WO2017198211A1 - 远程操控服务机器人系统及其控制方法 - Google Patents
远程操控服务机器人系统及其控制方法 Download PDFInfo
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- WO2017198211A1 WO2017198211A1 PCT/CN2017/085037 CN2017085037W WO2017198211A1 WO 2017198211 A1 WO2017198211 A1 WO 2017198211A1 CN 2017085037 W CN2017085037 W CN 2017085037W WO 2017198211 A1 WO2017198211 A1 WO 2017198211A1
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 24
- 230000003993 interaction Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 239000000779 smoke Substances 0.000 claims description 4
- 238000007791 dehumidification Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000000746 purification Methods 0.000 claims description 3
- 239000003814 drug Substances 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 238000004018 waxing Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- the invention relates to a remote control service robot system and a control method thereof, and belongs to the technical field of household manufacture.
- Existing home service robots especially ground mobile service robots, have internal control units that perform required work in different control modes, such as sweeping, waxing, etc., according to a preset control program.
- the service robot can be controlled by a remote control input control command to cause the robot to operate according to a human operation command.
- the technical problem to be solved by the present invention is to provide a remote control service robot system and a control method thereof according to the deficiencies of the prior art, and realize remote operation terminal to self-mobile robot and combination thereof by remote communication between the service robot and the operation terminal.
- the control of the connected function module is simple and compact in structure, the function module combination is interchangeable, the control operation is convenient, and the intelligent level of the service robot is greatly improved.
- a remotely operated service robot system comprising: a remote operation terminal, a self-mobile robot, and a functional module combined with the self-mobile robot, wherein the functional module is provided with a functional unit and a first electrical connection unit;
- the robot is provided with a control module, a wireless communication module, a sensor module, a power module and a driving module;
- the self-mobile robot is further provided with a second electrical connection unit corresponding to the first electrical connection unit, wherein the control module is The wireless communication module, the sensor module, the driving module and the second electrical connection unit are electrically connected;
- the remote operation terminal communicates with the self-mobile robot through the wireless communication module, and the mobile robot provides the function module through the second electrical connection unit Power and communicate with each other.
- the functional unit includes one or a combination of a humidification module unit, a purification module unit, a dehumidification module unit, and a smart housekeeper module unit, as needed.
- the functional module is detachably combined to the self-mobile robot, and the self-mobile robot is provided with an identification module connected to the control module, and the identification module is used to identify the type of the functional module.
- the smart housekeeper module unit is an infrared remote control module, a remote prompt module, and a security monitoring module.
- a block an intelligent peripheral module, a smoke sensing module, and a passive infrared sensing module.
- the remote operation terminal is provided with a task setting module
- the task setting module includes a content adding unit, a location unit and a time unit
- the content adding unit is configured to add a specific work task
- the location unit For setting location information of the work task
- the time unit is used to set time information of the work task.
- the location information includes one or more of work area environment map information, work task destination information, and walking path information.
- the remote operation terminal further includes a voice input module, and the content adding unit is connected to the voice input module, and the voice input module is configured to input voice information of the user.
- the content adding unit includes a preset unit and a custom unit, where the preset unit is configured to store a preset work instruction, and the custom unit is configured to store a user-defined work instruction;
- Work instructions include work start time, work location, and work content.
- the remote operation terminal is provided with a processing module and a human-computer interaction module, and the processing module communicates with the self-mobile robot through the wireless communication module, and the human-computer interaction module is used to interact with the user.
- the human-computer interaction module is provided with a display unit for displaying status information of the remotely operated service robot system.
- the present invention also provides a control method for a remotely operated service robot system as described above, the control method comprising:
- S0 obtaining, by the sensor module of the mobile robot, map information of the to-be-worked area, and identifying the type of the functional module combined with the mobile robot, and obtaining the function information;
- S1 The mobile robot transmits the map information and the function information through the wireless communication module by wireless transmission
- S2 the user issues a task instruction through the remote operation terminal, and outputs a task instruction to the self-mobile robot through wireless transmission;
- S3 The self-mobile robot works according to the task instruction.
- the task instruction includes a preset work instruction and/or a user-defined work instruction.
- the present invention realizes the remote control terminal's control of the self-mobile robot and the functional modules connected thereto by the remote communication terminal of the service robot and the operation terminal, and the structure is simple and compact, the function module combination is interchangeable, and the control operation is performed. Convenient, greatly improving the intelligence level of service robots.
- FIG. 1 is a schematic structural view of a remote control service robot system according to the present invention.
- FIG. 2 is a schematic structural view of a functional unit of the present invention.
- FIG. 1 is a schematic structural view of a remote control service robot system according to the present invention.
- the present invention provides a remotely operated service robot system including a self-mobile robot 100, a function module 200 and a remote operation terminal 300.
- the function module 200 is detachably combined on the self-mobile robot 100.
- the function module 200 is provided with a functional unit 2000 and a first electrical connection unit 2009.
- the self-mobile robot 100 includes a robot rack, and the robot module is provided with a control module 1002.
- the wireless communication module 1003, the sensor module 1004, the power module 1005, and the driving module 1006 are further provided with a second electrical connection unit 1001, a control module 1002 and a wireless communication module 1003, a sensor module 1004, a driving module 1006, and a second
- the electrical connection unit 1001 electrically connects and controls the operation of the plurality of modules.
- the first electrical connection unit 2009 is disposed at a connection between the function module 200 and the self-mobile robot 100, and the second electrical connection unit 1001 is disposed corresponding to the first electrical connection unit 2009.
- the second electrical connection unit 1001 and the first electrical connection unit 2009 are connected to each other, thereby realizing the function of the mobile robot 100 providing power to the functional modules 200 and communicating with each other.
- the self-mobile robot 100 can recognize the category of the function module 200 and control the operation of the function module 200, and the function module 200 can feed back its working state to the self-mobile robot 100.
- the functional unit 2000 includes at least one functional modular unit, such as a humidifying module unit 2001, a purification module unit 2002, a dehumidification module unit 2003, or a smart butler module unit 2004.
- the user can select one or more of the function module units according to actual needs, and connect the selected module unit with the self-mobile robot 100.
- the function module 200 is detachably combined to the self-mobile robot, and the self-mobile robot is provided with an identification module connected to the control module, and the identification module is used to identify the type of the function module.
- the self-mobile robot can send the information containing the different module codes according to the function module to confirm the type of the function module; or, the self-mobile robot can scan the function module (such as a two-dimensional code, a different combination of marks) Identify the type of function module.
- the function module such as a two-dimensional code, a different combination of marks
- the remote operation terminal 300 may be a smart phone or a tablet computer or the like, and communicates with the self-mobile robot 100 through the wireless communication module 1003 in the mobile robot 100, thereby remotely controlling the operation from the mobile robot 100 by wireless transmission, wherein Wireless transmission methods include: WIFI, GPRS, WLAN, CDMA, Bluetooth or infrared.
- a working module 1000 may be disposed on the mobile robot 100, and the working module 1000 is one of a sweeping module, a mopping module, and a scrubbing module, or a combination thereof, that is, the self-mobile robot 100 itself has a kind Or a variety of useful features.
- the robot rack is provided with a control module 1002, a wireless communication module 1003, a sensor module 1004, a power module 1005, a drive module 1006, and the like.
- the control module 1002 is provided with a control chip CPU and a clock module for storing the motion control program from the mobile robot 100.
- the user can select the preset motion control program to control the operation of the mobile robot 100 and the function module 200 through the remote operation terminal 300, and can also customize the corresponding motion control program as needed.
- the clock module can be time-calibrated by the wireless communication module and has a timing function.
- the sensor module 1004 can include a variety of sensors that assist in the operation of the mobile robot 100, such as collision sensors and image sensors.
- the collision sensor is located in a forward direction from the mobile robot 100 for sensing a roadblock condition of the robot's forward direction; the image sensor is used to sense the robot working environment, and the image sensor is a CCD or a CMOS.
- the self-mobile robot 100 can also collect information on the work area through the image sensor to obtain map information of the work area to be worked.
- a laser scanning range finder is arranged at the top of the robot rack, the distance information of the obstacles around the robot is measured by the range finder, the coordinate map of the surrounding environment is established according to the distance information, and the current work of the robot is accurately located. The location of the environment.
- the power module 1005 provides power to the mobile robot 100.
- the drive module 1006 can include a left drive unit and a right drive unit.
- the left driving unit and the right driving unit are separately disposed on the left and right sides of the self-moving robot 100, each of which includes a driving wheel and a driving motor, and the driving unit 1006 is powered by the power module 1005 to move from the mobile robot 100.
- the working process of the remotely operated service robot system in the present invention is as follows:
- the mobile robot 100 transmits the map information and the function information to the remote operation terminal 300 (for example, a smartphone) through the wireless communication module 1003 in a wireless transmission manner.
- the remote operation terminal 300 is provided with a task setting module, where the task setting module includes a content adding unit, a location unit, and a time unit, where the content adding unit is configured to add a specific work task,
- the location unit is configured to set location information of the work task, and the time unit is configured to set time information of the work task.
- the location information includes one or more of work area environment map information, work task destination information, and walking path information.
- the remote operation terminal further includes a voice input module, and the content adding unit is connected to the voice input module.
- the voice input module is configured to input voice information of the user, and the content adding unit generates the work task content according to the user voice information.
- the content adding unit includes a preset unit and/or a custom unit, where the preset unit is configured to store a preset work instruction, and the custom unit is configured to store a user-defined work instruction.
- the work order includes a work start time, a work place, and a work content.
- the remote operation terminal is provided with a processing module and a human-machine interaction module, and the processing module communicates with the self-mobile robot through the wireless communication module, and the human-computer interaction module is used to interact with the user.
- the human-computer interaction module is provided with a display unit, and the display unit is configured to display status information of the remote control service robot system, such as displaying the working environment map information of the robot, the position, power, working time information, and self-moving of the robot. The combined state of the robot and the function module, and so on.
- the user can select a work area according to the location information, and the selection method is to take at least two working area boundary points on the map information generated by the human-computer interaction module to generate a current work area map.
- the boundary points of the four corners of the working area are clicked on the map information generated on the human-computer interaction module to generate a current working area map.
- the specific task instruction may also include confirmation of the work task.
- the function module 200 may include a functional unit having multiple functions.
- the smart butler module unit 2004 may include an infrared remote control module, which may remotely control a television set, an air conditioner, etc. in the home;
- the remote prompting module realizes similar reminders or information providing functions to designated persons in the home by means of voice or video. More specifically, the user can set multiple preset times (such as 8:00, 12:00, 6:00).
- the elderly can be reminded to take medicine regularly; it can also include an intelligent peripheral module, through wireless connection with intelligent peripherals, Realizing the switch of the robot to the relevant power switch; it may also include a security monitoring module, which senses the sensor's home smoke condition through the smoke concentration provided in the smart housekeeper module unit; and may also include a passive infrared sensor module through a passive infrared sensor Monitor the presence of outsiders in the home.
- the human-computer interaction module will re-confirm whether the sub-functions in the unit need to be implemented.
- the service can be started when the mobile robot 100 reaches the boundary of the work area, and the control function module 200 operates.
- the service may be started near the center point of the work area map from the mobile robot 100, or the robot may start the service while traveling to the work area map.
- the startup service mode may be preset or may be selectively set by a human-computer interaction module.
- the function module 200 having the plurality of function units 2000 is combined from the mobile robot 100, the working order of the plurality of function units 2000 may be randomly sorted by the control module 1002, or according to the preset work in the control module 1002. Order, or manually set the work order to achieve more The function of the item service.
- the present invention also provides a control method for a remotely operated service robot system as described above, the control method comprising:
- S0 obtaining, by the sensor module of the mobile robot, map information of the to-be-worked area, and identifying the type of the functional module combined with the mobile robot, and obtaining the function information;
- S1 The mobile robot transmits the map information and the function information through the wireless communication module by wireless transmission
- S2 the user issues a task instruction through the remote operation terminal, and outputs a task instruction to the self-mobile robot through wireless transmission;
- S3 The self-mobile robot works according to the task instruction.
- the task instruction includes a preset work instruction and/or a user-defined work instruction.
- the invention provides a remote control service robot system and a control method thereof, and realizes remote control terminal control of a self-mobile robot and a functional module connected thereto by the remote communication of the service robot and the operation terminal, and has a simple and compact structure and a functional module.
- the combination is highly interchangeable, the control operation is convenient, and the intelligent level of the service robot is greatly improved.
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Abstract
一种远程操控服务机器人系统及其控制方法，远程操控服务机器人系统包括：远程操作终端(300)、自移动机器人(100)、与自移动机器人组合连接的功能模块(200)，功能模块上设有功能单元(2000)和第一电气连接单元(2009)；自移动机器人上设有控制模块(1002)、无线通信模块(1003)、传感器模块(1004)和驱动模块(1006)；自移动机器人上还设有第二电气连接单元(1001)，与第一电气连接单元对应设置，其中控制模块与无线通信模块、传感器模块、驱动模块以及第二电气连接单元电性连接；远程操作终端通过无线通信模块与自移动机器人相互通讯，自移动机器人通过第二电气连接单元为功能模块提供电能并相互通讯。
Description
本发明涉及一种远程操控服务机器人系统及其控制方法，属于家用制造技术领域。
现有的家庭服务机器人，尤其是地面移动服务机器人，其内部设置的控制单元根据预设控制程序，在不同的控制模式下执行所需的工作，诸如：扫地、打蜡等作业。另外，也可以通过遥控器输入控制指令对服务机器人进行控制，使机器人根据人为操作指令进行作业。
随着科技技术的不断发展，智能手机已经能够远程操控实现对家用电器的开和关操作，但却无法实现对家居环境更为智能的控制或者遥控，无法提供更便捷的家庭服务。
发明内容
本发明所要解决的技术问题在于针对现有技术的不足，提供一种远程操控服务机器人系统及其控制方法，通过服务机器人与操作终端的远程通讯，实现了远程操作终端对自移动机器人以及与其组合连接的功能模块的控制，结构简单紧凑、功能模块组合互换性强，控制操作便捷，大大提高了服务机器人的智能化水平。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种远程操控服务机器人系统，包括：远程操作终端、自移动机器人、与所述自移动机器人组合连接的功能模块，所述功能模块上设有功能单元和第一电气连接单元；所述自移动机器人上设有控制模块、无线通信模块、传感器模块、电源模块和驱动模块；所述自移动机器人上还设有第二电气连接单元，与所述第一电气连接单元对应设置，其中控制模块与无线通信模块、传感器模块、驱动模块以及第二电气连接单元电性连接；所述远程操作终端通过所述无线通信模块与自移动机器人相互通讯，自移动机器人通过第二电气连接单元为功能模块提供电能并相互通讯。
根据需要，所述功能单元包含加湿模块单元、净化模块单元、除湿模块单元和智能管家模块单元其中之一或其组合。
进一步地，所述功能模块可拆卸的组合到自移动机器人，所述自移动机器人上设有与所述控制模块相连的识别模块，所述识别模块用于识别所述功能模块的类型。
根据需要，所述智能管家模块单元为红外遥控模块、远程提示模块、安防监控模
块、智能外设模块、烟雾感测模块和被动红外传感模块其中之一或者其组合。
优选的，所述远程操作终端上设有任务设定模块，所述任务设定模块包含内容添加单元、位置单元和时间单元，所述内容添加单元用于添加具体的工作任务，所述位置单元用于设定所述工作任务的位置信息，所述时间单元用于设定所述工作任务的时间信息。
优选的，所述位置信息包含工作区域环境地图信息、工作任务目的地信息和行走路径信息中的一个或多个。
优选的，所述远程操作终端上还设有语音输入模块，所述内容添加单元与所述语音输入模块相连，所述语音输入模块用于输入用户的语音信息。
优选的，所述内容添加单元中包括预设单元和/或自定义单元，所述预设单元用于储存预设的工作指令，所述自定义单元用于储存用户自定义的工作指令；所述工作指令包括工作启动时间、工作地点和工作内容。
优选的，所述远程操作终端上设有处理模块和人机交互模块，所述处理模块通过所述无线通信模块与自移动机器人相互通讯，人机交互模块用于跟用户交互。
优选的，所述人机交互模块上设有设有显示单元，显示单元用于显示远程操控服务机器人系统的状态信息。
本发明还提供一种如上所述的远程操控服务机器人系统的控制方法，所述控制方法包括：
S0：自移动机器人的传感器模块获取待工作区域的地图信息，且自移动机器人识别与其相组合的功能模块的类型，获得功能信息；
S1：自移动机器人将地图信息和功能信息通过无线通信模块以无线传输方式传递
给远程操作终端；
S2：用户通过远程操作终端下达任务指令，通过无线传输方式输出任务指令给自移动机器人；
S3：自移动机器人按照任务指令工作。
其中，所述任务指令包括预设的工作指令和/或用户自定义的工作指令。
综上所述，本发明通过服务机器人与操作终端的远程通讯，实现了远程操作终端对自移动机器人以及与其组合连接的功能模块的控制，结构简单紧凑、功能模块组合互换性强，控制操作便捷，大大提高了服务机器人的智能化水平。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
图1为本发明远程操控服务机器人系统的结构示意图；
图2为本发明功能单元的结构示意图。
图1为本发明远程操控服务机器人系统的结构示意图。如图1所示，本发明提供一种远程操控服务机器人系统，包括自移动机器人100，功能模块200和远程操作终端300，功能模块200可拆卸的组合在自移动机器人100上。
图2为本发明功能单元的结构示意图。如图1并结合图2所示，所述功能模块200上设有功能单元2000和第一电气连接单元2009，所述自移动机器人100包括机器人机架，机器人机架上设有控制模块1002、无线通信模块1003、传感器模块1004、电源模块1005和驱动模块1006，机器人机架上还设有第二电气连接单元1001，控制模块1002与无线通信模块1003、传感器模块1004、驱动模块1006以及第二电气连接单元1001电性连接并控制多个模块的工作。其中第一电气连接单元2009设置在功能模块200与自移动机器人100的连接处，第二电气连接单元1001与第一电气连接单元2009对应设置。当功能模块200组合在自移动机器人100上时，第二电气连接单元1001与第一电气连接单元2009相互连接，从而实现自移动机器人100为功能模块200提供电能并相互通讯的功能。进一步的，自移动机器人100能够识别出功能模块200的类别并控制功能模块200的工作，功能模块200能够将其工作状态反馈给自移动机器人100。
功能单元2000包括至少一个功能模块单元，例如：加湿模块单元2001、净化模块单元2002、除湿模块单元2003或者智能管家模块单元2004。用户可根据实际需要选择其中一个或多个功能模块单元，将所选的模块单元与自移动机器人100进行连接。所述功能模块200可拆卸的组合到自移动机器人，所述自移动机器人上设有与所述控制模块相连的识别模块，所述识别模块用于识别所述功能模块的类型。举例来说，自移动机器人可依据功能模块发送含不同模块编码的信息来确认功能模块的类型；或者，自移动机器人通过扫描功能模块上设有的标签(如二维码、不同标记组合)来识别功能模块的类型。
远程操作终端300可以是智能手机，也可以平板电脑等，其通过自移动机器人100中的无线通信模块1003与自移动机器人100相互通讯，从而通过无线传输方式远程操控自移动机器人100工作，其中，无线传输方式包括：WIFI、GPRS、WLAN、CDMA、
蓝牙或者红外等。
除上述功能模块200外，自移动机器人100上还可设置作业模块1000，所述作业模块1000为扫地模块、拖地模块和擦洗模块其中之一或其组合，即自移动机器人100自身带有一种或多种实用功能。
机器人机架装设有控制模块1002、无线通信模块1003、传感器模块1004、电源模块1005以及驱动模块1006等等。
控制模块1002中设有控制芯片CPU和时钟模块，该控制芯片用于存储自移动机器人100的运动控制程序。用户可以通过远程操作终端300选择预先设定好的运动控制程序控制自移动机器人100及功能模块200工作，还可以根据需要自定义相应的运动控制程序。时钟模块可以通过无线通信模块进行时间的校准并具有计时功能。
传感器模块1004可以包括多种辅助自移动机器人100工作的传感器，例如碰撞传感器和图像传感器。碰撞传感器位于自移动机器人100前进方向，用于感测机器人前进方向的路障情况；图像传感器用于感测机器人工作环境，该图像传感器为CCD或者CMOS。另外，自移动机器人100还可以通过图像传感器对待工作区域进行信息采集以此获取待工作区域的地图信息。具体来说，在机器人机架的顶部设置激光扫描测距仪，通过测距仪测量机器人周边环境障碍物的距离信息，依据该距离信息建立周边环境的坐标图，并且准确定位机器人当前所处工作环境的位置。
电源模块1005提供电量给自移动机器人100。驱动模块1006可以包括左驱动单元和右驱动单元。左驱动单元和右驱动单元分设在自移动机器人100的左右两侧，每个驱动单元包括驱动轮和驱动电机，驱动单元1006由电源模块1005供电以使得自移动机器人100运动。
本发明中远程操控服务机器人系统的工作过程如下：
自移动机器人100将地图信息和功能信息通过无线通信模块1003以无线传输方式传递给远程操作终端300(例如：智能手机)。用户根据远程操作终端300接收到的地图信息和功能信息，借助智能手机的用户界面下达具体任务指令，通过无线传输方式输出任务指令给自移动机器人100。具体来说，所述远程操作终端300上设有任务设定模块，所述任务设定模块包含内容添加单元、位置单元和时间单元，所述内容添加单元用于添加具体的工作任务，所述位置单元用于设定所述工作任务的位置信息，所述时间单元用于设定所述工作任务的时间信息。其中，所述位置信息包含工作区域环境地图信息、工作任务目的地信息和行走路径信息中的一个或多个。优选的，所述远程操作终端上还设有语音输入模块，所述内容添加单元与所述语音输入模块相连，所
述语音输入模块用于输入用户的语音信息，内容添加单元依据用户语音信息对应生成工作任务内容。除了语音信息确定工作任务外，还其它采用其它方式。优选的，所述内容添加单元中包括预设单元和/或自定义单元，所述预设单元用于储存预设的工作指令，所述自定义单元用于储存用户自定义的工作指令。所述工作指令包括工作启动时间、工作地点和工作内容。
进一步地，所述远程操作终端上设有处理模块和人机交互模块，所述处理模块通过所述无线通信模块与自移动机器人相互通讯，人机交互模块用于跟用户交互。具体的，所述人机交互模块上设有显示单元，显示单元用于显示远程操控服务机器人系统的状态信息，如显示机器人的工作环境地图信息及机器人的位置、电量、工作时间信息、自移动机器人与功能模块的组合状态等等。
用户可以根据位置信息来选取工作区域，选取方式具体是在人机交互模块上所生成的地图信息上点取至少2个以上的工作区域边界点以此生成当前工作区域地图。优选中，在人机交互模块上所生成的地图信息上点取工作区域4个角的边界点来生成当前工作区域地图。进一步地，具体任务指令还可以包括工作任务的确认。
需要补充的是，功能模块200中可以包括具备多项功能的功能单元，举例来说，智能管家模块单元2004中可以包括红外遥控模块，其可以遥控家居中的电视机、空调等；还可以包括远程提示模块，通过语音或者视频等方式实现对家中指定人员的类似提醒或者提供信息等功能，更具体的，用户可以设定多个预设时间(如8：00、12：00、6：00)，设定工作地点(如卧室)及工作内容(发出声音“现在是吃药时间”)，从而可以定时提醒老人吃药；还可以包括智能外设模块，通过与智能外设的无线连接，实现机器人对相关电源开关的开关；还可以包括安防监控模块，通过智能管家模块单元中所带有的烟雾浓度感测传感器对家居烟雾情况；还可以包括被动红外传感模块，通过被动红外传感器来监控家居中有无外人入户。对于功能模块单元中具备多项子功能，人机交互模块上会对该单元中的各项子功能是否需要实施的再确认。
机器人在进行任务时，可以以自移动机器人100到达工作区域边界时开始启动服务，控制功能模块200工作。除此种方式之外，还可以在自移动机器人100到达工作区域地图的中心点附近开始启动服务，也可以是机器人在行进至工作区域地图的路途之中开始启动服务。如上启动服务方式可以是预先设置的，也可以是通过人机交互模块进行选择性设置。另外，当自移动机器人100上组合具有多个功能单元2000的功能模块200时，可以通过控制模块1002对上述多个功能单元2000的工作顺序进行随机排序，或者按照控制模块1002中预设的工作顺序，或者人工设定工作顺序，来实现多
项服务的功能。
本发明还提供一种如上所述的远程操控服务机器人系统的控制方法，所述控制方法包括：
S0：自移动机器人的传感器模块获取待工作区域的地图信息，且自移动机器人识别与其相组合的功能模块的类型，获得功能信息；
S1：自移动机器人将地图信息和功能信息通过无线通信模块以无线传输方式传递
给远程操作终端；
S2：用户通过远程操作终端下达任务指令，通过无线传输方式输出任务指令给自移动机器人；
S3：自移动机器人按照任务指令工作。
其中，所述任务指令包括预设的工作指令和/或用户自定义的工作指令。
本发明提供一种远程操控服务机器人系统及其控制方法，通过服务机器人与操作终端的远程通讯，实现了远程操作终端对自移动机器人以及与其组合连接的功能模块的控制，结构简单紧凑、功能模块组合互换性强，控制操作便捷，大大提高了服务机器人的智能化水平。
Claims (14)
- 一种远程操控服务机器人系统，包括：远程操作终端(300)、自移动机器人(100)、与所述自移动机器人组合连接的功能模块(200)，其特征在于，所述功能模块上设有功能单元(2000)和第一电气连接单元(2009)；所述自移动机器人上设有控制模块(1002)、无线通信模块(1003)、传感器模块(1004)、电源模块(1005)和驱动模块(1006)；所述自移动机器人上还设有第二电气连接单元(1001)，与所述第一电气连接单元对应设置，其中控制模块与无线通信模块、传感器模块、驱动模块以及第二电气连接单元电性连接；所述远程操作终端通过所述无线通信模块与自移动机器人相互通讯，自移动机器人通过第二电气连接单元为功能模块提供电能并相互通讯。
- 如权利要求1所述的远程操控服务机器人系统，其特征在于，所述功能单元(2000)包含加湿模块单元(2001)、净化模块单元(2002)、除湿模块单元(2003)和智能管家模块单元(2004)其中之一或其组合。
- 如权利要求2所述的远程操控服务机器人系统，其特征在于，所述功能模块(200)可拆卸的组合到自移动机器人(100)，所述自移动机器人上设有与所述控制模块相连的识别模块，所述识别模块用于识别所述功能模块的类型。
- 如权利要求2所述的远程操控服务机器人系统，其特征在于，所述智能管家模块单元(2004)为红外遥控模块、远程提示模块、安防监控模块、智能外设模块、烟雾感测模块和被动红外传感模块其中之一或者其组合。
- 如权利要求1所述的远程操控服务机器人系统，其特征在于，所述远程操作终端(300)上设有任务设定模块，所述任务设定模块包含内容添加单元、位置单元和时间单元，所述内容添加单元用于添加具体的工作任务，所述位置单元用于设定所述工作任务的位置信息，所述时间单元用于设定所述工作任务的时间信息。
- 如权利要求5所述的远程操控服务机器人系统，其特征在于，所述位置信息包含工作区域环境地图信息、工作任务目的地信息和行走路径信息中的一个或多个。
- 如权利要求5所述的远程操控服务机器人系统，其特征在于，所述远程操作终 端上还设有语音输入模块，所述内容添加单元与所述语音输入模块相连，所述语音输入模块用于输入用户的语音信息。
- 如权利要求5所述的远程操控服务机器人系统，其特征在于，所述内容添加单元中包括预设单元和/或自定义单元，所述预设单元用于储存预设的工作指令，所述自定义单元用于储存用户自定义的工作指令。
- 如权利要求8所述的远程操控服务机器人系统，其特征在于，所述工作指令包括工作启动时间、工作地点和工作内容。
- 如权利要求1所述的远程操控服务机器人系统，其特征在于，所述远程操作终端(300)上设有处理模块和人机交互模块，所述处理模块通过所述无线通信模块(1003)与自移动机器人(100)相互通讯，人机交互模块用于跟用户交互。
- 如权利要求10所述的远程操控服务机器人系统，其特征在于，所述人机交互模块上设有显示单元，显示单元用于显示远程操控服务机器人系统的状态信息。
- 一种应用于如权利要求1-11中任一项所述的远程操控服务机器人系统的控制方法，其特征在于，所述控制方法包括：S1：自移动机器人将地图信息和功能信息通过无线通信模块以无线传输方式传递给远程操作终端；S2：用户通过远程操作终端下达任务指令，通过无线传输方式输出任务指令给自移动机器人；S3：自移动机器人按照任务指令工作。
- 如权利要求12所述的控制方法，其特征在于，所述步骤S1之前具有步骤：S0：自移动机器人的传感器模块获取待工作区域的地图信息，且自移动机器人识别与其相组合的功能模块的类型，获得功能信息。
- 如权利要求12所述的控制方法，其特征在于，所述任务指令包括预设的工作指令和/或用户自定义的工作指令。
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