according to the “body” hardware model according to the “robot identification code”. controlling software”.
- the "header control software” and “instant messaging software client” of the "head” can control the "body” of the corresponding model according to the corresponding software module called by the "body” hardware information.
- the "Remote Controller Control Software” and “Immediate Communication Software Client” of the “Remote Controller” can select the appropriate software module to match the "body” model according to the "body” information obtained by the "head”. Control signal.
- "Remote controller” and “head” use a video communication instant messaging software to establish a communication connection.
- the “remote controller” instant messaging software integrates the robot “control module”, opens the robot “control module”, and utilizes robot identification.
- the code (or the robot identification name, such as "the head” can use the mobile phone number, QQ number, MSN account, WeChat account, etc.) to select the robot to be controlled to expand the robot control interface, if necessary, enter the "control password” Initiate a "control request” to an "intermediate server” by pressing a button, touch screen or mobile phone movement, requesting control of the "header” of the specified “robot identification code", or generating a control signal to the "intermediate server” and "header” ".
- the “headset” instant messaging software integrates the "control module” that controls the “body” via the USB interface, headphone interface, LightningDock interface, Bluetooth interface or WLAN control signals.
- the “head” receives and processes the "remote controller”.
- the transmitted control signal is sent to the body to control the "body” motion.
- the two functional modules "text message, audio, video communication module” and “control module” of "headset” and “remote controller” of "instant messaging software client” can be integrated in one software or two Software that is not the same, is manually turned on separately, or one automatically calls another; video information can be transmitted in a separate frame, and its transmission priority is not higher than the control signal.
- remote communication of "remote controller” and “header” can be achieved as follows:
- the "header” has the number assigned by the communication carrier, and the "header” hardware is bound. At this time, this number can be used as the "robot identification code", and the communication carrier is responsible for the distribution.
- the “robot identification code” may be the mobile phone number of the “head” or a number corresponding to the mobile phone number.
- the “header” and the “remote controller” are connected to the base station or port of the communication carrier network.
- the “remote controller” requests to control the “header”, it sends a "control request” to the communication carrier network, the communication carrier network.
- the server finds the base station or port through the number of the “head” to help establish the communication link between the "remote controller” and the "header”.
- the “head” can set the number of “remote controller” into three categories through software setting “security number permission” function: it can directly connect and control the number of “head”; it can manually select whether to allow control.
- the number class of the "header” the number class that directly rejects control.
- the system can adaptively adjust the number of video frames transmitted per second according to different network speeds and network congestion conditions. Manually, you can also adjust the amount of video information transmission, such as increasing the “header” camera screen capture interval to reduce the sampling, or changing the image resolution to reduce the amount of video information, or using the “intermediate server” and the network traffic control function of the network. , reducing the amount of video transmission on the network.
- the “Remote Controller” can transmit on-screen display information to other computers and TVs in real time through wired and wireless networks, so that the computer and TV screen can be synchronized to display the screen; or the screen captured by the “head” can be displayed on its own screen. It is to transfer the screen to other computers and TVs, so that the computer and TV screens are displayed.
- the “intermediate server” or the communication carrier's server can store the audio, video and other information and other various types of data information uploaded by the “header”.
- the “remote controller” can obtain the information in real time or delay according to the needs, or select according to the needs. Fragments get these data information.
- the “remote controller” records the transmitted control signals, calculates the spatial position data of the “head” and “body”, and uses the spatial position data to draw the “head” and “body” on the screen.
- the simulation status is displayed on the screen. By sliding the analog status screen of the touch screen in the "remote controller”, the future motion trajectory of the "head” and “body” can be simulated, and a control signal is generated and sent to the "head” to control the "body” motion.
- the "remote controller” and “head” can process the batch control signals, that is, read the control signals one line at a time from a text, and control the "machine" "Run”.
- the "body” electromechanical device may be composed of a motor, or consist of a series of light-emitting devices, or an audio device, or a motor, a light-emitting device, and an audio device.
- the control signal output by the "head” interface can control the motor speed, the brightness of different light-emitting devices, and the sound of the sound.
- Remote controller and “head” can exchange information continuously and periodically, and confirm that the peer connection is normal. If the “header” does not detect the interaction information of “remote controller” within the predetermined time, stop the motion. Or reset, where reset refers to transitioning to a preset state.
- the “remote controller” can send a pre-defined “headset” identifiable message to the “head” to stop motion or reset, stop any movement, sound and light, and avoid the network is not smooth, An abnormal danger occurs. Regardless of whether the network is interrupted or not, the “remote controller” can send a pre-defined “headset” identifiable message to the “head”, “sms” as a high priority control signal, and “the head” to process the message. You can stop the motion or reset, or run according to the motion defined by the SMS.
- the "body” fixed “head” device has three options:
- Part of the "body” is a clamping device that can hold the "head”.
- the size of the bayonet of the clamping device can be adjusted.
- the contact parts between the card and the mobile phone are soft materials such as rubber, cloth or plastic;
- a spring or wedge that grips the "head” is installed in the clamping device.
- the lower part of the “body” is of high quality and can be “tumbler”.
- the outer surface of the fuselage has anti-drop material (soft material or elastic material), such as rubber, elastic plastic, sponge or cloth.
- the outer part of the fuselage can also highlight some soft protrusions or elastic protrusions such as sponge, spring, wire, and elastic.
- Plastic and rubber synapses when the "head” and “body” fall on the ground, the peripheral and ground contact parts can buffer the impulse.
- the fuselage chooses to install infrared or ultrasonic detection device, and the "head” software handles the detection signal of the "body” feedback. If there is a large gap in the signal display space, it stops moving to the lower position to prevent "head” and " The fuselage "falls from a height; if the signal shows an obstacle in the horizontal direction, it stops moving toward the obstacle.
- the transmission priority of the control signal must be higher than (at least not lower than) the audio signal.
- control signal can overlap with the audio signal, and the control signal is separated in the "body”.
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Abstract
Provided is a control system using a mobile phone or a computer as a head of a robot, an electromechanical device as a body of the robot and another mobile phone or computer as a remote controller, setting a robot identity identification code for the head and the body and setting a remote controller identity identification code for the remote controller via an intermediate server of a wireless network, so that a remote server identity identification code may be used on the remote controller for logging in to the intermediate server, and remotely controlling the head and the body corresponding to the robot identity identification code to operate.
Description
说明书Instruction manual
本发明涉及无线移动通信和机电设备技术领域,尤其涉及一种利用手机和电脑作为机器人主要部件的远程控制系统。The present invention relates to the field of wireless mobile communication and electromechanical device technology, and more particularly to a remote control system using a mobile phone and a computer as main components of a robot.
受制于各个厂商的技术标准千差万别,目前机器人在家庭应用领域的技术进步和应用普及相对比较缓慢,特别是模块可替换性方面很不如人意,导致不同的家用机器人各有不同的架构,研发和生产成本难以降低,产品价格高昂,不能满足人们对便捷生活的需求。Due to the wide variety of technical standards of various manufacturers, the current technological advancement and application popularity of robots in the field of home applications is relatively slow, especially the module replacement is not satisfactory, resulting in different home robots with different architectures, research and development and production. The cost is difficult to reduce, and the price of the product is high, which cannot satisfy people's demand for convenient living.
发明内容Summary of the invention
本发明的实施例提供一种“远程控制手机人”系统:利用手机或电脑作为机器人的核心处理器、音频视频采集器和显示器等,即类似于人的脑、面部和五官,称为“机首”,机电设备作为机器人的“机身”,另一部手机或电脑作为“远程控制器”。“远程控制器”通过无线网络发送控制信号到“机首”,“机首”再通过耳机接口、USB接口、LightningDock接口、蓝牙接口或WLAN(包括Wi-Fi)将控制信号发送到“机身”,控制“机身”运行。一些类型的机身运动可带动“机首”运动。Embodiments of the present invention provide a "remote control mobile phone person" system: using a mobile phone or a computer as a core processor of a robot, an audio video capture device, a display, etc., that is, similar to a human brain, face, and facial features, called "machine First, the electromechanical device acts as the "body" of the robot, and the other mobile phone or computer acts as the "remote controller." The “remote controller” sends control signals to the “head” via the wireless network. The “head” sends control signals to the “body” via the headphone jack, USB interface, LightningDock interface, Bluetooth interface or WLAN (including Wi-Fi). ", control the "body" to run. Some types of body movements can drive the "head" movement.
所述远程控制手机人系统,组成部分有:The remote control mobile phone human system has the following components:
(1)作为控制信号接收、处理、转发和视频音频信息采集器的“机首”,“机首”也可播放视频音频;(1) As the "header" of the control signal receiving, processing, forwarding and video and audio information collector, the "head" can also play video and audio;
(2)处理“机首”控制信号与“机身”控制信号转换的“接口电路”;(2) an "interface circuit" for processing the "header" control signal and the "body" control signal conversion;
(3)根据控制信号而运行的“机身”;(3) "body" operating according to the control signal;
(4)产生控制信号并通过无线网络发送控制信号以远程控制“机首”、“机身”和接收“机首”反馈信号的“远程控制器”。(4) Generate a control signal and send a control signal over the wireless network to remotely control the "head", "body" and "remote controller" receiving the "head" feedback signal.
上述处理“机首”接口信号与“机身”控制信号转换的“接口电路”,可为普通电路,也可为芯片、专用电路板、单片机或专用计算机,将手机接口信号转换为外界驱动信号,将外界机械和光电信号转换为手机接口信号。“接口电路”可以是分立、单独的模块,在“机身”和“机首”间作通讯信号中转或转换,称为“机脖”;也可以将“接口电路”集成在“机身”,这样系统就没有“机脖”。即“接口电路”可以集成为“机身”的一部分;也可以为单独的器件,一端与“机首”接口连接,一端与“机身”连接。下文为了描述不至于太繁琐,主要描述“接口电路”集成在“机身”的系统,“接口电路”为分立的模块的情况可参照得出。本发明将“机首”与“机身”合称“手机人”。The above-mentioned "interface circuit" for processing the "header" interface signal and the "body" control signal conversion may be an ordinary circuit, or may be a chip, a dedicated circuit board, a single chip microcomputer or a special computer, and convert the mobile phone interface signal into an external driving signal. , convert external mechanical and photoelectric signals into mobile phone interface signals. The "interface circuit" can be a separate, separate module. The communication signal is transferred or converted between the "body" and the "head", which is called "machine neck"; the "interface circuit" can also be integrated into the "body". This way there is no "machine neck" in the system. That is, the "interface circuit" can be integrated as part of the "body"; it can also be a separate device with one end connected to the "head" interface and one end connected to the "body". In the following, for the sake of description, it is not too cumbersome, and the system in which the "interface circuit" is integrated in the "body" is mainly described, and the case where the "interface circuit" is a separate module can be referred to. The invention combines the "head" and the "body" as "mobile phone people".
“远程控制器”输入设备包括:物理按键、触摸控制屏、触摸输入板、操纵杆、光影输入设备、语音输入与识别系统(设备与软件,例如苹果智能语音助手Siri)、速度与重力感应器等。通过操作输入设备,比如触摸、语音输入、旋转移动运动手机,可产生控制信号,如“左右旋转”、“俯仰旋转”、“开关灯”等。“远程控制器”可通过有线宽带网络上网,与“机首”间接建立通信连接;或者通过WLAN/Wi-Fi无线网络上网,与“机首”间接建立通信连接;或者通过GSM/3G/LTE/4G无线网络上网,与“机首”直接建立通信连接。“机首”可通过GSM/3G/LTE/4G/WLAN/WiFi至少其中一种无线网络,与“远程控制器”建立通信连接。
"Remote controller" input devices include: physical buttons, touch control screens, touchpads, joysticks, light and shadow input devices, voice input and recognition systems (devices and software such as Apple Smart Voice Assistant Siri), speed and gravity sensors Wait. Control signals, such as "left and right rotation", "pitch rotation", "switching light", etc., can be generated by operating an input device such as a touch, voice input, or rotary motion mobile phone. “Remote controller” can connect to the “header” indirectly through the wired broadband network; or connect to the “head” indirectly through the WLAN/Wi-Fi wireless network; or through GSM/3G/LTE /4G wireless network access, directly establish a communication connection with the "head". The "head" can establish a communication connection with the "remote controller" via at least one of the GSM/3G/LTE/4G/WLAN/WiFi wireless networks.
所述“机身”的组成部件可包含电动滚轮、可旋转轴、机械臂、音响设备和可发光器件等。“机首”与“机身”通过“接口电路”进行信号中转和转换,“机身”根据接收到的控制信号运动或静止,发声或去声,亮灯或熄灯。The components of the "body" may include an electric roller, a rotatable shaft, a robot arm, an acoustic device, and a light-emitting device. The "head" and "body" perform signal relay and conversion through the "interface circuit", and the "body" moves or stops according to the received control signal, and sounds or goes off, lights up or turns off.
系统可划分为如下子系统:The system can be divided into the following subsystems:
a)机器人本地控制子系统;a) the robot local control subsystem;
b)远程控制子系统;b) a remote control subsystem;
c)远程反馈子系统。c) Remote feedback subsystem.
“机首”和“机身”组合成为“手机人”,作为“机身”的机电设备在本发明中包含人形机器人、动物形机器人、机械手臂、旋转平台、电路驱动滚轮、模型车、小飞机、儿童玩具、信号灯组、电动车和机动车等机电、机械、电子器件。The combination of "head" and "body" becomes "mobile phone person", and the electromechanical device as "body" includes humanoid robot, animal-shaped robot, robot arm, rotating platform, circuit-driven roller, model car, small in the present invention. Electromechanical, mechanical, and electronic devices such as airplanes, children's toys, signal light sets, electric vehicles, and motor vehicles.
“远程控制手机人”系统将手机和电脑作为机器人的主要部件之一,提升了机器人产品的模块化程度,降低了机器人的产品成本,大幅发挥了手机和电脑的“身临其境”的通信功能。The "remote control mobile phone people" system uses mobile phones and computers as one of the main components of robots, which improves the modularity of robot products, reduces the cost of robots, and greatly exerts the "immersive" communication between mobile phones and computers. Features.
一类实施例:One type of embodiment:
(一)普通的手机或平板电脑作为机器人“机首”,安装有“机首控制软件”。(1) Ordinary mobile phones or tablets are used as the "head" of the robot, and the "head control software" is installed.
(二)带滚动轮或旋转轴的机电设备作为机器人“机身”,“机身”固定和支撑“机首”,滚动轮滚动时可带动“机身”和“机首”一起移动,旋转轴旋转时可带动“机首”相对“机身”旋转,例如水平方向和俯仰方向旋转。(2) Electromechanical equipment with rolling wheel or rotating shaft as the "body" of the robot, "body" fixed and supports "head", when the rolling wheel rolls, it can move the "body" and "head" together, rotating When the shaft rotates, it can drive the "head" to rotate relative to the "body", such as the horizontal direction and the pitch direction.
(三)利用另外一部手机或电脑作为“远程控制器”,其中安装“远程控制器控制软件”。人工操作输入设备产生输入信息,“远程控制器控制软件”可根据输入信息产生控制信号,控制信号包含控制“机身”滚动轮滚动的圈数信息和旋转轴旋转的角度信息;“远程控制器控制软件”也可程序自动生成控制信号。“远程控制器”可选择通过GSM/3G/LTE/4G/WLAN/Wi-Fi等无线网络发送控制信号到“机首”。(3) Using another mobile phone or computer as the "remote controller", in which "remote controller control software" is installed. The manual operation input device generates input information, and the “remote controller control software” can generate a control signal according to the input information, and the control signal includes the information of the number of turns for controlling the rolling of the “body” scroll wheel and the angle information of the rotation of the rotating shaft; “remote controller The control software can also automatically generate control signals. The “remote controller” can choose to send control signals to the “head” via a wireless network such as GSM/3G/LTE/4G/WLAN/Wi-Fi.
(四)“机首”利用“机首控制软件”,接收和处理“远程控制器控制软件”发出的控制信号,并利用耳机接口、USB接口、LightningDock接口或蓝牙接口等接口,或WLAN对控制信号输出。(4) The “head” uses the “head control software” to receive and process the control signals sent by the “remote controller control software” and use the interface such as headphone interface, USB interface, LightningDock interface or Bluetooth interface, or WLAN control. Signal output.
(五)“机身”利用“机首”的耳机接口、USB接口、LightningDock接口或蓝牙接口等接口,或WLAN与“机首”建立通信连接,接收“机首”输出的控制信号,驱动“机身”的滚动轮和旋转轴按照控制信号运行,带动“机首”运动。(5) "Face" uses the "headset" headphone interface, USB interface, LightningDock interface or Bluetooth interface, or WLAN to establish a communication connection with the "head", receive the control signal of the "head" output, drive " The rolling wheel and the rotating shaft of the "body" operate according to the control signal, which drives the "head movement".
(六)“机首”的“机首控制软件”也可程序自动产生控制信号,也可人工操作“机首控制软件”产生控制信号,驱动“机身”滚动轮和旋转轴按照控制信号运行,带动“机首”运动。(6) The “head control software” of the “head” can also automatically generate control signals, or manually operate the “head control software” to generate control signals to drive the “body” scroll wheel and the rotary axis to operate according to the control signal. , to drive the "head" movement.
(七)“机首”摄像头、话筒等自身部件捕获环境信息,“机首”获取“机身”各种信息,利用“机首控制软件”或其他“机首”软件处理后,存储和发送,特别是通过GSM/3G/LTE/4G/WLAN/Wi-Fi等无线网络传输到“中间服务器”或“远程控制器”。(7) The “head” camera, microphone and other components capture environmental information, “head” obtains various information of “body”, and uses “head control software” or other “head” software to process, store and send In particular, it is transmitted to an "intermediate server" or "remote controller" via a wireless network such as GSM/3G/LTE/4G/WLAN/Wi-Fi.
(八)“机首”向“中间服务器”或“远程控制器”发送建立和保持通信链路的交互信号,以及控制信号的反馈信号等各种反馈信号。(8) The "header" sends various feedback signals such as an interaction signal for establishing and maintaining a communication link, and a feedback signal of a control signal to the "intermediate server" or "remote controller".
(九)“机身”通过无线方式接收到的外部设备的信息,特别是无线传感器信息,作为反馈信息,发送到“中间服务器”或“远程控制器”。(9) The information of the external device that the "body" receives wirelessly, especially the wireless sensor information, is sent as feedback information to the "intermediate server" or "remote controller".
(十)“机身”可获取自身和外部设备的电压和电流信息,环境的湿度、温度、音量、光亮和压力信息,“机身”可安装或连接温度传感器、湿度传感器、烟雾传感器、安培表等,将检测到的信息经由“机首”传输到“中间服务器”或“远程控制器”。
(10) "Body" can obtain voltage and current information of itself and external equipment, environment humidity, temperature, volume, light and pressure information, "body" can be installed or connected with temperature sensor, humidity sensor, smoke sensor, ampere Table, etc., the detected information is transmitted to the "intermediate server" or "remote controller" via the "headset".
系统可划分为下述子系统:The system can be divided into the following subsystems:
1)机器人本地控制子系统:“机首”利用其接口与“机身”建立通信连接,发送控制信号到“机身”,控制“机身”运行。1) Robot local control subsystem: The "head" uses its interface to establish a communication connection with the "body", send control signals to the "body", and control the "body" operation.
2)远程控制子系统:“远程控制器”利用“远程控制器控制软件”产生控制信号,经由无线网络发送到“机首”,供“机首”处理和转发。2) Remote control subsystem: The “remote controller” uses the “remote controller control software” to generate control signals, which are sent to the “head” via the wireless network for processing and forwarding by the “header”.
3)远程反馈子系统:“机首”将其摄像头获取的视频信息、拾音孔获取的音频信息、接收到的外部设备信息和“机身”反馈的各种信息,通过无线网络,传送到“中间服务器”或“远程控制器”。3) Remote feedback subsystem: The “head” will transmit the video information acquired by its camera, the audio information acquired by the sound pickup hole, the received external device information and various information fed back by the “body” to the wireless network. "Intermediate server" or "remote controller".
二类实施例:The second type of embodiment:
对一类实施例进一步,“远程控制器”和“机首”的远程通信可以通过如下方式实现:“机首控制软件”和“远程控制器控制软件”可以与即时通讯软件客户端集成,包含在即时通讯软件的“控制模块”。Further to a class of embodiments, the "remote controller" and "header" remote communication can be implemented by: "head control software" and "remote controller control software" can be integrated with the instant messaging software client, including The "control module" in instant messaging software.
“机首”安装即时通讯软件客户端,即时通讯软件客户端有两种主要的功能模块“文本消息、音频、视频通讯模块”和“控制模块”。“文本消息、音频、视频通讯模块”包含了传统即时通讯软件客户端的文本、音频和视频交互功能,“控制模块”包含“机首控制软件”的主要功能,即接收和处理“远程控制器控制软件”发出的控制信号,并利用耳机接口、USB接口、LightningDock接口或蓝牙等接口,或WLAN对控制信号输出。“机首”通过网络与“中间服务器”建立连接,“机首”在“中间服务器”上注册,获取分配给“机首”的“机器人身份识别码”(或“机器人身份识别名称”)和对应的密码;在“机首”运行即时通讯软件客户端,在即时通讯软件客户端中输入“机器人身份识别码”(或“机器人身份识别名称”)和对应的密码,可登陆“中间服务器”。The "header" installs the instant messaging software client. The instant messaging software client has two main functional modules "text message, audio, video communication module" and "control module". The "text message, audio, video communication module" contains the text, audio and video interaction functions of the traditional instant messaging software client. The "control module" contains the main functions of the "head control software", namely receiving and processing "remote controller control". The software sends out control signals and uses the headphone interface, USB interface, LightningDock interface or Bluetooth interface, or WLAN to control signal output. The “head” establishes a connection with the “intermediate server” through the network, and the “head” registers on the “intermediate server” to obtain the “robot identification code” (or “robot identification name”) assigned to the “head” and Corresponding password; run the instant messaging software client in the "head", input "robot identification code" (or "robot identification name") and corresponding password in the instant messaging software client, you can log in to the "intermediate server" .
在“机首”的即时通讯软件客户端,可设置“远程控制器”请求控制“机首”时,需要提供的密码,并存储在“中间服务器”中,称为“控制密码”。In the "headset" instant messaging software client, you can set the password that the "remote controller" needs to provide when controlling the "header" and store it in the "intermediate server", called "control password".
“远程控制器”安装即时通讯软件客户端,即时通讯软件客户端有两种主要的功能模块“文本消息、音频、视频通讯模块”和“控制模块”,“文本消息、音频、视频通讯模块”包含了传统即时通讯软件客户端的文本、音频和视频交互功能,“控制模块”包含“远程控制器控制软件”的主要功能,即产生控制信号并发送,这里的“控制模块”的功能和“机首”的“控制模块”用到的功能不相同。“远程控制器”通过网络与“中间服务器”建立连接,通过在“中间服务器”上注册,获取“远程控制器身份识别码”(或“远程控制器身份识别名称”)和对应的密码;在“远程控制器”的即时通讯软件客户端中输入“远程控制器身份识别码”(或“远程控制器身份识别名称”)和对应的密码,可登陆“中间服务器”。"Remote controller" installs the instant messaging software client. The instant messaging software client has two main functional modules "text message, audio, video communication module" and "control module", "text message, audio, video communication module" Contains the text, audio and video interaction functions of the traditional instant messaging software client. The “control module” contains the main functions of the “remote controller control software”, which generates the control signals and sends them. Here, the functions of the “control module” and the “machine” The functions of the first "control module" are different. The “remote controller” establishes a connection with the “intermediate server” through the network, and obtains the “remote controller ID” (or “remote controller identification name”) and the corresponding password by registering on the “intermediate server”; Enter the "remote controller ID" (or "remote controller ID") and the corresponding password in the "Remote Controller" instant messaging software client to log in to the "Intermediate Server".
在“远程控制器”中利用即时通讯软件客户端,可发送“控制请求”到“中间服务器”,要求控制指定的“机器人身份识别码”或(“机器人身份识别名称”)的“机首”。Using the instant messaging software client in the "remote controller", you can send a "control request" to the "intermediate server", requesting control of the specified "robot identification code" or "the "handset" of the "robot identification name") .
“中间服务器”,负责“机器人身份识别码”和“远程控制器身份识别码”的用户注册、密码管理、认证、鉴权、通信链路建立、通信链路维持、通信连接安全,以及通信数据、音频和视频数据等各种数据的存储。"Intermediate server", responsible for user registration, password management, authentication, authentication, communication link establishment, communication link maintenance, communication connection security, and communication data of "robot identification code" and "remote controller identification code" , storage of various data such as audio and video data.
“中间服务器”处理“远程控制器”的“控制请求”。若“机首”设置有“控制密码”,则要求“远程控制器”输入密码,“中间服务器”校验密码,若输入的密码与预先设置的密码相同,“中间服务器”发送链路连接建立请求到“机首”,发送“控制请求”到“机首”;若“机首”未设置“控制密码”,“中间服务器”直接发送链路连接建立请求到“机首”,发送“控制请求”到“机首”。“机首”允许“控制请求”之后,“远程控制器”即可控制“机首”。The "intermediate server" handles the "control request" of the "remote controller". If the "header" setting has "control password", the "remote controller" is required to enter the password, and the "intermediate server" is used to verify the password. If the entered password is the same as the preset password, the "intermediate server" sends the link connection establishment. Request to "head", send "control request" to "head"; if "header" does not set "control password", "intermediate server" directly sends link connection establishment request to "head", send "control" Request "to the head of the machine". After the "header" allows "control request", the "remote controller" can control the "header".
需要说明的是,“控制密码”的校验也可以置于“机首”中,这种情况下,“中间服务器”收到“远程控制器”的“控制请求”后,直接发送链路连接建立请求到“机首”,建立
起“远程控制器”到“机首”的通信链路,“机首”校验“远程控制器”递交的密码,若密码正确,则允许“控制请求”并处理后继的控制信号。It should be noted that the "control password" check can also be placed in the "header". In this case, the "intermediate server" receives the "control request" of the "remote controller" and directly sends the link connection. Create a request to the "head" and establish
From the "remote controller" to the "header" communication link, the "header" verifies the password submitted by the "remote controller". If the password is correct, the "control request" is allowed and the subsequent control signals are processed.
在“机首”即时通讯软件客户端,可将“远程控制器”的“远程控制器身份识别码”设置为三类:可直接接通并控制“机首”的号码类;可人工选择是否允许控制“机首”的号码类;直接拒绝控制的号码类。对于预设的可直接接通并控制“机首”的号码类号码,直接接通并接受控制;对于预设的可人工选择是否允许控制“机首”的号码类号码,手动选择是否接受控制;对于预设的直接拒绝控制的号码类号码,直接拒绝其控制请求。In the "headset" instant messaging software client, the "remote controller" of the "remote controller" can be set to three categories: the number class that can directly connect and control the "head"; can be manually selected whether The number class that allows control of the "head"; the number class that directly rejects control. For the preset number class number that can directly connect and control the "head", directly connect and accept the control; for the preset manually select whether to allow control of the "header" number class number, manually select whether to accept the control For the default number class number of the direct rejection control, the control request is directly rejected.
以上通过“判断控制密码”和“利用远程控制器身份识别码分类”两种方式对“控制请求”进行处理的方式可以结合起来:“机首”对于号码属于预设的可直接接通并控制“机首”的号码类“远程控制器”,若“远程控制器”的“控制密码”提供正确,则直接接受“远程控制器”控制;对于号码属于预设的可人工选择是否允许控制“机首”的号码类“远程控制器”,若“远程控制器”的“控制密码”提供正确,则手动选择是否接受控制;对于号码属于预设的直接拒绝控制的号码类“远程控制器”,直接拒绝其控制请求。The above methods of processing the "control request" by means of "judge control password" and "classification by remote controller identification code" can be combined: "the head" can directly connect and control the number belonging to the preset The number of the "header" "remote controller", if the "control password" of the "remote controller" is provided correctly, it directly accepts the "remote controller" control; if the number belongs to the preset, it can be manually selected to allow control. The number of the "header" of the "header", if the "control password" of the "remote controller" is provided correctly, manually select whether to accept the control; for the number that belongs to the preset direct rejection control type "remote controller" Directly rejects its control request.
“机器人身份识别码”可选择与登陆的“即时通讯软件客户端”运行例程一一对应,也可选择与“机首”设备一一对应,或者选择与“机身”设备一一对应。The "robot identification code" can be selected to correspond to the "immediate communication software client" running routine of the login, or can be selected one-to-one with the "header" device, or can be selected one-to-one with the "body" device.
若“机器人身份识别码”与“机首”设备一一对应时,则有唯一的“机首”硬件与“中间服务器”定义的“机器人身份识别码”对应,若“机首”为手机,“机器人身份识别码”可以选择为手机号码、用户识别码、设备识别码或与三者有对应关系的号码。If the "robot identification code" and the "header" device are in one-to-one correspondence, then the unique "header" hardware corresponds to the "robot identification code" defined by the "intermediate server", and if the "header" is a mobile phone, The "robot identification code" can be selected as a mobile phone number, a user identification code, a device identification code, or a number corresponding to the three.
若“机器人身份识别码”与“机身”一一对应时,则有唯一的“机身”硬件与“中间服务器”定义的“机器人身份识别码”对应。这样“机首”、“远程控制器”和“中间服务器”可以调用对应关系数据,根据“机器人身份识别码”自动选择符合“机身”硬件型号的“机首控制软件”和“远程控制器控制软件”。If the "robot identification code" corresponds to the "body" one-to-one, then the unique "body" hardware corresponds to the "robot identification code" defined by the "intermediate server". In this way, the “head”, “remote controller” and “intermediate server” can call the corresponding relationship data, and automatically select the “head control software” and “remote controller” according to the “body” hardware model according to the “robot identification code”. controlling software".
“机首”的“机首控制软件”和“即时通讯软件客户端”可以根据“机身”硬件信息调用的对应合适的软件模块控制相应型号的“机身”。The "header control software" and "instant messaging software client" of the "head" can control the "body" of the corresponding model according to the corresponding software module called by the "body" hardware information.
“远程控制器”的“远程控制器控制软件”和“即时通讯软件客户端”可以根据“机首”获得的“机身”信息,选择对应合适的软件模块以产生与“机身“型号匹配的控制信号。“远程控制器”和“机首”利用可视频通讯的即时通讯软件建立通信连接,“远程控制器”的即时通讯软件集成了机器人“控制模块”,打开机器人“控制模块”,利用机器人身份识别码(或机器人身份识别名称,例如“机首”可使用手机号码、QQ号码、MSN账号、微信账号等)选择要控制的机器人,以展开机器人控制界面,必要时输入“控制密码”,即可通过按键、触屏或手机运动,发起“控制请求”到“中间服务器”,要求控制指定的“机器人身份识别码”的“机首”,或产生控制信号发送到“中间服务器”和“机首”。The "Remote Controller Control Software" and "Immediate Communication Software Client" of the "Remote Controller" can select the appropriate software module to match the "body" model according to the "body" information obtained by the "head". Control signal. "Remote controller" and "head" use a video communication instant messaging software to establish a communication connection. The "remote controller" instant messaging software integrates the robot "control module", opens the robot "control module", and utilizes robot identification. The code (or the robot identification name, such as "the head" can use the mobile phone number, QQ number, MSN account, WeChat account, etc.) to select the robot to be controlled to expand the robot control interface, if necessary, enter the "control password" Initiate a "control request" to an "intermediate server" by pressing a button, touch screen or mobile phone movement, requesting control of the "header" of the specified "robot identification code", or generating a control signal to the "intermediate server" and "header" ".
“机首”的即时通讯软件集成了通过USB接口、耳机接口、LightningDock接口、蓝牙接口或WLAN发送控制信号控制“机身”的“控制模块”,“机首”接收和处理“远程控制器”发送的控制信号后发送给机身控制“机身”运动。The "headset" instant messaging software integrates the "control module" that controls the "body" via the USB interface, headphone interface, LightningDock interface, Bluetooth interface or WLAN control signals. The "head" receives and processes the "remote controller". The transmitted control signal is sent to the body to control the "body" motion.
需要说明的是,应用到的“机首”和“远程控制器”的即时通讯软件客户端的功能并不相同,两者的“控制模块”也有着不同功能。It should be noted that the functions of the instant messaging software client of the "head" and "remote controller" applied are not the same, and the "control modules" of the two have different functions.
“机首”和“远程控制器”的“即时通讯软件客户端”的两种功能模块“文本消息、音频、视频通讯模块”和“控制模块”可以集成在一个软件中,也可以为两个并不相同的软件,分别手动打开,或者一种自动调用另一种;视频信息可以单独成帧传输,其传输优先级不高于控制信号。The two functional modules "text message, audio, video communication module" and "control module" of "headset" and "remote controller" of "instant messaging software client" can be integrated in one software or two Software that is not the same, is manually turned on separately, or one automatically calls another; video information can be transmitted in a separate frame, and its transmission priority is not higher than the control signal.
三类实施例:Three types of embodiments:
对一类实施例简化,“远程控制器”和“机首”的远程通信可以通过如下方式实现:
For a simplified set of embodiments, remote communication of "remote controller" and "header" can be achieved as follows:
“机首”有通信运营商分配的号码,和“机首”硬件已绑定,这时可用这个号码作为“机器人身份识别码”,通信运营商负责分配。The "header" has the number assigned by the communication carrier, and the "header" hardware is bound. At this time, this number can be used as the "robot identification code", and the communication carrier is responsible for the distribution.
当“机首”为手机时,“机器人身份识别码”可以为“机首”的手机号码,或者与手机号码一一对应的号码。When the “header” is a mobile phone, the “robot identification code” may be the mobile phone number of the “head” or a number corresponding to the mobile phone number.
“机首”和“远程控制器”连接在通信运营商网络的基站或端口上,“远程控制器”要求控制“机首”时,发送“控制请求”到通信运营商网络,通信运营商网络的服务器通过“机首”的号码寻找到所在基站或端口,协助建立起“远程控制器”和“机首”的通信链路。其中“机首”通过软件设置“安全号码允许”功能,即可设置“远程控制器”的号码为三类:可直接接通并控制“机首”的号码类;可人工选择是否允许控制“机首”的号码类;直接拒绝控制的号码类。The "header" and the "remote controller" are connected to the base station or port of the communication carrier network. When the "remote controller" requests to control the "header", it sends a "control request" to the communication carrier network, the communication carrier network. The server finds the base station or port through the number of the "head" to help establish the communication link between the "remote controller" and the "header". Among them, the “head” can set the number of “remote controller” into three categories through software setting “security number permission” function: it can directly connect and control the number of “head”; it can manually select whether to allow control. The number class of the "header"; the number class that directly rejects control.
在“机首”软件中设置“控制密码”,“机首”校验“远程控制器”发送“控制请求”时提供的密码,若与“控制密码”匹配,则“机首”允许“远程控制器”控制。Set the “control password” in the “header” software. The “header” verifies the password provided by the “remote controller” when sending the “control request”. If it matches the “control password”, the “head” allows the remote Controller" control.
其他细节可参考“二类实施例”,在此不再累述。For other details, please refer to "two types of embodiments", which will not be repeated here.
传输视频信息时,系统根据不同的网络速度和网络拥塞状况,可以自适应动态调整每秒传输的视频帧数。人工也可以调整视频信息传输量,例如将“机首”摄像头画面捕获间隔增加使得采样减少,或改变图像分辨率使得视频信息量减少,或利用“中间服务器”及其所处网络的流量调节功能,降低网络的视频传输量。When transmitting video information, the system can adaptively adjust the number of video frames transmitted per second according to different network speeds and network congestion conditions. Manually, you can also adjust the amount of video information transmission, such as increasing the “header” camera screen capture interval to reduce the sampling, or changing the image resolution to reduce the amount of video information, or using the “intermediate server” and the network traffic control function of the network. , reducing the amount of video transmission on the network.
“远程控制器”可通过有线和无线网络将屏幕显示画面信息实时传输到其他电脑和电视,使电脑和电视屏幕同步放映画面;也可不在自身屏幕上显示“机首”捕获到的画面,而是将画面中转到其他电脑和电视,使电脑和电视屏幕放映画面。The “Remote Controller” can transmit on-screen display information to other computers and TVs in real time through wired and wireless networks, so that the computer and TV screen can be synchronized to display the screen; or the screen captured by the “head” can be displayed on its own screen. It is to transfer the screen to other computers and TVs, so that the computer and TV screens are displayed.
“中间服务器”或通信运营商的服务器可以存储“机首”上传的音频、视频等信息和其他各类数据信息,“远程控制器”根据需要,实时或延时获取这些信息,或者根据需要选择片段获取这些数据信息。The “intermediate server” or the communication carrier's server can store the audio, video and other information and other various types of data information uploaded by the “header”. The “remote controller” can obtain the information in real time or delay according to the needs, or select according to the needs. Fragments get these data information.
人工准备远程控制时,可以通过观察“机首”摄像头获取并传输到“远程控制器”的环境影像视频信息,根据画面情况,触动控制键、触动触摸屏或运动手机产生控制信号,发送控制信号到“机首”,控制“机身”运动。When manually preparing for remote control, you can observe the “camera” camera to obtain and transmit the environmental image and video information of the “remote controller”. According to the picture, touch the control button, touch the touch screen or the mobile phone to generate the control signal, and send the control signal to "The nose" controls the "body" movement.
不同的实施例可以选择三种可选的远程控制模式是:Different embodiments can choose three optional remote control modes:
(一)人工准备远程控制时,可以通过观察“机首”摄像头获取并传输到“远程控制器”的环境影像视频信息,根据画面情况,通过“远程控制器”语音输入系统语音输入控制信号,并发送给“机首”,控制“机身”运动。(1) When manually preparing for remote control, you can observe and receive the environmental image and video information of the “remote controller” by observing the “head” camera, and input the control signal through the “remote controller” voice input system according to the picture situation. And sent to the "head" to control the "body" movement.
(二)通过“机身”多个关键点反馈生成“机身”空间位置数据,“机首”获取这些数据后传输到“远程控制器”,“远程控制器”则利用这些空间位置数据,在其屏幕上绘制出“机首”和“机身”的模拟状态显示于屏幕上。通过在“远程控制器”滑动触摸屏的模拟状态画面,可模拟出“机首”和“机身”的未来运动轨迹,产生控制信号,并发送给“机首”,控制“机身”运动。(2) generating "female" spatial position data through feedback of multiple key points of "body", the "header" acquires the data and transmits it to the "remote controller", and the "remote controller" uses the spatial position data. The simulated state of "head" and "body" drawn on the screen is displayed on the screen. By sliding the analog status screen of the touch screen in the "remote controller", the future motion trajectory of the "head" and "body" can be simulated, and a control signal is generated and sent to the "head" to control the "body" motion.
(三)“远程控制器”记录已发送的控制信号,计算得出“机首”和“机身”的空间位置数据,利用空间位置数据在其屏幕上绘制出“机首”和“机身”的模拟状态显示于屏幕上。通过在“远程控制器”滑动触摸屏的模拟状态画面,可模拟出“机首”和“机身”的未来运动轨迹,产生控制信号,并发送给“机首”,控制“机身”运动。(3) The “remote controller” records the transmitted control signals, calculates the spatial position data of the “head” and “body”, and uses the spatial position data to draw the “head” and “body” on the screen. The simulation status is displayed on the screen. By sliding the analog status screen of the touch screen in the "remote controller", the future motion trajectory of the "head" and "body" can be simulated, and a control signal is generated and sent to the "head" to control the "body" motion.
除处理人工手动生成的控制信号和程序自动生成的控制信号外,“远程控制器”和“机首”可处理批处理控制信号,即从一个文本中读取一行一行的控制信号,控制“机身”运行。In addition to processing manually generated control signals and control signals automatically generated by the program, the "remote controller" and "head" can process the batch control signals, that is, read the control signals one line at a time from a text, and control the "machine" "Run".
所述“机身”机电设备可以由电机组成,或者由一串发光器件组成,或者由音响设备组成,或者由电机、发光器件和音响设备共同构成。“机首”接口输出的控制信号可以控制电机转速、不同发光器件的光亮程度、音响的发声。
The "body" electromechanical device may be composed of a motor, or consist of a series of light-emitting devices, or an audio device, or a motor, a light-emitting device, and an audio device. The control signal output by the "head" interface can control the motor speed, the brightness of different light-emitting devices, and the sound of the sound.
“远程控制器”与“机首”可以不断、定期进行信息交互,确认对端连接正常,若在预定的时间内,“机首”检测不到“远程控制器”的交互信息,则停止运动或复位,其中复位指转变到预设的一种状态。“Remote controller” and “head” can exchange information continuously and periodically, and confirm that the peer connection is normal. If the “header” does not detect the interaction information of “remote controller” within the predetermined time, stop the motion. Or reset, where reset refers to transitioning to a preset state.
若网络中断,“远程控制器”可发送预先定义的“机首”可识别的短信到“机首”,使其停止运动或复位,停止任何运动、声音和光亮,避免在网络不通畅时,发生异常危险。不管网络中断与否,“远程控制器”都可发送预先定义的“机首”可识别的短信到“机首”,“短信”作为高优先级的控制信号,“机首”处理短信后,可停止运动或复位,或者根据短信定义的运动方式运行。If the network is interrupted, the “remote controller” can send a pre-defined “headset” identifiable message to the “head” to stop motion or reset, stop any movement, sound and light, and avoid the network is not smooth, An abnormal danger occurs. Regardless of whether the network is interrupted or not, the “remote controller” can send a pre-defined “headset” identifiable message to the “head”, “sms” as a high priority control signal, and “the head” to process the message. You can stop the motion or reset, or run according to the motion defined by the SMS.
“机身”固定“机首”的装置有三种选择:The "body" fixed "head" device has three options:
(一)“机身”预留槽位,“机首”可以直接固定在“机身”的槽位上;(1) The "body" reserved slot, the "head" can be directly fixed in the "body" slot;
(二)“机身”一部分为夹持装置,可夹持“机首”,其夹持装置的卡口大小可调节,卡件与手机接触部位为橡胶、布料或塑料等软质材料;(2) Part of the "body" is a clamping device that can hold the "head". The size of the bayonet of the clamping device can be adjusted. The contact parts between the card and the mobile phone are soft materials such as rubber, cloth or plastic;
(三)“机身”预留槽位,可安装易于分离的夹持装置,夹持装置夹持“机首”。(3) The reserved space of the “body” can be installed with a clamping device that is easy to separate, and the clamping device holds the “head”.
为更好地固定“机首”,夹持装置中安装可卡紧“机首”的弹簧或楔形物。为避免“机体”夹持“机首”在自由运动时摔倒,“机身”下部质量较大,可为“不倒翁”状。机身的外围有抗摔材质(软质材料或弹性材料),如橡胶、弹性塑料、海绵或布料,机身外围还可以突出一些软质凸起或弹性凸起如海绵、弹簧、铁丝、弹性塑料、橡胶突触,当“机首”和“机体”摔落地上时,外围与地面接触部位可以缓冲冲力。To better secure the "head", a spring or wedge that grips the "head" is installed in the clamping device. In order to avoid the "body" clamping "head" falling during free movement, the lower part of the "body" is of high quality and can be "tumbler". The outer surface of the fuselage has anti-drop material (soft material or elastic material), such as rubber, elastic plastic, sponge or cloth. The outer part of the fuselage can also highlight some soft protrusions or elastic protrusions such as sponge, spring, wire, and elastic. Plastic and rubber synapses, when the "head" and "body" fall on the ground, the peripheral and ground contact parts can buffer the impulse.
“机身”选择安装红外线或超声波检测装置,“机首”软件处理“机身”反馈的检测信号,若信号显示空间有较大落差,则停止向低处运动,防止“机首”和“机身”从高处跌落;若信号显示水平方向有障碍物,则停止向障碍物方向运动。"The fuselage" chooses to install infrared or ultrasonic detection device, and the "head" software handles the detection signal of the "body" feedback. If there is a large gap in the signal display space, it stops moving to the lower position to prevent "head" and " The fuselage "falls from a height; if the signal shows an obstacle in the horizontal direction, it stops moving toward the obstacle.
当用耳机连接“机首”与“机身”时,须控制信号的传输优先级高于(至少不低于)音频信号,有如下几种选择:When using the headphone to connect the "head" and "body", the transmission priority of the control signal must be higher than (at least not lower than) the audio signal. There are several options:
(一)控制信号传输时音频输出完全停止;(1) The audio output is completely stopped when the control signal is transmitted;
(二)通过给控制信号预留发送时间片,在时间片内不输出音频,控制信号传输不受音频信号影响,音频信号在时间片外发送;(2) by releasing a transmission time slice for the control signal, not outputting audio in the time slice, the control signal transmission is not affected by the audio signal, and the audio signal is transmitted outside the time slice;
(三)控制信号可与音频信号相互交叠,在“机身”分离出控制信号。
(3) The control signal can overlap with the audio signal, and the control signal is separated in the "body".
Claims (10)
- 一种远程控制手机人系统,其特征在于,利用手机或电脑作为机器人的“机首”,机电设备作为机器人的“机身”,另一部手机或电脑作为“远程控制器”,网络中有“中间服务器”为“远程控制器”和“机首”提供通信服务,并为“远程控制器”设定“远程控制器身份识别码”,为“机首”设定“机器人身份识别码”,“机器人身份识别码”可与“即时通讯软件客户端”例程一一对应,也可选择与“机首”一一对应,或者选择与“机身”一一对应,利用“远程控制器”和“机首”的通讯软件客户端,分别输入“远程控制器身份识别码”和“机器人身份识别码”,登陆“中间服务器”,在“远程控制器”中利用通讯软件客户端,可发送“控制请求”到“中间服务器”,请求控制某一“机器人身份识别码”的“机首”,“中间服务器”接收和处理“远程控制器”的“控制请求”,送达“控制请求”到相应“机器人身份识别码”的“机首”,“机首”接收和处理“控制请求”后,“远程控制器”即可发送控制信号控制“机首”,“机首”再通过耳机接口、USB接口、LightningDock接口、蓝牙接口或WLAN将控制信号发送到“机身”,控制“机身”运行。A remote control mobile phone human system, which is characterized in that a mobile phone or a computer is used as a "head" of a robot, an electromechanical device is used as a "body" of a robot, and another mobile phone or computer is used as a "remote controller". "Intermediate server" provides communication services for "remote controller" and "head", and sets "remote controller ID" for "remote controller" and "robot identification code" for "header" "Robot ID" can be in one-to-one correspondence with "Immediate Communication Software Client" routines, or you can choose one-to-one correspondence with "head", or choose one-to-one correspondence with "body", using "remote controller "" and "header" communication software client, enter "remote controller ID" and "robot identification code" respectively, log in to the "intermediate server", use the communication software client in the "remote controller" Send "control request" to "intermediate server", request to control the "header" of a certain "robot identification code", "intermediate server" receives and processes " The "control request" of the "process controller", the "control request" is sent to the "header" of the corresponding "robot identification code", and after the "header" receives and processes the "control request", the "remote controller" can The control signal is sent to control the "head", and the "head" sends control signals to the "body" through the headphone jack, USB interface, LightningDock interface, Bluetooth interface or WLAN to control the "body" operation.
- 如权利要求1所述的远程控制手机人系统,其特征在于,“机首”包含“机首控制软件”,“机首控制软件”接收和处理“远程控制器控制软件”发出的控制信号,并利用“机首”耳机接口、USB接口、LightningDock接口、蓝牙接口或WLAN对控制信号输出;“机首控制软件”也可程序自动产生控制信号,也可人工操作“机首控制软件”产生控制信号,驱动“机身”滚动轮和旋转轴按照控制信号运行,带动“机首”运动;“机首控制软件”可以集成在即时通讯软件客户端中,即时通讯软件客户端有两种主要的功能模块“文本消息、音频、视频通讯模块”和“控制模块”,“机首”通过网络与“中间服务器”建立连接,利用即时通讯软件客户端在“中间服务器”上注册,获取分配给“机首”的“机器人身份识别码”和对应的密码,在“机首”运行即时通讯软件客户端,在即时通讯软件客户端中输入“机器人身份识别码”和对应的密码,可登陆“中间服务器”;在“机首”的即时通讯软件客户端,可设置“远程控制器”请求控制“机首”时,需要输入的“控制密码”,并存储在“中间服务器”中;“机首”可将“机首”自身部件捕获的环境信息、获取的外部设备信息和“机身”获取的信息,利用“机首控制软件”或即时通讯软件客户端,通过GSM/3G/LTE/4G/WLAN/Wi-Fi无线网络传输到“远程控制器”;“机首”向“远程控制器”传输视频信息时,系统根据不同的网络速度和网络拥塞状况,可以自适应动态调整每秒传输的视频帧数,也可人工调整视频信息传输量;“机首”的“机首控制软件”和“即时通讯软件客户端”可以根据“机身”硬件信息调用对应合适的软件模块控制相应型号的“机身”。The remote control mobile phone human system according to claim 1, wherein the "header" includes "head control software", and the "head control software" receives and processes the control signal sent by the "remote controller control software". And use the "head" headset interface, USB interface, LightningDock interface, Bluetooth interface or WLAN to control signal output; "head control software" can also automatically generate control signals, or manually operate the "head control software" to generate control The signal drives the "body" scroll wheel and the rotary axis to operate according to the control signal, which drives the "head movement"; the "head control software" can be integrated in the instant messaging software client, and the instant messaging software client has two main types. The function module "text message, audio, video communication module" and "control module", the "header" establishes a connection with the "intermediate server" through the network, and uses the instant messaging software client to register on the "intermediate server" and obtain the assignment to " The "robot identification code" of the "head" and the corresponding password, run instant messaging software in the "head" In the client, enter the "robot identification code" and the corresponding password in the instant messaging software client, you can log in to the "intermediate server"; in the "headset" instant messaging software client, you can set the "remote controller" request control At the "head", you need to enter the "control password" and store it in the "intermediate server"; the "head" can capture the environmental information captured by the "head" itself, the acquired external device information and the "fuselage" The acquired information is transmitted to the “remote controller” via the GSM/3G/LTE/4G/WLAN/Wi-Fi wireless network using the “head control software” or the instant messaging software client; “head” to “remote control” "When transmitting video information, the system can adaptively adjust the number of video frames transmitted per second according to different network speeds and network congestion conditions, or manually adjust the amount of video information transmission; "header" "header control software" "and the instant messaging software client" can call the appropriate "software" according to the "body" hardware information to control the "body" of the corresponding model.
- 如权利要求1所述的远程控制手机人系统,其特征在于,所述“机身”的组成部件可包含电动滚轮、可旋转轴、机械臂、音响设备和发光器件,“机身”固定和支撑“机首”,滚轮滚动时可带动“机身”和“机首”一起移动,旋转轴旋转时可带动“机首”相对“机身”旋转,“机身”根据接收到的控制信号运动或静止,发声或去声,亮灯或熄灯;“机首”与“机身”通过“接口电路”进行信号中转和转换,“接口电路”可为普通电路,也可为芯片、专用电路板、单片机或专用计算机,将手机接口信号转换为外界驱动信号,将外界机械或光电信号转换为手机接口信号,“接口电路”可以为单独的模块,一端与“机首”接口连接,一端与“机身”连接,也可集成在“机身”成为“机身”的一部分。The remote control mobile phone human system according to claim 1, wherein the components of the "body" may include an electric roller, a rotatable shaft, a robot arm, an audio device, and a light emitting device, and the "body" is fixed and Support "head", when the roller rolls, it can drive the "body" and "head" to move together. When the rotating shaft rotates, it can drive the "head" to rotate relative to the "body". The "body" is based on the received control signal. Motion or still, sound or de-sound, light or light off; "head" and "body" through the "interface circuit" for signal transfer and conversion, "interface circuit" can be ordinary circuit, can also be chip, special circuit The board, the single chip computer or the special computer converts the mobile phone interface signal into an external driving signal, converts the external mechanical or photoelectric signal into a mobile phone interface signal, and the "interface circuit" can be a separate module, and one end is connected with the "head" interface, one end is connected with The "body" connection can also be integrated into the "body" to become part of the "body".
- 如权利要求1所述的远程控制手机人系统,其特征在于,所述“远程控制器”可通过有线宽带网络上网,与“机首”间接建立通信连接,或者通过WLAN/Wi-Fi无线网络上网,与“机首”间接建立通信连接,或者通过GSM/3G/LTE/4G无线网络上网,与“机首”直接建立通信连接;“远程控制器”包含“远程控制器控制软件”,人工操作输入设备输入信息, “远程控制器控制软件”可根据输入信息产生控制信号,控制信号包含控制“机身”滚动轮滚动的圈数信息和旋转轴旋转的角度信息,“远程控制器控制软件”也可程序自动生成控制信号;“远程控制器控制软件”可集成在即时通讯软件客户端中,即时通讯软件客户端有两种主要的功能模块“文本消息、音频、视频通讯模块”和“控制模块”,“远程控制器”利用即时通讯软件客户端在“中间服务器”上注册,获取“远程控制器身份识别码”和对应的密码,在“远程控制器”的即时通讯软件客户端中输入“远程控制器身份识别码”和对应的密码,可登陆“中间服务器”,打开即时通讯软件客户端的“控制模块”界面,选择要控制的机器人的“机器人身份识别码”或对应的图标,以展开机器人控制界面,输入正确的“控制密码”,即可通过按键、触屏或手机运动,发起“控制请求”到“中间服务器”,要求控制指定的“机器人身份识别码”的“机首”,或产生控制信号发送到“中间服务器”和“机首”。The remote control mobile phone human system according to claim 1, wherein the "remote controller" can access the Internet through a wired broadband network, indirectly establish a communication connection with the "head", or through a WLAN/Wi-Fi wireless network. Internet access, indirectly establish a communication connection with the "head", or connect to the "head" directly through the GSM/3G/LTE/4G wireless network; the "remote controller" includes the "remote controller control software", manual Operate the input device to enter information, The “remote controller control software” can generate a control signal according to the input information, and the control signal includes the number of information for controlling the rolling of the “body” scroll wheel and the angle information of the rotation of the rotating shaft, and the “remote controller control software” can also be automatically generated by the program. Control signal; "remote controller control software" can be integrated in the instant messaging software client. The instant messaging software client has two main functional modules "text message, audio, video communication module" and "control module", "remote The controller "registers" on the "intermediate server" with the instant messaging software client, obtains the "remote controller ID" and the corresponding password, and enters the "remote controller identity" in the "remote controller" instant messaging software client. "ID" and the corresponding password, you can log in to the "Intermediate Server", open the "Control Module" interface of the instant messaging software client, select the "robot identification code" or the corresponding icon of the robot to be controlled to expand the robot control interface. Enter the correct "control password", you can press the button, touch Mobile or movement, initiated "Control Request" to "intermediary server", requires control designated "robot identification code" of the "nose", or generating a control signal to the "intermediary server" and "nose."
- 如权利要求1所述的远程控制手机人系统,其特征在于,所述“中间服务器”负责“机器人身份识别码”和“远程控制器身份识别码”的注册、密码管理、认证、鉴权、通信链路建立、通信链路维持、通信连接安全,以及通信数据和音频视频数据的存储,“中间服务器”处理“远程控制器”的“控制请求”,若“机首”设置有“控制密码”,则要求“远程控制器”输入密码,“中间服务器”校验密码,若输入的密码与预先设置的密码相同,“中间服务器”发送链路连接建立请求和“控制请求”到“机首”;若“机首”未设置“控制密码”,“中间服务器”直接发送链路连接建立请求和“控制请求”到“机首”,“中间服务器”可以存储“机首”上传的音频、视频信息和各类数据信息,“远程控制器”可实时或延时获取这些信息,或者根据需要选择片段获取这些信息;“控制密码”的校验也可以置于“机首”中,这种情况下,“中间服务器”收到“远程控制器”的“控制请求”后,直接发送链路连接建立请求到“机首”,建立起“远程控制器”到“机首”的通信链路,“机首”校验“远程控制器”递交的密码,若密码正确,则允许“控制请求”。The remote control mobile phone human system according to claim 1, wherein the "intermediate server" is responsible for registration, password management, authentication, authentication, and "robot identification code" and "remote controller identification code". Communication link establishment, communication link maintenance, communication connection security, and storage of communication data and audio and video data, "intermediate server" handles "control request" of "remote controller", if "header" is set with "control password" ", the "remote controller" is required to enter the password, the "intermediate server" to verify the password, if the entered password is the same as the preset password, the "intermediate server" sends the link connection establishment request and the "control request" to the "header" "If the "header" does not set the "control password", the "intermediate server" directly sends the link connection establishment request and the "control request" to the "header", and the "intermediate server" can store the audio uploaded by the "header", Video information and various types of data information, "remote controller" can obtain this information in real time or delay, or select a piece according to need The segment obtains this information; the "control password" check can also be placed in the "header". In this case, the "intermediate server" receives the "control request" of the "remote controller" and directly sends the link connection. Establish a request to the “head”, establish a communication link from “remote controller” to “head”, and “head” to verify the password submitted by “remote controller”. If the password is correct, allow “control request”. .
- 如权利要求1所述的远程控制手机人系统,其特征在于,在“机首”即时通讯软件客户端,可将“远程控制器”的“远程控制器身份识别码”设置为三类:可直接接通并控制“机首”的号码类;可人工选择是否允许控制“机首”的号码类;直接拒绝控制的号码类,对于预设的可直接接通并控制“机首”的号码类号码,直接接通并接受控制;对于预设的可人工选择是否允许控制“机首”的号码类号码,手动选择是否接受控制;对于预设的直接拒绝控制的号码类号码,直接拒绝其控制请求。The remote control mobile phone human system according to claim 1, wherein in the "headset" instant messaging software client, the "remote controller identification code" of the "remote controller" can be set to three categories: Directly connect and control the number of the "head"; manually select whether to allow control of the "head" number class; directly reject the controlled number class, for the preset number that can directly connect and control the "head" Class number, directly connected and accept control; for the preset manually selectable whether to allow control of the "header" number class number, manually select whether to accept control; for the default number of direct rejection control number, directly reject it Control request.
- 如权利要求1所述的远程控制手机人系统,其特征在于,“远程控制器”与“机首”可以定期进行信息交互,确认对端连接正常,若在预定的时间内,“机首”检测不到“远程控制器”的交互信息,则停止运动或复位;“远程控制器”可发送预先定义的短信到“机首”,“机首”处理短信后,可停止运动或复位,或者根据短信定义的运动方式运行。The remote control mobile phone human system according to claim 1, wherein the "remote controller" and the "machine head" can periodically perform information interaction to confirm that the peer connection is normal, if the "header" is within a predetermined time. If the interaction information of the "remote controller" is not detected, the motion or reset is stopped; the "remote controller" can send a predefined short message to the "head", and the "head" can stop the motion or reset after processing the short message, or Run according to the motion mode defined by the SMS.
- 利用权利要求1所述的远程控制手机人系统实现远程控制的方法,其特征在于,根据观察到的“机首”屏幕的画面信息,人工触动“远程控制器”控制键、通过“远程控制器”触摸屏控制、运动“远程控制器”或利用“远程控制器”语音输入与识别系统产生控制信号,并发送给“机首”,控制“机身”运动,“机首”屏幕的画面信息有如下之一:(a)“机首”摄像头获取并传输到“远程控制器”的环境影像视频画面信息;(b)通过“机身”多个关键点反馈生成“机身”空间位置数据,“机首”获取这些数据后传输到“远程控制器”,“远程控制器”利用这些空间位置数据,绘制出“机首”和“机身”的模拟状态显示于屏幕上;(c)通过“远程控制器”记录已发送的控制信号,计算得出“机首”和“机身”的空间位置数据,利用空间位置数据在“远程控制器”屏幕上绘制出“机首”和“机身”的模拟状态显示于屏幕上。 The method for remotely controlling a mobile phone human system according to claim 1, wherein the remote controller is manually activated according to the screen information of the observed “head” screen, and the remote controller is used. "Touch screen control, motion "remote controller" or use the "remote controller" voice input and recognition system to generate control signals, and send to the "head" to control the "body" movement, the screen information of the "head" screen has One of the following: (a) the “headset” camera acquires and transmits the environmental image video screen information of the “remote controller”; (b) generates the “body” spatial position data through feedback of multiple key points of the “body”, The “head” acquires the data and transmits it to the “remote controller”. The “remote controller” uses these spatial position data to draw the simulation status of the “head” and “body” on the screen; (c) The "remote controller" records the sent control signals, calculates the spatial position data of the "head" and "body", and uses the spatial position data in the "remote controller" The simulation status of the "head" and "body" drawn on the screen is displayed on the screen.
- 如权利要求1所述的远程控制手机人系统,其特征在于,所述“机身”固定“机首”方式有三种选择,即:(a)“机身”预留槽位,“机首”可以直接固定在“机身”的槽位上,(b)“机身”集成了夹持装置,可夹持“机首”,夹持装置的卡口大小可调节,卡件与手机接触部位为软质材料,(c)“机身”预留槽位,可安装易于分离替换的夹持装置,夹持装置夹持“机首”;固定装置中可安装能卡紧“机首”的弹簧或楔形物,“机身”下部质量较大;机身外围有软质材料或弹性材料;“机身”选择安装红外线或超声波检测装置,“机首”软件处理“机身”反馈的检测信号,若信号显示空间有较大落差,则停止向较低方向运动,若信号显示水平方向有障碍物,则停止向障碍物方向运动。The remote control mobile phone human system according to claim 1, wherein the "body" fixed "head" mode has three options, namely: (a) "body" reserved slot, "head" "Can be directly fixed in the "body" slot, (b) "body" integrated clamping device, can hold the "head", the size of the clamping device can be adjusted, the card is in contact with the phone The part is soft material, (c) the "body" reserved slot, can be installed with easy to separate and replace the clamping device, the clamping device holds the "head"; the fixing device can be installed to clamp the "head" Spring or wedge, the lower part of the "body" is of higher quality; the outer part of the fuselage has soft material or elastic material; the "body" chooses to install infrared or ultrasonic detecting device, and the "head" software handles the "body" feedback. The detection signal stops moving in the lower direction if there is a large gap in the signal display space. If the signal indicates that there is an obstacle in the horizontal direction, the movement in the direction of the obstacle is stopped.
- 如权利要求1所述的远程控制手机人系统,其特征在于,所述“机首”与“机身”用耳机连接时,控制信号的传输优先级不低于音频信号,有如下三种选择:(a)控制信号传输时音频输出完全停止;(b)通过给控制信号预留发送时间片,在时间片内不输出音频,控制信号传输不受音频信号影响,音频信号在时间片外发送;(c)控制信号可与音频信号相互交叠,在“机身”分离出控制信号。 The remote control mobile phone human system according to claim 1, wherein when the "head" and the "body" are connected by headphones, the transmission priority of the control signal is not lower than the audio signal, and the following three options are available. : (a) the audio output is completely stopped when the control signal is transmitted; (b) the transmission time slice is reserved for the control signal, the audio is not outputted in the time slice, the control signal transmission is not affected by the audio signal, and the audio signal is transmitted outside the time slice. (c) The control signal can overlap with the audio signal to separate the control signal from the "body".
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