WO2016155365A1 - Remote telepresence smart robot, remote telepresence interaction system and method thereof - Google Patents

Abstract

A remote telepresence interaction method comprises: establishing, by a smart terminal, a connection with a cloud data server, and acquiring account information (s101); establishing, by the smart terminal, a connection with an operation and control terminal according to the account information, and receiving communication data transmitted by the operation and control terminal (s102); when the communication data is control communication data, generating a corresponding robot control instruction according to the communication data, and transmitting the robot control instruction to a remote telepresence smart robot; when the communication data is feedback communication data, automatically generating, by the smart terminal, feedback information according to the communication data or acquiring corresponding feedback information from the cloud data server, storing the feedback information to learn a feedback manner of the feedback information, and transmitting the feedback manner to the operation and control terminal (s103); and receiving, by the remote telepresence smart robot, the robot control instruction, and performing a corresponding response action (s104). Also disclosed are a remote telepresence smart robot and remote telepresence interaction system for applying the robot in various scenarios.

Description

Remote on-site intelligent robot, remote field interaction system and method thereof

This application claims the priority of the invention patent application filed on March 27, 2015, the Chinese Patent Office, the application number 201510141341.5, and the invention titled "a remote on-site intelligent robot, remote field interactive system and method thereof", the entire contents of which are The citations are incorporated herein by reference.

Technical field

The present invention relates to the field of intelligent control technologies, and in particular, to a remote presence intelligent robot, a remote presence interactive system, and a method thereof.

Background technique

In the field of research and development of modern intelligent control technology, the development of robots is mainly concentrated in the field of industrial robots, and the development of service robots has been weak. With the improvement of people's living standards and the development of technologies such as cloud computing, big data, and Internet of Things, the demand for robots is developing from industry and agriculture to ordinary consumers. They urgently need a way to bring convenience to life. Beautiful and stylish service robot products.

At this stage, through the efforts of scientific research and enterprise personnel, a certain amount of service robots have been developed and manufactured. During the testing and use of these robots, the following shortcomings can be found:

First of all, the service function is single and the application field is narrow; common service robots are mainly used in certain special fields, and are only applied to certain functions. They are often only used in special occasions. For example, nurse assistants are usually used in hospitals, and fire fighting robots are usually used in hospitals. Firefighting, etc.

Secondly, three-wheel, four-wheel or more wheel designs are used, and the categories are similar, lacking aesthetic innovation. Most of the service robots seen in the market use multiple wheel designs, mostly in three or four rounds, and similar in appearance, lack of aesthetics. Innovation, it is difficult to meet the needs of new robots.

Third, most robots interact with robots and lack the communication skills of robots and humans. Most of the real service robots are people who control robot movement and lack the ability to communicate with humans and humans.

Fourth, the humanoid is serious, giving people a sense of insecurity; such as the foreign simulation beauty robot, the appearance is very similar to humans, but in fact it is different from people, giving people an uncomfortable experience.

Fifth, the price is expensive, it is inconvenient to promote; the service robots on the market are used in some professional collars. Domains, which often require customization and are expensive, are difficult to form a size market.

In summary, how to make the service robot can be flexibly applied to a wider range of applications is a technical problem that a person skilled in the art needs to solve at present.

Summary of the invention

In view of this, the object of the present invention is to provide a remote presence intelligent robot, a remote field interactive system and a method thereof, which can enable the robot to be flexibly applied to various occasions.

To achieve the above object, the present invention provides the following technical solutions:

A remote presence interaction method is applied to a remote presence interaction system, where the remote presence interaction system includes a cloud data server, an intelligent terminal, a manipulation terminal, and a remote presence intelligent robot; the remote presence interaction method includes:

The smart terminal establishes a connection with the cloud data server, and obtains account information;

According to the account information, the smart terminal establishes a connection with the manipulation terminal, and receives communication data sent by the manipulation terminal;

When the communication data is control type communication data, the smart terminal generates a corresponding robot control instruction according to the communication data, and sends the robot control instruction to the remote presence intelligent robot; when the communication data The feedback information is automatically generated by the smart terminal according to the communication data, or the corresponding feedback information is obtained from the cloud data server, and the feedback information is stored and recorded for the feedback information. The feedback mode is learned and sent to the manipulation terminal;

The remote presence intelligent robot receives the robot control command and makes a corresponding action response.

Preferably, when the control terminal and the smart terminal are located at the same gateway, the smart terminal establishes a connection with the manipulation terminal, and receives the communication data sent by the manipulation terminal:

The smart terminal is directly connected to the control terminal, and directly receives communication data sent by the control terminal;

When the control terminal and the smart terminal are in different gateways, the process in which the smart terminal establishes a connection with the control terminal and receives the communication data sent by the control terminal includes:

The smart terminal is connected to the control terminal through a relay server, and receives communication data sent by the manipulation terminal through a relay server.

Preferably, the method further comprises:

When the feedback communication data is a text instruction, the smart terminal uploads the received text instruction to an analysis server, and the analysis server converts the text instruction into structured data of a related domain, and The structured data is sent to the data server;

The data server returns the result data to the analysis server, which converts the result data into a textual language and returns to the smart terminal.

Preferably, when the feedback communication data is a voice instruction or a video instruction, the smart terminal uploads the received voice instruction or the video instruction to a voice server, where the voice server or the voice instruction Converting the video instruction into a text instruction and returning to the smart terminal;

The intelligent terminal uploads the received text instruction to the analysis server, and the analysis server converts the text instruction into structured data of a related domain, and sends the structured data to a data server;

The data server returns the result data of the structured data to the analysis server, and the analysis server converts the result data into a text language and returns to the smart terminal;

Sending, by the smart terminal, the text language to the voice server, the voice server converting the text language into voice feedback or video feedback, and returning to the smart terminal;

The smart terminal directly plays or sends the voice feedback or the video feedback to the manipulation terminal for playing.

A remote on-site intelligent robot comprising:

Robot body

a receiving control module disposed on the robot body, configured to receive a robot control command sent by the smart terminal, and control the robot body according to the robot control command, where the robot body makes a corresponding action response;

The robot control command is an instruction generated by the smart terminal according to control type communication data sent by the control terminal.

Preferably, the robot body is provided with a self-balancing base, and the base comprises:

a gyroscope and/or an accelerometer, the gyroscope and/or the accelerometer and the receiving control mode a block connection, configured to sense a motion balance state of the base, and send the motion balance state to the receiving control module;

An external wheel, the external wheel is controlled by a driving motor, the motor is connected to the receiving control module, and the receiving control module is configured according to the movement balance state sent by the gyroscope and/or the accelerometer, Controlling the movement of the outer wheel.

Preferably. a telescopic lifting rod is disposed on the base, and the base is connected to the robot head for loading the smart terminal through the lifting rod, and the base is provided with a motor for controlling the lifting rod to expand and contract .

Preferably, the base further comprises a movable support rod device for automatically falling down when the base is stationary or after power is off, supporting the base.

A remote field interactive system, comprising a cloud data server, a smart terminal, a control terminal and a remote on-site intelligent robot;

The cloud data server is configured to provide account information for the smart terminal;

The smart terminal is configured to: when the communication data is control type communication data, generate a corresponding robot control instruction according to the communication data, and send the robot control instruction to the remote presence intelligent robot; when the communication When the data is feedback communication data, the feedback information is automatically generated according to the communication data, or the corresponding feedback information is obtained from the cloud data server, and the feedback information is stored and recorded for feedback on the feedback information. Learning and sending to the control terminal;

The manipulation terminal is configured to send the communication data, and to receive the feedback information;

The remote presence intelligent robot is configured to receive the robot control instruction and make a corresponding action response.

Preferably, the cloud data server comprises an analysis server, a data server, and/or a voice server;

The smart terminal is further configured to download an update data packet directly from the cloud data server, and perform data update processing according to the update data packet.

The remote field interaction method provided by the invention provides data interaction between the control terminal and the intelligent terminal through remote interactive intelligent robot and the cloud data server, and realizes remote control of the remote on-site intelligent robot, so that the application of the robot is not limited. Face-to-face control; in addition, because the smart terminal can access information with the cloud data server, the intelligence on the robot The terminal acquires the data on the cloud data server, and through the repeated learning of the data on the cloud data server, forms a structured data of the simulated person. When someone communicates with her, the robot itself can replace the person to interact with the person to richly control the robot. The way that the intelligent terminal controls the robot and the operation method are different, so that the application of the robot can be applied to various scenes.

The invention provides a remote on-site intelligent robot, hereinafter referred to as a robot, which is provided with an acceptance control module for data interaction with the intelligent terminal. The robot can connect to the cloud data server through the intelligent terminal for data communication, and control the robot body to operate. . As the brain of the robot, the intelligent terminal is a separate device from the body, which can save the development cycle and development cost of developing intelligent terminals, and select common mobile devices such as smart phones or iPADs. In addition, if you need to change the use of the robot, you only need to develop the application of the smart terminal, without changing the overall program of the smart terminal, which makes the program selection and setting of the robot more flexible.

The remote field interaction system provided by the invention comprises an intelligent terminal and a remote on-site intelligent robot, which are used to ensure that the above-mentioned remote presence interaction method is applied in reality.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.

1 is a flowchart of a first embodiment of a remote field interaction method according to the present invention;

2 is a flowchart of a second embodiment of a remote field interaction method according to the present invention;

3 is a flowchart of a third embodiment of a remote field interaction method according to the present invention;

4 is a schematic structural diagram of a specific embodiment of a remote presence robot provided by the present invention;

5 is a schematic structural view of a base portion of a specific embodiment of a remote field robot according to the present invention;

6 is a schematic structural view of a fuselage portion in a specific embodiment of a remote presence robot according to the present invention;

7 is a structure of a lower half of a fuselage in a specific embodiment of a remote presence robot according to the present invention; schematic diagram;

8 is a schematic structural view of a robot head portion in a specific embodiment of a remote field robot according to the present invention;

FIG. 9 is a schematic diagram of a specific embodiment of a remote field interaction system according to the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The core of the present invention is to provide a remote field interaction method, which is applied to a remote field interaction system. Another core of the present invention is to provide a remote field interaction system for ensuring the implementation and operation of the above method in practice.

Please refer to FIG. 1. FIG. 1 is a flowchart of a first embodiment of a remote field interaction method according to the present invention.

Step s101: The smart terminal establishes a connection with the cloud data server, and obtains account information.

Step s102: According to the account information, the smart terminal establishes a connection with the control terminal, and receives communication data sent by the control terminal.

Optionally, step s102 may be specifically: according to the account information, the smart terminal establishes a connection with the relay server connected to the control terminal, enters a room corresponding to the account information, and obtains a connection with the control terminal.

Step s103: When the communication data is control type communication data, the intelligent terminal generates a corresponding robot control instruction according to the communication data, and sends the robot control instruction to the remote presence intelligent robot; when the communication data is feedback communication data, the intelligent terminal According to the communication data, the feedback information is automatically generated or the corresponding feedback information is obtained from the cloud data server, and the feedback information is stored and recorded, and the feedback manner of the feedback information is learned and sent to the control terminal;

Step s104: The remote presence intelligent robot receives the robot control instruction and responds accordingly.

Optionally, the smart terminal can establish a communication connection with the remote presence intelligent robot through the network at any step before the robot control command is sent to the remote on-site intelligent robot.

The remote field interaction method provided by the embodiment provides data interaction between the control terminal and the intelligent terminal by remotely interacting with the intelligent robot and the cloud data server, and realizes remote control of the remote on-site intelligent robot, so that the application of the robot is not Limited to face-to-face control; in addition, since the smart terminal can acquire information with the cloud data server, the smart terminal on the robot acquires the data on the cloud data server, and through the repeated learning of the data on the cloud data server, forms a simulated human structure. Data, when someone communicates with her, the robot itself can replace the person to interact with the person to enrich the way of controlling the robot, so that the intelligent terminal controls the robot and the operation method is different, so that the application of the robot can be applied to various Scenes.

Optionally, when the control terminal and the smart terminal are located in the same gateway in step s102, the smart terminal establishes a connection with the control terminal, and receives the communication data sent by the control terminal, including:

The intelligent terminal is directly connected to the control terminal, and directly receives the communication data sent by the control terminal;

When the control terminal and the smart terminal are located at different gateways, the process in which the smart terminal establishes a connection with the control terminal and receives the communication data sent by the control terminal includes:

The intelligent terminal is connected to the control terminal through the relay server, and receives the communication data sent by the control terminal through the relay server.

This method can make the connection between the control terminal and the intelligent terminal more flexible, and is not limited to being connected to the same gateway.

Optionally, please refer to FIG. 2. FIG. 2 is a flowchart of a second embodiment of a remote field interaction method according to the present invention. When the feedback communication data mentioned in step s103 is a text instruction, the step s103 should also include:

Step s311: When the feedback communication data is a text instruction, the intelligent terminal uploads the received text instruction to the analysis server, and the analysis server converts the text instruction into structured data of the relevant domain, and sends the structured data to the data. server;

Step s312: The data server returns the result data to the analysis server, and the analysis server converts the result data into a text language and returns it to the smart terminal.

In the remote field interaction method provided by the embodiment, the smart terminal sends the command to the analysis server and the data server in the cloud data server, and the majority of the data processing process is completed by the cloud data server, and the smart data server processes the smart data. Terminal needs to be processed The problem of this method greatly saves the information processing capacity of the intelligent terminal. The intelligent terminal only needs to send and receive data, which saves the processing space of the intelligent terminal; Moreover, the processing capacity of the cloud data server is strong and the processing speed is fast. Good improves the overall processing speed and speeds up the processing.

Optionally, please refer to FIG. 3, which is a flowchart of a third embodiment of the remote field interaction method according to the present invention. When the feedback communication data in step s103 is a voice instruction, the step s103 should further include:

Step 321: When the feedback communication data is a voice instruction or a video instruction, the intelligent terminal uploads the received voice instruction or video instruction to the voice server, and the voice server converts the voice instruction or the video instruction into a text instruction, and returns the information to the smart terminal. ;

Step 322: The intelligent terminal uploads the received text instruction to the analysis server, and the analysis server converts the text instruction into structured data of the relevant domain, and sends the structured data to the data server;

Step 323: The data server returns the result data of the structured data to the analysis server, and the analysis server converts the result data into a text language and returns it to the smart terminal;

Step 324: The smart terminal sends the text language to the voice server, and the voice server converts the text language into voice feedback or video feedback, and returns the information to the smart terminal.

Step 325: The smart terminal directly plays or sends the voice feedback or the video feedback to the control terminal for playing.

In the remote field interaction method provided in this embodiment, the processing method for the voice command is based on the processing method of the text command in the foregoing embodiment, which saves the processing space of the smart terminal and speeds up the overall processing flow.

In addition to the remote field interaction method disclosed in the above embodiments, the present invention also provides a remote presence intelligent robot, hereinafter referred to as a robot, which mainly includes:

Robot body

a receiving control module disposed on the robot body, configured to receive a robot control command sent by the smart terminal, and control the robot body according to the robot control command, and the robot body performs a corresponding action response;

The robot control command is an instruction generated by the intelligent terminal according to the control type communication data sent by the control terminal.

Please refer to FIG. 4 to FIG. 8 . FIG. 4 to FIG. 8 are respectively a schematic structural diagram of a specific embodiment of a remote presence robot according to the present invention, a structural diagram of a base portion, a structural diagram of a fuselage portion, and a structure of a lower half of the fuselage. Schematic diagram and schematic diagram of the structure of the head portion.

The robot body includes a base 100, a body 200 and a head 300. The receiving control module is a main control board 36, and the main control board 36 is disposed on the base 100.

First, introduce the base 100 of the robot. The robot body is provided with a self-balancing base 100 that includes an external wheel, a gyroscope, and/or an accelerometer.

The gyroscope and/or the accelerometer are connected to the main control board 36 for sensing the motion balance state of the base 100, and transmitting the motion balance state to the receiving control module;

The external wheel is controlled by a drive motor, and the motor is connected to the receiving control module, and the receiving control module controls the movement of the external wheel according to the motion balance state sent by the gyroscope and/or the accelerometer.

Optionally, the mobile device can be two external wheels, and the two external wheels are respectively controlled by two driving motors, that is, the base 100 of the robot is a two-wheeled robot base. The base of the robot in the prior art is mostly three-wheel, four-wheel or multi-wheel, in order to ensure the balance and movement of the robot. Since the measuring device is disposed in the base 100, the measuring device is connected to the main control board 36, and the monitoring result is sent to the main control board 36, and integrated by the main control board 36 and sent to the corresponding control device of the robot, and the control device can The robot is controlled according to the real-time motion balance state, thereby ensuring the stability of the robot action.

Therefore, the mobile device of the base can no longer ensure the stability of the motion by means of multiple wheels, and the mobile device can be two wheels, even a single wheel, or other forms of movable devices.

The following is a two-wheeled mobile device as an example to specifically describe the construction and connection of the robot base 100.

The base 100 of the robot mainly includes a measuring device, a main control board 36, a left wheel device, a right wheel device, an upper case, a bottom case, and an electric device.

The main control board 36 is respectively connected to the measuring device, the left wheel device, the right wheel device and the like. The main control board 36 collects the base motion information measured by the measuring device, and collects information such as the motor speed of the left wheel device and the right wheel device for transmitting. Give the control device.

The right wheel device will be briefly described below. The right wheel device mainly includes a right wheel and a right wheel drive motor.

The front axle of the drive motor 39 is inserted into the side plate 38 and fixed by a hexagon socket head screw 44. The drive wheel 41 is sleeved on the front axle of the drive motor 39 and fixed by the M3 set screw 42; the side plate axle 49 The side plate 38 is fixed by the hexagon socket head screw 50; the timing belt intermediate wheel 45 is sleeved on the intermediate wheel shaft 43 while the first bearing 46 is mounted in the middle, and is fixed by the cross recessed countersunk mechanical screw 40; the driving wheel 41 is synchronized with The belt intermediate wheel 45 is connected by the first timing belt 60; the end timing pulley 51 is mounted on the side plate shaft 49, and a second bearing 52 is disposed thereon, and the end timing pulley 51 passes through the second timing belt 61 and the timing belt The wheel 45 is connected and the bearing end cap 53 is provided at one end for fixing.

The wheel 79 is mounted on the bearing end cap 53 and the lamp cover 56 is secured to the wheel 79 by a pan head Phillips screw 58 on which the tire 80 is mounted. The wheel 79 is secured to the end track pulley 51 by a wheel Phillips pan head screw 81. .

The drive motor 39 is used to drive the entire right wheel in the forward and reverse directions. The inner two-stage timing belt: the first timing belt 60 and the second timing belt 61, respectively, serve as a speed reducer to increase the external torque of the drive motor.

Alternatively, a tension or buffering connection structure other than a pulley can be used in the drive connection. In the prior art, the driving connection mode mainly adopts the transmission of the motor combined with the speed reducer, but for the robot base which needs to maintain the balance of motion and static balance, the speed reducer has no tensioning and buffering action, and the starting, stopping and shifting processes lack buffering. effect. In the driving connection manner provided in the embodiment, the belt drive connection is adopted between the driving wheel and the right wheel, because the belt itself is an elastic connecting member, has tension, and has a buffering effect on the transmission of motion. In the process of the belt and the transmission wheel, the cushioning property of the transmission is increased by the belt, and the self-balancing ability of the base can be improved. Therefore, any transmission method having tension or buffering capability can be used as the solution involved in the embodiment.

Optionally, the driving connection manner may not be limited to the above-mentioned secondary transmission, and may be adjusted according to the specific design situation of the robot base.

In Fig. 5, the other connecting structures of the right wheel device are respectively a motor Phillips pan head screw 37, a timing belt intermediate wheel 47, a shaft retaining spring 48, and a pan head tapping screw 65.

The structure and connection of the left wheel device are the same as those of the right wheel, and will not be described here. Alternatively, the left wheel device and the right wheel device may be of a symmetrical structure.

Optionally, the composition of the measuring device is not limited to two types of sensors, such as a gyroscope and/or an accelerometer. Any sensor, sensor, etc. that can monitor the balance and/or motion state can be used as part of the measuring device. All should be an option provided for this embodiment.

Optionally, the base 100 is provided with a retractable lifting rod 66, and the base 100 is used for loading the card. The robot head of the intelligent terminal is connected by a lifting rod, and the base 100 is provided with a motor that controls the lifting rod 66 to expand and contract.

The upper portion 77 functions to support the upper skeleton of the entire base.

Alternatively, the upper casing 77 portion is not limited to the upper casing, but is also provided with a lifting rod bracket 66 and a rising motor 67. A lifting rod bracket 66 is disposed in the middle of the upper shell, and the lifting rod bracket 66 is mainly used for connecting the robot base and the robot body part, and the body part is retractably connected to the upper shell 77 of the base, and the ascending motor 67 is mainly used for The lifting of the lifting rod bracket 66 is driven. Both ends of the lifting rod bracket 66 are fixed to the side plate 38 by means of set screws, and the ascending motor 67 is installed from the middle of the lifting rod bracket 66 from the bottom to the top, and then fixed to the lifting rod bracket by the first Phillips pan head screw 71. 66, the upper casing 77 is covered from the top to the bottom of the lifting rod bracket 66, and the M4 hot-melt nut 78 is disposed on both sides of the upper casing 77. When combined with the side plate 38, it is fixed by the standard hexagonal countersunk head screw 59, the nameplate 76 and the infrared light transmissive sheet 3 are sandwiched between the upper case 77 and the bottom case 1.

Optionally, an ultrasonic sensor 69 is disposed on the upper casing 77. The ultrasonic sensor 69 is connected to the main control board 36 for sensing an obstacle near the base and transmitting the sensing information to the main control board 36. A sensor holder 68 is mounted in the middle of the lifter bracket 66 of the upper casing 77. The sensor bracket 68 is locked to the lifter bracket 66 by a hexagonal stainless steel stud 70, and the ultrasonic sensor 69 is fixed to the backsheet by the upper cover M3 set screw 75.

In FIG. 5, the other connecting structures of the upper casing 77 are an infrared transparent sheet 3, a hexagonal stainless steel stud 70, a second Phillips pan head screw 72, a shaft connector 73, a shaft connector soft rubber 74, and an M3 set screw. 75, nameplate 76 and M4 hot melt nut 78.

Alternatively, the upper case 77 is not limited to the above case or the structure shown in FIG.

Optionally, the base 100 further includes a movable support rod device for automatically supporting the base 100 when the base 100 is stationary or after the power is off. In the prior art, a multi-wheel base is often used as a base device of the robot, one is to ensure the balance of the robot in motion, and the other is to facilitate the placement of the robot in a stationary or standby state.

Since the base involved in the embodiment is a two-wheel, single-wheel base, when the base is stationary, a support rod device needs to be provided to support the balance of the chassis, and more importantly, when the robot base suddenly loses power, the robot The base will not be balanced, so the support rod device is added to automatically drop the support rod device during power failure, protecting the robot base from tipping.

Optionally, the main connection structure of the support rod device is as follows:

The leg motor 23 is sleeved with a leg motor rubber sleeve 24, and the front end of the leg motor 23 is provided with a leg motor timing pulley 25, which is locked by a hexagon socket head cap screw 26. The mounted whole body is placed in the left leg housing 7, and is fixed to the left leg housing 7 by a foot motor 27 and a foot screw 28 fixed to the outside of the leg motor 23.

A first copper shaft 16, a second copper shaft 14, and a third copper shaft 19 are disposed on the right leg 21 of the leg, and a leg shaft 8 and a snap spring 12 are further disposed. The timing belt drive pulley 9 is disposed on the plastic spacer 11, and the foot motor timing pulley 25 is connected to the timing belt drive pulley 9 via the foot timing belt 17, and the second leg connector 15 is mounted on the second copper shaft 14, the fourth copper A fourth leg connector 18 is mounted on the shaft 20, and legs 29 are respectively sleeved on the second leg connector 15 and the fourth leg connector 18, and are fixed by the leg Phillips pan head screws 30, and the foot pads 31 are respectively placed thereon. .

The entire support rod device is driven by the forward and reverse of the foot motor 23 to move the two legs up and down. When the leg motor 23 rotates forward, the leg motor timing pulley 25 drives the screw rod to rotate to the inner ring, and the support leg 29 rotates inward along the screw rod to retract the support leg 29; when the motor reverses, the leg motor synchronous belt The wheel 25 drives the screw to rotate to the outer ring, and the support leg 29 rotates outward along the screw to lower the support leg 29. The entire control is implemented by the main control board 36 calling software. For example, when the machine is turned on, the main control board 36 controls the leg motor 23 to rotate forward, and the support leg 29 rises; when the machine is turned off, the main control board 36 controls the leg motor 23 to reverse and the support leg 29 to fall.

When it is detected that the battery power is lower than the normal working voltage, the main control board calls the software to put down the two legs first, and then shuts down, thereby achieving the supporting effect on the base before the power is cut off.

The support bar device portion of FIG. 5 further includes a leg pan head tapping screw 22, a leg bearing 13 and a hexagon socket flat end set screw 10.

Optionally, a light effect is added to the outside of the wheel. For example, an indicator light is set on the mobile device, and the indicator light can be connected to the main control board 36, and the current state of the robot is displayed in real time.

Optionally, the indicator light may be a PCB_LED light board 55, and the PCB_LED light board 55 is disposed between the bearing end cover 53 and the wheel 79. The PCB_LED light board 55 is sleeved on the lamp cover 56 through the positioning hole, and the M12 nut 54 and the pan head cross are used. The slot self-tapping screw 57 is fixed. This fixing method allows the light of the PCB_LED light board 55 to be emitted from one side of the wheel. Optionally, the PCB_LED panel is configured to set at least two lighting states, including a moving state and a stationary state, respectively, and different lighting modes to distinguish the running state of the base.

Optionally, a light decoration member 82 is disposed on the wheel to make the light cover the light decoration member 82. Passing through the gap can make the light softer.

Optionally, an infrared sensing module 63 is further disposed on the infrared module bracket 62, and is fixed by a cross recessed pan head screw 64, and an infrared transparent sheet 3 is disposed in front of the infrared sensing module 63. Infrared sensing plays a concealing role, and infrared sensors are mainly used to avoid obstacles to the outside. The infrared sensing module 63 is connected to the main control board 36 for sensing obstacles near the base and transmitting the sensing information to the main control board 36.

Optionally, the arrangement of the infrared sensing module is not limited to the above.

The bottom case 1 of the base is mainly provided with a charging plate 4 and a key opening cap 6. The side of the bottom case 1 is provided with an M4 hot-melt nut 2, and the charging plate 4 is mounted on the bottom case 1 through a base pan head tapping screw 5, The base pan head tapping screw 5 is fixed corresponding to the M4 hot melt nut 2, and the key cap 6 is set on the switch of the charging plate 4.

Optionally, the arrangement and connection manner of the bottom case 1 portion are not limited to the above.

Optionally, the outer wheel is a rubber soft leather wheel. Compared with the ordinary rubber wheels with small friction coefficient and easy to slip in the traditional structure, the rubber soft leather wheel can be closer to the ground due to the material, effectively increasing the contact area with the ground, thereby increasing the friction coefficient. To ensure the balance and safety of the base when walking on the ground.

Optionally, the power device is a battery pack, the battery pack includes a plurality of batteries 32 and a battery foam 33, the battery 32 is covered with a battery foam 33, and the sheet metal member 34 is fixed by the battery to the battery pan head tapping screw 35. Fix it to prevent battery pack collision and avoid safety problems caused by battery pack collision.

Alternatively, the connection of the components of the robot base is not limited to being connected in the above manner, and other parts or components for connection may be used.

In the robot base provided by the above embodiment, the movement state and the balance state of the base are monitored by the measuring device, and the monitoring result is collected by the main control board 36, and then collectively sent to the control device of the robot, and the base can be effectively monitored. And master the real-time motion state, and timely provide data to the robot's control device, which is conducive to improving the robot's mobility.

The body part of the robot 200 mainly functions as a lifting up and down. The body of the two-wheel self-balancing robot is composed of a body upper rod 213 and a lower body rod 201. The top of the lower body rod 201 is sleeved with a rod fixing plastic piece 202. As a guiding function, the up and down movement of the fuselage is mainly caused by the rising motor 67 of the base 100 to rotate the fuselage worm 206 to raise or lower.

The top of the fuselage worm 206 is provided with a guiding plastic part 210 and a guiding plastic part 211. The guiding plastic part 211 prevents the body worm 206 from lifting up and down, rubbing against the lower body 201, and scraping the upper part of the body. 213. The guiding plastic member 210 functions to guide the direction in which the body worm 206 moves up and down.

The upper part of the fuselage worm 206 is provided with a rising plastic nut 212, and the cross recessed countersunk head tapping screw 214 fixes the rising plastic nut 212 in the middle position, mainly to prevent the body worm 206 from vibrating when lifting up and down. The bottom of the fuselage worm 206 is sleeved with a PU tube 209 for limiting and buffering. The bottom of the fuselage worm 206 is sleeved with a pole fixing joint 203, and the fuselage bearing 204 is nested in the pole fixing joint 203, and the hole retaining ring 205 For blocking the movement of the fuselage bearing 204, the lower end of the fuselage worm 206 is inserted into the shaft retaining ring 207, and the coupling coupling 208 is connected to the ascending motor 67 of the base 100, and the motor 67 of the base 100 is rotated forward and backward. Thereby, the fuselage worm 206 is caused to rise or fall. The fuselage section also includes the fuselage cross recessed countersunk mechanical screw 215 and the fuselage cross recessed pan head screw 216 shown in FIG.

Alternatively, the specific structure of the body 200 of the robot is not limited to the above.

The head 300 of the robot is mainly used to load the smart terminal and some auxiliary devices for configuring the smart terminal, and is integrated with the base and the body.

The head 300 mainly includes a smart terminal protection shell connector 301, a smart terminal connection board 302, a head first screw 303, a winding cover 304, a smart terminal protection rear case 305, a head second screw 306, and a rear shell foam 307. The mirror 308, the smart terminal protects the front case 309, the iron piece 310, and the front case foam 311.

The intelligent terminal is installed in the front cover 309 of the smart terminal protection, and the front cover foam 311 is built in the front cover 309 of the smart terminal to protect the insertion of the smart terminal and the tightness of the smart terminal. The bottom of the smart terminal protection front case 309 is provided with a iron piece 310 for absorbing the wide-angle lens, and the front case foam 311 is provided with a rear case foam 307, and then is inserted into the smart terminal protection rear case 305.

A mirror 308 is disposed in the convex portion at the bottom of the smart terminal protection rear case 305, and the rear camera of the smart terminal is reflected by the mirror 308 to a position near the base 100 for viewing an object near the base 100.

The smart terminal protection case connector 301 is connected to the body upper rod 213 of the body 200, and the smart terminal protection case connector 301 is connected to the intelligent terminal connection plate 302 through the head first screw 303, and the connection plate is provided with a USB interface and a light By touching the button, the smart terminal can realize charging by the USB connection of the data line and the smart terminal connection board 302, and can detect whether the smart terminal is inserted into the protection. Inside the shell.

A winding cover 304 is disposed on the smart terminal protective case connector 301, and the data line of the smart terminal can be wound thereon, and the winding cover 304 and the smart terminal protection rear case 305 are fixed by the head second screw 306.

Optionally, the structure and connection manner of the body 200 are not limited to the above situation, and the head of the head 300 of the robot is mainly used to load the smart terminal. Therefore, any structure and connection method that can be equipped with the intelligent terminal should be implemented. Example of the program.

Optionally, the remote presence intelligent robot provided by the foregoing embodiment further includes an intelligent terminal, where the smart terminal can be completely fixedly installed on the remote on-site intelligent robot, and the smart terminal can also be detachably installed in the remote presence. On the intelligent robot, it is convenient for the robot to replace and update the program of the intelligent terminal.

The embodiment provides a remote on-the-spot intelligent robot, which is hereinafter referred to as a robot. The robot is provided with an acceptance control module for data interaction with the intelligent terminal. The robot can connect to the cloud data server through the intelligent terminal for data communication, and control the robot body. operating. As the brain of the robot, the intelligent terminal is a separate device from the body, which can save the development cycle and development cost of developing intelligent terminals, and select common mobile devices such as smart phones or iPADs. In addition, if you need to change the use of the robot, you only need to develop the application of the smart terminal, without changing the overall program of the smart terminal, which makes the program selection and setting of the robot more flexible. Please refer to the prior art for the structure of other parts of the remote on-site intelligent robot, and will not be repeated here.

In addition to the remote field interaction method and the remote presence robot disclosed in the above embodiments, the present invention also provides a remote field interaction system including the remote presence robot disclosed in the above embodiment, which is used to ensure the above-mentioned remote presence interaction method in reality. Implementation.

Please refer to FIG. 9. FIG. 9 is a schematic diagram of a remote field interaction system provided by the present invention.

The remote field interaction system provided by the embodiment mainly includes a cloud data server, a smart terminal, and a remote on-site intelligent robot;

a cloud data server, configured to provide account information for a smart terminal;

An intelligent terminal, configured to: when the communication data is control type communication data, generate a corresponding robot control instruction according to the communication data, and send the robot control instruction to the remote presence intelligent robot; when the communication data is feedback When communicating data, based on communication data, intelligent end The terminal automatically generates feedback information or obtains corresponding feedback information from the cloud data server, and stores the feedback information for learning the feedback manner of the feedback information, and sends the feedback information to the control terminal;

Manipulating a terminal for transmitting communication data and for receiving feedback information;

The remote on-site intelligent robot is used to receive the robot control command and respond accordingly.

Optionally, the remote presence robot may select the remote presence robot provided by the above embodiment, and the smart terminal may be a terminal device with an intelligent control system, such as a smart phone or an iPAD.

Optionally, the cloud data server includes an analysis server, a data server, and/or a voice server; the smart terminal is further configured to directly download the update data packet from the cloud data server, and perform data update processing according to the update data packet.

Optionally, the smart terminal is provided with a basic processing module, which can directly control the robot without connecting to the cloud data server.

Optionally, the smart terminal is connected to the robot by means of Bluetooth wireless communication, and controls the behavior of the robot through an application in the smart terminal. The application program in the smart terminal includes an initialization program for the robot, including an obstacle avoidance program, a self-balancing program, a battery management program, an indicator program, a motor control program, a Bluetooth communication program, and the like.

The intelligent terminal receives the data signal of the main control board 36, and retrieves corresponding data modules and data programs for corresponding control, which mainly includes:

The obstacle avoidance program is directed to infrared and ultrasonic obstacle avoidance algorithms;

Self-balancing program for gyroscopes and acceleration algorithms;

Battery management program for power management and battery status monitoring;

The indicator program is for the status indication of the robot operation, including the machine failure, the machine running status, and the machine stop is the breathing light status;

The motor control program is for the forward and reverse rotation of the left and right motors, the control of forward, backward, left turn, right turn, and stop; the support rod motor is retracted and lowered, and the lift bar motor moves up, down, and stops;

The Bluetooth communication program is sent to the intelligent terminal for processing according to various data states generated in the program.

Optionally, the foregoing remote presence interaction system further includes a manipulation terminal, which may be an ordinary smart phone, an iPAD, or other terminal device with an intelligent system.

The remote presence interaction system provided by this embodiment can ensure that the above-mentioned remote presence interaction method is applied in reality. Please refer to the prior art for the structure of other parts of the remote field interactive system, and no further description is provided herein.

The above describes a remote on-the-spot intelligent robot, a remote on-site interactive system and a method thereof provided by the present invention. The principles and embodiments of the present invention have been described herein with reference to specific examples, and the description of the above embodiments is only to assist in understanding the method of the present invention and its core idea. It should be noted that those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the invention.

Claims (10)

1. A remote field interaction method is characterized in that it is applied to a remote field interaction system, and the remote field interaction system includes a cloud data server, an intelligent terminal, a manipulation terminal, and a remote presence intelligent robot; and the remote field interaction method includes:

   The smart terminal establishes a connection with the cloud data server, and obtains account information;

   According to the account information, the smart terminal establishes a connection with the manipulation terminal, and receives communication data sent by the manipulation terminal;

   When the communication data is control type communication data, the smart terminal generates a corresponding robot control instruction according to the communication data, and sends the robot control instruction to the remote presence intelligent robot; when the communication data The feedback information is automatically generated by the smart terminal according to the communication data, or the corresponding feedback information is obtained from the cloud data server, and the feedback information is stored and recorded for the feedback information. The feedback mode is learned and sent to the manipulation terminal;

   The remote presence intelligent robot receives the robot control command and makes a corresponding action response.
2. The remote presence interaction method according to claim 1, wherein

   When the control terminal and the smart terminal are located at the same gateway, the process in which the smart terminal establishes a connection with the control terminal and receives the communication data sent by the control terminal includes:

   The smart terminal is directly connected to the control terminal, and directly receives communication data sent by the control terminal;

   When the control terminal and the smart terminal are in different gateways, the process in which the smart terminal establishes a connection with the control terminal and receives the communication data sent by the control terminal includes:

   The smart terminal is connected to the control terminal through a relay server, and receives communication data sent by the manipulation terminal through a relay server.
3. The method according to claim 1 or 2, further comprising:

   When the feedback communication data is a text instruction, the smart terminal uploads the received text instruction to an analysis server, and the analysis server converts the text instruction into structured data of a related domain, and The structured data is sent to the data server;

   The data server returns the result data to the analysis server, which converts the result data into a textual language and returns to the smart terminal.
4. The method of claim 3 wherein:

   When the feedback communication data is a voice instruction or a video instruction, the smart terminal uploads the received voice instruction or the video instruction to a voice server, and the voice server uses the voice instruction or the video Converting the instruction into a text instruction and returning to the smart terminal;

   The intelligent terminal uploads the received text instruction to the analysis server, and the analysis server converts the text instruction into structured data of a related domain, and sends the structured data to a data server;

   The data server returns the result data of the structured data to the analysis server, and the analysis server converts the result data into a text language and returns to the smart terminal;

   Sending, by the smart terminal, the text language to the voice server, the voice server converting the text language into voice feedback or video feedback, and returning to the smart terminal;

   The smart terminal directly plays or sends the voice feedback or the video feedback to the manipulation terminal for playing.
5. A remote presence intelligent robot, comprising:

   Robot body

   a receiving control module disposed on the robot body, configured to receive a robot control command sent by the smart terminal, and control the robot body according to the robot control command, where the robot body makes a corresponding action response;

   The robot control command is an instruction generated by the smart terminal according to control type communication data sent by the control terminal.
6. The remote presence intelligent robot according to claim 5, wherein the robot body is provided with a self-balancing base (100), and the base (100) comprises:

   a gyroscope and/or an accelerometer, each of which is coupled to the receiving control module for sensing a motion balance state of the base (100) and transmitting the motion balance state Giving the receiving control module;

   An external wheel, the external wheel being controlled by a drive motor, the motor being coupled to the receiving control module, the receiving control module for balancing the motion according to the gyroscope and/or the accelerometer State, controlling the movement of the outer wheel.
7. The remote on-the-spot intelligent robot according to claim 6, wherein the base (100) is provided with a telescopic lifting rod (66), and the base (100) is used for a card loading station. The robot head of the smart terminal is connected by the lifting rod, and the base (100) is provided with a motor that controls the lifting rod (66) to expand and contract.
8. The remote presence intelligent robot according to claim 7, wherein the base (100) further comprises a movable support rod device for stopping or de-energizing the base (100) when the base (100) is stationary After that, it automatically falls to support the base (100).
9. A remote field interactive system, comprising: a cloud data server, a smart terminal, a control terminal and a remote on-site intelligent robot;

   The cloud data server is configured to provide account information for the smart terminal;

   The smart terminal is configured to: when the communication data is control type communication data, generate a corresponding robot control instruction according to the communication data, and send the robot control instruction to the remote presence intelligent robot; when the communication When the data is feedback communication data, the smart terminal automatically generates feedback information or acquires corresponding feedback information from the cloud data server according to the communication data, and stores the feedback information for the feedback. The feedback mode of the information is learned and sent to the control terminal;

   The manipulation terminal is configured to send the communication data, and to receive the feedback information;

   The remote presence intelligent robot is configured to receive the robot control instruction and make a corresponding action response.
10. The remote presence interaction system according to claim 9, wherein the cloud data server comprises an analysis server, a data server, and/or a voice server;

    The smart terminal is further configured to download an update data packet directly from the cloud data server, and perform data update processing according to the update data packet.

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