阅读说明：本技术 一种利用智能终端识别动作并控制机器人的系统 (System for recognizing actions and controlling robot by using intelligent terminal ) 是由 朱昊鹏 马月鹏 于 2020-12-23 设计创作，主要内容包括：本发明公开了一种利用智能终端识别动作并控制机器人的系统,包括动作采集模块、数据库对比模块、动作识别模块、A/D转换器模块、中央处理器模块、协调器模块、无线路由节点模块、终端控制器模块、动作发生器模块、D/A转换器模块、控制终端模块,动作采集模块的输出端与数据库对比模块的输入端为单向电连接,数据库对比模块的输出端与动作识别模块的输入端为单向电连接,动作识别模块的输出端与A/D转换器模块的输入端为单向电性连接,A/D转换器模块的输出端与中央处理器模块的输入端为单向电连接,中央处理器模块的输出端与协调器的输入端为单向电连接,协调器的输出端与无线路由节点的输入端为单向电连接,将动作过程序列的信息发送到机器人。(The invention discloses a system for identifying actions and controlling a robot by using an intelligent terminal, which comprises an action acquisition module, a database comparison module, an action identification module, an A/D converter module, a central processing unit module, a coordinator module, a wireless routing node module, a terminal controller module, an action generator module, a D/A converter module and a control terminal module, wherein the output end of the action acquisition module is in one-way electric connection with the input end of the database comparison module, the output end of the database comparison module is in one-way electric connection with the input end of the action identification module, the output end of the action identification module is in one-way electric connection with the input end of the A/D converter module, the output end of the A/D converter module is in one-way electric connection with the input end of the central processing unit module, and the output end of the central processing unit module is in one-way electric connection with the input end of the coordinator, the output end of the coordinator is in one-way electric connection with the input end of the wireless routing node, and information of the action process sequence is sent to the robot.)

1. A system for recognizing actions and controlling a robot by using an intelligent terminal comprises an action acquisition module, a database comparison module, an action recognition module, an A/D converter module, a central processing unit module, a coordinator module, a wireless routing node module, a terminal controller module, an action generator module, a D/A converter module and a control terminal module.

2. The system for recognizing the motion and controlling the robot according to the claim 1, wherein: the output end of the action acquisition module is in one-way electric connection with the input end of the database comparison module, the output end of the database comparison module is in one-way electric connection with the input end of the action identification module, the output end of the action identification module is in one-way electric connection with the input end of the A/D converter module, the output end of the A/D converter module is in one-way electric connection with the input end of the central processor module, the output end of the central processor module is in one-way electric connection with the input end of the coordinator, the output end of the coordinator is in one-way electric connection with the input end of the wireless routing node module, the output end of the wireless routing node module is in one-way electric connection with the input end of the terminal controller module, the output end of the terminal control module is in one-way electric connection with the input end of the action generator module, and the output end of the action generator module is in one-way electric connection with the input end of the D/A converter module, the output end of the D/A converter module is in one-way electric connection with the input end of the control terminal module.

3. The system for recognizing the motion and controlling the robot according to the claim 1, wherein: the action acquisition module simulates the action made by the robot by using a wireless sub-node by using the latest wireless ZigBee communication technology, and is an internal wireless local area network consisting of a plurality of ZigBee wireless data transmission nodes; control information is sent through the intelligent gateway, processed by the central controller, and transmitted to the corresponding wireless sub-nodes by the coordinator node according to the addresses in the information, so that the collection and the recording of actions are completed.

4. The system for recognizing the motion and controlling the robot according to the claim 1, wherein: after the coordinator module completes initialization of coordinator hardware and a protocol stack, the coordinator starts to perform channel energy detection and channel scanning, and selects the channel with the strongest energy in idle channels as a channel of the established wireless network, so that the wireless network is established, a wireless network number is generated, and wireless network parameters are configured. After the ZigBee wireless network is successfully established, the coordinator enters an interception state, if a ZigBee data transmission module child node applies for network access, the child node is allowed to join, a wireless network address is distributed to the child node, and a binding file is established.

5. The system for recognizing the motion and controlling the robot according to the claim 1, wherein: the wireless routing node module comprises a Network Address Translation (NAT) function and can support network connection sharing of local area network users. The wireless router can be directly connected with all Ethernet-connected ADSL MODEM or CABLE MODEM, and can be accessed again in local area network modes such as a switch/concentrator, a broadband router and the like when in use.

6. The system for recognizing the motion and controlling the robot according to the claim 1, wherein: the action generator module is used for generating an electric test signal of a specific parameter required by a tested circuit, a sinusoidal signal source with known amplitude and frequency is required to be used when the steady-state characteristic of the system is required to be measured, a rectangular pulse source with known leading edge time, pulse width and repetition period is required to be used when the transient characteristic of the system is tested, and the parameters of the signal source output signal, such as frequency, waveform, output voltage or power and the like, are required to be accurately adjusted within a certain range, so that the action generator module has good stability and has output indication.

Technical Field

The invention relates to the technical field of intelligent control, in particular to a system for recognizing actions and controlling a robot by using an intelligent terminal.

Background

At present, video robot mainly forms by chip and peripheral hardware equipment, can only realize video robot's opening, closing and control command through normally opening and the normal close of ordinary relay at robot internally mounted control relay, belongs to passive control, can not realize robot's intelligent identification and intelligent control according to people's subjective idea, and it is inconvenient to use to bring for the family, and leaks individual privacy very easily, and the leak is great.

When a controller needs to remotely control one robot device, the operation through a software interface on the intelligent terminal is a popular method, and the technology is mature. After the development of image recognition technology, it is also becoming practical for a robot to acquire a motion command of a controller at a short distance through its own vision system. By means of the capturing capability of the special body sensing identification equipment on the human body actions, a controller can also remotely control one robot through the limb actions, but the existing body sensing equipment is high in cost and large in size, is not easy to carry daily to realize control anytime and anywhere, is single in application, and is mainly used for realizing scenes without good social effects, such as game games and the like.

Intelligent control technology and development trend thereof intelligent control (intelligent controls) can autonomously drive an intelligent machine to realize the automatic control technology of a control target under the condition of no human intervention. For many complex systems, it is difficult to build an effective mathematical model and use conventional control theory to perform quantitative calculation and analysis, and a control mode combining quantitative method and qualitative method must be adopted. The combination of quantitative and qualitative methods aims to guide the solution process by machine with human-like intelligence and experience. Therefore, in the research and design of intelligent systems, the main attention is not paid to the expression, calculation and processing of mathematical formulas, but to the description of tasks and reality models, the recognition of symbols and environment, and the development of knowledge bases and inference machines, i.e. the key problem of intelligent control is not to design conventional controllers, but to develop models of intelligent machines. Furthermore, the core of intelligent control is at a high level of control, i.e., organizational control. High-level control is the organization, decision-making, and planning of the actual environment or process to achieve problem solving. To accomplish these tasks, symbolic information processing, heuristic programming, knowledge representation, automatic reasoning and decision making, etc. are used. The problem solving process has certain similarity with the thinking process of human brain, namely, has certain 'intelligence'.

Disclosure of Invention

The present invention is directed to a system for recognizing an action and controlling a robot by using an intelligent terminal, so as to solve the problems in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: a system for recognizing actions and controlling a robot by using an intelligent terminal comprises an action acquisition module, a database comparison module, an action recognition module, an A/D converter module, a central processing unit module, a coordinator module, a wireless routing node module, a terminal controller module, an action generator module, a D/A converter module and a control terminal module.

Preferably, the output of action collection module is connected for one-way electricity with the input of database contrast module, the output of database contrast module is connected for one-way electricity with the input of action identification module, the output of action identification module is connected for one-way electric connection with the input of AD converter module, the output of AD converter module is connected for one-way electricity with the input of central processing unit module, the output of central processing unit module is connected for one-way electricity with the input of coordinator, the output of coordinator is connected for one-way electricity with the input of wireless routing node, the output of wireless routing node module is connected for one-way electricity with the input of terminal controller module, the output of terminal control module is connected for one-way electricity with the input of action generator module, the output of action generator module is because the input of DA converter module is connected for one-way electricity And the output end of the D/A converter module is in one-way electric connection with the input end of the control terminal module.

Preferably, the action acquisition module utilizes the latest wireless ZigBee communication technology, uses wireless sub-nodes to simulate the action made by the robot, and is an internal wireless local area network consisting of a plurality of ZigBee wireless data transmission nodes; control information is sent through the intelligent gateway, processed by the central controller, and transmitted to the corresponding wireless sub-nodes by the coordinator node according to the addresses in the information, so that the collection and the recording of actions are completed.

Preferably, after the coordinator module completes initialization of the coordinator hardware and the protocol stack, the coordinator starts to perform channel energy detection and channel scanning, and selects a channel with the strongest energy in idle channels as a channel of the established wireless network, so as to establish the wireless network, generate a wireless network number and configure wireless network parameters. After the ZigBee wireless network is successfully established, the coordinator enters an interception state, if a ZigBee data transmission module child node applies for network access, the child node is allowed to join, a wireless network address is distributed to the child node, and a binding file is established.

Preferably, the action generator module is used for generating an electrical test signal of a specific parameter required by a circuit to be tested, when the steady-state characteristic measurement of the system is required, a sinusoidal signal source with known amplitude and frequency is required to be used, when the transient characteristic of the system is tested, a rectangular pulse source with known leading edge time, pulse width and repetition period is required to be used, and the parameter of the signal output by the signal source, such as frequency, waveform, output voltage or power, can be accurately adjusted within a certain range, and has good stability and output indication.

Preferably, the wireless routing node module includes a Network Address Translation (NAT) function, and can support network connection sharing for local area network users. The wireless router can be directly connected with all Ethernet-connected ADSL MODEM or CABLE MODEM, and can be accessed again in local area network modes such as a switch/concentrator, a broadband router and the like when in use.

Compared with the prior art, the invention has the beneficial effects that:

1. this utilize intelligent terminal discernment action and control system of robot, through the input of communication equipment connection switch, the input of intelligent terminal is connected to the output of switch, and intelligent terminal adopts computer or cell-phone, and the output of intelligent terminal passes through the output of communication equipment connection switch, and the output of switch connects gradually intelligent video robot's the control unit and the execution unit through communication equipment. The intelligent terminal is used for storing the information acquired by the intelligent video robot and remotely controlling the camera actions of the intelligent video robot, such as 360-degree rotation, left movement, right movement, amplification and reduction;

2. the system for identifying the action and controlling the robot by using the intelligent terminal utilizes the processor on which software runs and hardware resources such as a display screen for realizing interaction and the like. The robot action simulation system comprises a controller, a camera module, an action recognition device, an action verification module, a robot action simulation picture and an intelligent terminal, wherein the controller makes a limb action, the camera module captures action image information of the controller, the action recognition device recognizes an action process sequence of the controller, the action verification module utilizes the one-to-one correspondence relationship between each partition part of the limb of the controller acquired by the limb recognition module and each structural unit of the robot, the action process sequence forms a robot action simulation picture to be displayed on a screen of the intelligent terminal for the controller to verify, when the controller approves the action process sequence displayed on the picture, an approval command is generated through a key or voice, and after the intelligent terminal receives the approval command, the intelligent terminal sends information of the action process sequence to the robot.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a flow chart of a control structure according to the present invention.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.

In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1-2, the present invention provides a technical solution: a system for identifying actions and controlling a robot by using an intelligent terminal comprises an action acquisition module, a database comparison module, an action identification module, an A/D converter module, a central processing unit module, a coordinator module, a wireless routing node module, a terminal controller module, an action generator module, a D/A converter module and a control terminal module, wherein the output end of the action acquisition module is in one-way electric connection with the input end of the database comparison module, the output end of the database comparison module is in one-way electric connection with the input end of the action identification module, the output end of the action identification module is in one-way electric connection with the input end of the A/D converter module, the output end of the A/D converter module is in one-way electric connection with the input end of the central processing unit module, and the output end of the central processing unit module is in one-way electric connection with the input end of the coordinator, the output end of the coordinator is in one-way electric connection with the input end of the wireless routing node, the output end of the wireless routing node module is in one-way electric connection with the input end of the terminal controller module, the output end of the terminal control module is in one-way electric connection with the input end of the action generator module, the output end of the action generator module is in one-way electric connection with the input end of the control terminal module due to the fact that the input end of the D/A converter module is in one-way electric connection, the output end of the D/A converter module is in one-way electric connection with the input end of the control terminal module, the action acquisition module utilizes the latest wireless ZigBee communication technology, wireless sub-nodes are used for simulating actions made by a robot, and an internal wireless local area network is formed by a plurality of ZigBee wireless data transmission nodes; control information is sent by the intelligent gateway, processed by the central controller, transmitted to the corresponding wireless sub-nodes by the coordinator node according to the address in the information to complete the collection and recording of actions, after the coordinator module completes the initialization of the coordinator hardware and the protocol stack, the coordinator starts to perform channel energy detection and channel scanning, selects the channel with the strongest energy in the idle channels as the channel of the established wireless network, thereby establishing a wireless network, generating a wireless network number and configuring wireless network parameters, after the ZigBee wireless network is successfully established, the coordinator enters a monitoring state, if a ZigBee data transmission module child node applies for network access, the child node is allowed to join, and a wireless network address is distributed for the wireless router node module, and a binding file is established, wherein the wireless router node module comprises a Network Address Translation (NAT) function and can support network connection sharing of local area network users. Can realize Internet connection sharing in a home wireless network, realize wireless shared access of ADSL, Cable MODEM and cell broadband, the wireless router can be directly connected with all Ethernet-connected ADSL MODEM or CABLE MODEM, or can be accessed again in a local area network mode such as a switch/hub, a broadband router and the like when in use, the action generator module is used for generating an electric test signal of a specific parameter required by a tested circuit, when the steady-state characteristic measurement of the system is required, a sinusoidal signal source with known amplitude and frequency is required to be used, when testing the transient characteristics of the system, a rectangular pulse source with known leading edge time, pulse width and repetition period is used, and the parameters of the signal output by the signal source, such as frequency, waveform, output voltage or power, can be accurately adjusted within a certain range, and the signal source has good stability and output indication.

The working principle is as follows: the wireless terminal node has the main functions of receiving control and query data sent by a user and uploading information acquired by a sensor of the wireless terminal node. After the initialization module is powered on, channel scanning is firstly carried out, whether a ZigBee wireless data transmission network channel capable of being added exists is inquired, namely, a network access application request is sent to the coordinator, and then whether network adding is successful is checked. If the network joining is not successful, the ZigBee wireless data transmission sub-node continues to send a request for applying for joining the network. If joining the network is successful, the coordinator will assign a wireless network address. After the ZigBee wireless data transmission sub-node is successfully added into the network, the ZigBee wireless data transmission sub-node monitors network information, inquires whether data are received or not, further judges the data type if the network data are received, and acquires the sensor node information corresponding to the network information when the inquiry information of the user is received, and transmits the data to the coordinator through the ZigBee wireless local area network; and when the received control instruction is the control instruction of the user, the corresponding wireless sub-ZigBee node executes the control operation.

To sum up, connect the input of switch through communication equipment, the input of intelligent terminal is connected to the output of switch, and intelligent terminal adopts computer or cell-phone, and intelligent terminal's output passes through communication equipment and connects the output of switch, and the output of switch passes through communication equipment and connects gradually intelligent video robot's the control unit and the execution unit. The intelligent terminal is used for storing information collected by the intelligent video robot, remotely controlling the camera of the intelligent video robot to act, such as 360-degree rotation, left movement, right movement, amplification and reduction, and realizing hardware resources such as an interactive display screen and the like through a processor operated by software. The robot action simulation system comprises a controller, a camera module, an action recognition device, an action verification module, a robot action simulation picture and an intelligent terminal, wherein the controller makes a limb action, the camera module captures action image information of the controller, the action recognition device recognizes an action process sequence of the controller, the action verification module utilizes the one-to-one correspondence relationship between each partition part of the limb of the controller acquired by the limb recognition module and each structural unit of the robot, the action process sequence forms a robot action simulation picture to be displayed on a screen of the intelligent terminal for the controller to verify, when the controller approves the action process sequence displayed on the picture, an approval command is generated through a key or voice, and after the intelligent terminal receives the approval command, the intelligent terminal sends information of the action process sequence to the robot.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.