TWI574801B - Intelligent robot control method - Google Patents
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本發明提供一種智慧機器人，尤指一種具遠端監控、操作以及防災警報功能之智慧機器人控制方法。 The invention provides a smart robot, in particular to a smart robot control method with remote monitoring, operation and disaster prevention alarm function.
近年來，人口老化的問題日益嚴重，照顧銀髮族的生活起居已成為一個重要的課題，隨著機器人科技的進步，各式各樣的行動輔助機器人之發展越趨成熟，透過居家陪伴機器人結合人工智慧科技，為家中的老年人及其子女帶來方便貼心的陪伴機器，然而目前之智慧機器人的控制多數僅具有短距離的遙控操作，無法提供遠端的監控以及操控，降低智慧機器人之實用性，喪失智慧機器人能夠發揮之最大功效，進而大幅減少使用機率者。 In recent years, the problem of population aging has become more and more serious. Taking care of the living and living of the silver-haired people has become an important issue. With the advancement of robotics technology, the development of various kinds of mobile-assisted robots has become more and more mature. Wisdom technology brings convenient and intimate companion machines to the elderly and their children at home. However, most of the current intelligent robot controls only have short-distance remote control operations, which cannot provide remote monitoring and control, reducing the practicality of smart robots. Loss of the maximum efficiency that smart robots can play, and thus greatly reduce the probability of use.
有鑑於此，本發明人於多年從事相關產品之製造開發與設計經驗，針對上述之目標，詳加設計與審慎評估後，終得一確具實用性之本發明。 In view of this, the inventors have been engaged in the manufacturing development and design experience of related products for many years, and after detailed design and careful evaluation of the above objectives, the present invention has finally become practical.
本發明針對上述之目標，提供一種具有居家監控功能，能透過行動裝置或電腦，以無線網路達到連線狀態之智慧機器人控制方法。 The present invention is directed to the above object, and provides a smart robot control method having a home monitoring function capable of reaching a connection state through a wireless network through a mobile device or a computer.
一種智慧機器人控制方法，其包含一智慧機器人，其係裝載有監控裝置以及感測裝置，以具有遠端影像監控功能、距離偵測功能以及防災警報功能，其中智慧機器人具有一微控器，並連接驅動電子單元控制 二輪驅動馬達運轉作動以及速度調整，且該微控器係利用藍芽無線裝置與一平板電腦連接，透過平板電腦與微控器互傳資料，並將平板電腦架設於智慧機器人上建立一人機處理介面，一監控裝置具有攝影機，透過二數位馬達具有上、下以及左、右方向之移動功能，且該二數位馬達係接收微控器指令控制作動，另將攝影機之影像輸出連接至平板電腦作監控及處理，一感測裝置訊號係輸出連接至微控器，再透過微控器達到信號的控制及傳輸，一遠端裝置係透過WDFI網路與平板電腦連線達到資料以及控制訊號的傳輸，藉以達到遠端操控智慧機器人之運動功能，一影像偵測追蹤車輪直線修正系統，因輪體於不同地面上之摩擦力不同，利用影像偵測追蹤車輪直線修正系統以視覺直線修正演算法克服方向偏移，並透過監控裝置之攝影機偵測、評估智慧型機器人的左右偏移量，再由微控器接收信號並控制二輪驅動馬達進行左、右輪體之速度調整，藉由上述結構，俾能構成一種智慧機器人控制方法。 A smart robot control method includes a smart robot loaded with a monitoring device and a sensing device to have a remote image monitoring function, a distance detecting function and a disaster prevention alarm function, wherein the smart robot has a micro controller, and Connected drive electronics unit control The two-wheel drive motor is operated and adjusted in speed, and the micro controller is connected to a tablet computer by using a Bluetooth wireless device, and the data is transmitted between the tablet computer and the micro controller, and the tablet computer is mounted on the intelligent robot to establish a human machine processing. Interface, a monitoring device has a camera, and has a moving function of up, down, and left and right directions through a two-digit motor, and the two-digit motor receives the micro-controller command control action, and connects the image output of the camera to the tablet computer. Monitoring and processing, a sensing device signal output is connected to the microcontroller, and then through the microcontroller to achieve signal control and transmission, a remote device is connected to the tablet through the WDFI network to achieve data and control signal transmission In order to achieve the remote control of the intelligent robot's motion function, an image detection tracking wheel linear correction system, due to the different frictional forces of the wheel body on different grounds, using the image detection tracking wheel linear correction system to overcome the visual straight line correction algorithm Direction shifting, and detecting and evaluating the smart robot through the camera of the monitoring device The left and right offsets are then received by the microcontroller and the two-wheel drive motor is controlled to adjust the speed of the left and right wheel bodies. With the above structure, the intelligent robot control method can be constructed.
對照先前技術之功效：本發明用遠端裝置可監控及操控智慧機器人，透過結合WIFI無線通訊來處理遠端裝置與影像的無線傳輸部分，另以藍芽通訊來處理平板電腦與微控器之間無線資料傳輸，讓智慧機器人的操作能夠為簡易、方便，增添監控居家環境之實用性，大幅提升居家安全。 Compared with the effects of the prior art: the remote device can monitor and control the intelligent robot, and combines the WIFI wireless communication to process the wireless transmission part of the remote device and the image, and the Bluetooth communication to process the tablet and the micro controller. Wireless data transmission enables the operation of smart robots to be simple and convenient, and to increase the practicality of monitoring the home environment and greatly improve home security.
10‧‧‧智慧機器人 10‧‧‧Smart Robot
11‧‧‧微控器 11‧‧‧Microcontroller
12‧‧‧驅動電子單元 12‧‧‧Drive electronic unit
13‧‧‧驅動馬達 13‧‧‧Drive motor
14‧‧‧藍芽 14‧‧‧Blue Bud
15‧‧‧平板電腦 15‧‧‧ Tablet PC
16‧‧‧人機處理介面 16‧‧‧Human Machine Processing Interface
161‧‧‧通信連線狀態 161‧‧‧Communication connection status
162‧‧‧攝影視訊畫面 162‧‧‧Photographic video
163‧‧‧感測裝置信息 163‧‧‧Sensor information
164‧‧‧智慧機器人運動控制 164‧‧‧Smart Robot Motion Control
20‧‧‧監控裝置 20‧‧‧Monitor
21‧‧‧攝影機 21‧‧‧ camera
22‧‧‧數位馬達 22‧‧‧Digital Motor
30‧‧‧感測裝置 30‧‧‧Sensing device
31‧‧‧瓦斯感測器 31‧‧‧ Gas Sensor
32‧‧‧溫度感測器 32‧‧‧Temperature Sensor
33‧‧‧超音波感測器 33‧‧‧Ultrasonic sensor
40‧‧‧遠端裝置 40‧‧‧ Remote device
50‧‧‧影像偵測追蹤車輪直線修正系統 50‧‧‧Image Detection Tracking Wheel Linear Correction System
第1圖：係為本發明之系統架構示意圖。 Figure 1 is a schematic diagram of the system architecture of the present invention.
第2圖：係為本發明之系統流程示意圖。 Figure 2 is a schematic diagram of the system flow of the present invention.
第3圖：係為本發明之人機處理介面之示意圖。 Figure 3 is a schematic diagram of the human machine processing interface of the present invention.
第4圖：係為本發明之機器人電路系統架構示意圖。 Figure 4 is a schematic diagram of the architecture of the robot circuit system of the present invention.
第5圖：係為本發明之機器人控制系統流程示意圖。 Fig. 5 is a schematic flow chart of the robot control system of the present invention.
第6圖：係為本發明之水平影像比對方法示意圖。 Figure 6 is a schematic diagram of a horizontal image comparison method of the present invention.
第7圖：係為本發明之水平軸的三步搜尋移動估計演算法之流程圖。 Figure 7 is a flow chart of a three-step search motion estimation algorithm for the horizontal axis of the present invention.
為使 貴審查委員對本發明之目的、特徵及功效能夠有更進一步之瞭解與認識，以下茲請配合【圖式簡單說明】詳述如后：首先，先請參閱第1、2圖所示，一種智慧機器人控制方法，其包含一智慧機器人10，其係裝載有監控裝置20以及感測裝置30，以具有遠端影像監控功能、距離偵測功能、防災警報功能以及影像偵測追蹤車輪直線修正功能，其中智慧機器人10具有一微控器11，並連接驅動電子單元12控制二輪驅動馬達13運轉作動以及速度調整，另具有一無動力之全向輪，並配合二輪驅動馬達13形成一三車輪之驅動狀態，且該微控器11係利用藍芽14無線裝置與一平板電腦15連接，透過平板電腦15與微控器11互傳資料，並將平板電腦15架設於智慧機器人10上建立一人機處理介面16，一監控裝置20具有攝影機21，透過二數位馬達22具有上、下以及左、右方向之移動狀態，且該智慧機器人10係配合監控裝置20具有一頭部，利用二數位馬達22達到頭部上、下以及左、右之運轉，一支數位馬達22控制頭部的上下運動、另一支則控制頭部的左右移動，再由頭部配合預設有眼睛單元以供攝影機21的裝配，又二數位馬達22係接收微控器11指令控制作動，另將攝影機21之影像輸出連接至平板電腦15做監控及處理，由平板電腦擷取及顯示攝影機21視訊，一感測裝 置30包含有瓦斯感測器31、溫度感測器32以及超音波感測器33(請同時參閱第4圖所示)，該感測裝置30訊號係把距離偵測參數及溫度參數、瓦斯濃度參數輸出連接至微控器11，再透過微控器11達到信號的控制及傳輸，一遠端裝置40係透過WIFI網路與平板電腦15連線達到資料及控制信號的傳輸，利用遠端裝置40經WIFI控制平板電腦15，而平板電腦15則用藍芽14與微控器11訊號傳遞及控制，藉此俾可由遠端裝置40操控智慧機器人10運動功能，達到遠端控制智慧機器人10及監控居居家環境，且該遠端裝置40可為桌上型電腦、筆記型電腦、平板或是手機等可利用WIFI連線之3C產品。 In order to enable your review committee to have a better understanding and understanding of the purpose, features and effects of the present invention, please refer to the following [Simplified Description of the Drawings] for details: First, please refer to Figures 1 and 2 below. A smart robot control method includes a smart robot 10 loaded with a monitoring device 20 and a sensing device 30 for remote image monitoring, distance detection, disaster prevention, and image detection tracking wheel linear correction The smart robot 10 has a micro controller 11 and is connected to the driving electronic unit 12 to control the operation and speed adjustment of the two-wheel drive motor 13, and has an unpowered omnidirectional wheel, and forms a three-wheel with the two-wheel drive motor 13. In the driving state, the microcontroller 11 is connected to a tablet computer 15 by using the Bluetooth 14 wireless device, and the data is transferred between the tablet computer 15 and the microcontroller 11, and the tablet computer 15 is set up on the smart robot 10 to establish a person. The processing device 16 has a camera 21, and the two-digit motor 22 has a moving state of up, down, and left and right directions. The smart robot 10 is equipped with a head, and the two-digit motor 22 is used to achieve upper, lower, and left and right operation of the head, and a digital motor 22 controls the up and down movement of the head and the other control. The left and right movement of the head is further provided with a head unit for the assembly of the camera 21, and the two-digit motor 22 receives the command of the microcontroller 11 to control the operation, and connects the image output of the camera 21 to the tablet computer 15 Do monitoring and processing, capture and display the camera 21 video from the tablet, a sensory device The device 30 includes a gas sensor 31, a temperature sensor 32, and an ultrasonic sensor 33 (please refer to FIG. 4 at the same time). The sensing device 30 signals the distance detecting parameter and the temperature parameter, gas. The concentration parameter output is connected to the micro controller 11, and then the signal is controlled and transmitted through the micro controller 11. A remote device 40 is connected to the tablet computer 15 through the WIFI network to realize the transmission of data and control signals, and the remote end is utilized. The device 40 controls the tablet computer 15 via the WIFI, and the tablet computer 15 transmits and controls the signal with the Bluetooth 14 and the microcontroller 11. The remote device 40 can be used to control the motion function of the smart robot 10 to reach the remote control intelligent robot 10. And monitoring the home environment, and the remote device 40 can be a 3C product that can be connected by WIFI, such as a desktop computer, a notebook computer, a tablet or a mobile phone.
藉此，請配合參閱第4圖所示，智慧機器人10係由感測裝置30內建有瓦斯感測器31、溫度感測器32，並輸出連接至微控器11，藉此當瓦斯感測器31之感測值大於一預設值時，微控器11由程式判斷此值已超過安全值，微控器11主動送信號給平板電腦15再傳信息至遠端裝置40中，發出警報警示；再者當溫度感測器32之感測值大於一預設點時，微控器11由程式判斷此值已超過安全值，微控器11主動送信號給平板電腦15再傳信息至遠端裝置40中，發出火災警報；而智慧機器人10四週設有超音波感測器，感測智慧機器人10至障礙物距離，資料並傳至微控器11，由微控器11判斷是否已低於最小距離，若智慧機器人10前進方向若低於最小距離，微控器11則命停止智慧機器10人前進，或改變方向。 Therefore, please refer to FIG. 4 , the smart robot 10 is built with the gas sensor 31 and the temperature sensor 32 in the sensing device 30 , and the output is connected to the micro controller 11 , thereby being a sense of gas. When the sensed value of the detector 31 is greater than a preset value, the microcontroller 11 determines that the value has exceeded the safe value by the program, and the microcontroller 11 actively sends a signal to the tablet computer 15 to transmit the information to the remote device 40. The alarm is displayed; in addition, when the sensed value of the temperature sensor 32 is greater than a preset point, the microcontroller 11 determines that the value has exceeded the safe value by the program, and the micro controller 11 actively sends a signal to the tablet computer 15 to transmit the information again. In the remote device 40, a fire alarm is issued; and the intelligent robot 10 is provided with an ultrasonic sensor, and the smart robot 10 is sensed to the obstacle distance, and the data is transmitted to the micro controller 11, and the micro controller 11 determines whether or not If the distance of the smart robot 10 is lower than the minimum distance, the micro controller 11 stops the smart machine from advancing or changing direction.
以上提出之智慧機器人10，系統控制流程圖如第2、3圖所示，系統程序有智慧機器人10控制與動作系統、即時影像系統、無線傳輸系統以及影像偵測追蹤車輪直線修正系統50；利用平板電腦15上建立人機處理介面16，該人機處理介面16係包括一通信連線狀態161、攝影視訊畫面 162、感測裝置信息163、智慧機器人運動控制164，且該介面係為一種圖形化機器人控制介面，其介面畫面如第圖所示，讓使用者在平板電腦15的螢幕上可看目前藍芽及WIFI無線通信連線狀態、觀看攝影視訊、感測裝置之檢測數值如瓦斯及溫度警報、超音波感測智慧機器人10至障礙物距離值，以及於平板電腦上操作智慧機器人之運動前進、後退、左右轉向以及監控裝置之上、下以及左、右的作動。又該人機處理介面16另可透過語音操控智慧機器人10運動，利用使用者語音經辨識後可操控智慧機器人的各種動作；另可透過影像偵測追蹤車輪直線修正系統50可追蹤移動物件，利用直線修正功能可克服車輪摩擦力不同所造成方向偏移。 The smart robot 10 proposed above, the system control flow chart is as shown in the second and third figures, the system program has the intelligent robot 10 control and action system, the instant image system, the wireless transmission system, and the image detection tracking wheel linear correction system 50; A human-machine processing interface 16 is formed on the tablet computer 15. The human-machine processing interface 16 includes a communication connection state 161 and a video recording screen. 162, sensing device information 163, intelligent robot motion control 164, and the interface is a graphical robot control interface, the interface picture as shown in the figure, allowing the user to see the current Bluetooth on the screen of the tablet 15 And WIFI wireless communication connection status, viewing photographic video, sensing device detection values such as gas and temperature alarm, ultrasonic sensing intelligent robot 10 to obstacle distance value, and operating the smart robot on the tablet to advance, retreat , left and right steering and monitoring devices above, below and left and right. The human-machine processing interface 16 can also control the movement of the intelligent robot 10 through voice, and can recognize various actions of the intelligent robot after being recognized by the user voice; and can track the moving object through the image detection tracking wheel linear correction system 50. The straight line correction function overcomes the direction shift caused by the difference in wheel friction.
其無線通訊系統介紹，其智慧機器人10無線通訊系統分成兩個部分，第一部分為WiFi無線通訊，Socket通訊為網路的其中一層，因此無論距離多遠，只要有網路的地方都可以連線，且網路頻寬大，可以用來傳輸影像龐大的資料量；第二部分為藍芽14無線通訊，藍芽14的讀取只需簡單的2個腳位即可，是連單晶片微控器也可使用的無線傳輸系統，因此使用來在平板電腦15與微控器11單晶片之間的數據傳輸。 Its wireless communication system introduces its intelligent robot 10 wireless communication system into two parts. The first part is WiFi wireless communication, and Socket communication is one of the layers of the network, so no matter how far away, as long as there is a network, you can connect. And the network bandwidth is large, it can be used to transmit a huge amount of data; the second part is Bluetooth 14 wireless communication, the Bluetooth 14 can be read by a simple 2 feet, which is a single chip micro control A wireless transmission system can also be used, thus using data transfer between the tablet 15 and the microcontroller 11 single wafer.
其微控器11之控制系統介紹，智慧機器人內部電路系統架構，請配合參閱第4圖所示，其中包括電源電路、微控器計算核心、感測器電路、馬達驅動電路、藍芽通訊系統電路。 The control system of the micro controller 11 introduces the internal circuit system architecture of the smart robot. Please refer to Figure 4, including the power supply circuit, the microcontroller core, the sensor circuit, the motor drive circuit, and the Bluetooth communication system. Circuit.
其中單晶片微控器控制系統之系統流程，如第4、5圖所示，電源電路將提供單晶片微控器115伏特(V)與馬達驅動電路12伏特(V)的電壓，單晶片微控器11核心將送出一方波信號以啟動超音波感測器33並接收來自超音波感測器33回傳的信號來計算智慧機器人10與障礙物之間的距離，馬 達驅動電路將接受來自平板電腦15的信號以控制二輪驅動馬達13的正反轉與轉動的速度，微控器11核心並透過藍芽14通訊系統電路接受來自平板電腦15端的命令與回傳訊息；又電源電路係將12V鋰電池電壓提供至馬達驅動電路，以及穩壓IC轉換為5伏特(V)電壓，提供至微控器11、感測裝置20以及藍芽14無線裝置。 The system flow of the single-chip microcontroller control system, as shown in Figures 4 and 5, the power supply circuit will provide a single-chip microcontroller with 115 volts (V) and a motor drive circuit of 12 volts (V), single-chip micro The core of the controller 11 will send a square wave signal to activate the ultrasonic sensor 33 and receive the signal returned from the ultrasonic sensor 33 to calculate the distance between the intelligent robot 10 and the obstacle. The driver circuit will accept the signal from the tablet computer 15 to control the speed of the forward and reverse rotation of the two-wheel drive motor 13, and the core of the microcontroller 11 receives the command and return message from the tablet 15 through the Bluetooth 14 communication system circuit. The power supply circuit supplies a 12V lithium battery voltage to the motor drive circuit, and the voltage regulator IC converts to a 5 volt (V) voltage, which is supplied to the microcontroller 11, the sensing device 20, and the Bluetooth 14 wireless device.
其直線修正估計演算法，本系統控制兩輪驅動馬達13運轉驅動智慧機器人10，由於車輪在不同地面之摩擦力不同，使智慧機器人移動造成方向偏移，利用影像偵測追蹤車輪直線修正系統50以視覺直線修正演算法克服方向偏移，並透過監控裝置20之攝影機21偵測、評估智慧型機器人10的左右偏移量，再由微控器11接收信號並控制二輪驅動馬達13進行左、右輪體之速度調整；綜上所述，其實際調整狀態如下，當智慧機器人10方向偏移左或右時，在智慧機器人10上的頭部攝影機21影像會正個畫面左移或右移，會先偵測畫面偏移量是否超過預定值，當超過預定值時，再評估畫面左移量或右移量，當畫面左移時，此時降低右車輪速度一個β值，β偏移量成正比；當畫面右移時，此時降低左車輪速度一個β值；下一畫面再評估偏移量，不斷作修正直到偏移量小於預定值時，固定目前所評估左右車輪速度，使機器人直線前進。 The linear correction estimation algorithm, the system controls the two-wheel drive motor 13 to drive the intelligent robot 10, because the frictional force of the wheels on different grounds causes the intelligent robot to move to cause a direction shift, and the image detection tracking wheel linear correction system 50 is utilized. The visual line correction algorithm overcomes the direction shift, and detects and evaluates the left and right offset of the smart robot 10 through the camera 21 of the monitoring device 20, and then receives the signal from the microcontroller 11 and controls the two-wheel drive motor 13 to perform left, The speed adjustment of the right wheel body; in summary, the actual adjustment state is as follows. When the smart robot 10 is shifted to the left or right direction, the image of the head camera 21 on the smart robot 10 will be shifted to the left or right of the screen. First, it is detected whether the screen offset exceeds a predetermined value. When the predetermined value is exceeded, the left shift amount or the right shift amount of the screen is re-evaluated. When the screen is shifted to the left, the right wheel speed is decreased by a β value, β offset. The amount is proportional; when the picture is shifted to the right, the left wheel speed is reduced by a β value; the next picture is re-evaluated and corrected continuously until the offset is less than the predetermined value. Fix the current left and right wheel speeds and make the robot straight forward.
另外，評估機器人車輪偏移量，由攝影視訊畫面判斷左、右位移角度，採用水平軸之影像方塊比對方法，如第6圖所示，透過圖像分割成NxN固定大小方塊，每次取一方塊計算，與前一張圖像中相對區塊位置的一固定範圍作水平軸搜尋，每一方塊點做絕對相減並加總平均，水平軸搜尋範圍從-mx to +mx，共比對2mx+1次區塊比對，最小者為所要偏移量；藉 此依序把所有方塊皆進行水平軸搜尋，可得每一方塊偏移量，我們要評估整體畫面偏移量，當方塊偏移大於一預定值時，則累加此偏移量，直到畫面方塊偏移量全部計算完後再加總後取平均值，此平均值即為整體畫面偏移量，該偏移量即作為機器人車輪偏移角度計算。 In addition, the robot wheel offset is evaluated, and the left and right displacement angles are determined by the photographic video screen, and the image block comparison method of the horizontal axis is used. As shown in FIG. 6, the image is divided into NxN fixed size blocks, each time taken. A block calculation, with a fixed range of relative block positions in the previous image as a horizontal axis search, each square point is absolutely subtracted and added to the total average, and the horizontal axis search range is from -mx to +mx, a total ratio For 2mx+1 sub-block comparisons, the smallest is the desired offset; In this order, all the blocks are searched for the horizontal axis, and the offset of each block is obtained. We need to evaluate the overall picture offset. When the block offset is greater than a predetermined value, the offset is accumulated until the picture block. After the offset is calculated, the average value is added, and the average value is the overall screen offset, which is calculated as the robot wheel offset angle.
上述全域搜尋移動估計演算法的水平軸搜尋，運算量大，會影嚮控制馬達速度，是故，更包含一種水平軸三步搜尋移動估計偏移量演算法，如第7圖所示，以提升運算速度，作即時智慧機器人移動方向偏移修正，在搜尋區域中的水平軸分三個等點作運算，從著三個點中有最小值的區域中，再作一次三個等分點的運算，最後再從有最小累加差值的區域作最後一次三個分點的運算，直到最低相鄰向量差值為壹，即停止搜尋，在這範圍中所得到的最小累加差值的位置，和區塊中心位置的向量即為移動向量，此移動向量傳至微控器計算左右車輪速度，達方向修正之效。 The horizontal axis search of the global search mobile estimation algorithm described above has a large amount of computation and will affect the motor speed. Therefore, it also includes a horizontal axis three-step search motion estimation offset algorithm, as shown in FIG. Improve the calculation speed and make the instantaneous direction shift of the intelligent robot. The horizontal axis in the search area is divided into three equal points. From the area with the smallest of the three points, make another three equal points. The operation, and finally the last three points from the region with the smallest accumulated difference, until the lowest adjacent vector difference is 壹, that is, stop searching, the position of the smallest accumulated difference obtained in this range , and the vector at the center of the block is the motion vector. This motion vector is transmitted to the microcontroller to calculate the left and right wheel speeds, and the direction correction effect is achieved.
藉上述具體實施例之結構，可得到下述之效益：本發明用遠端裝置40可監控及操控智慧機器人10，透過結合WIFI無線通訊來處理遠端裝置40與影像的無線傳輸部分，另以藍芽14通訊來處理平板電腦15與微控器11之間無線資料傳輸，讓智慧機器人10的操作能夠為簡易、方便，增添監控居家環境之實用性，大幅提升居家安全。 With the structure of the above specific embodiment, the following benefits can be obtained: the remote device 40 can monitor and control the smart robot 10, and the wireless transmission part of the remote device 40 and the image is processed by combining WIFI wireless communication, and The Bluetooth 14 communication handles the wireless data transmission between the tablet 15 and the micro controller 11, so that the operation of the smart robot 10 can be simple and convenient, and the practicality of monitoring the home environment is greatly enhanced, and the home security is greatly improved.
綜上所述，本發明確實已達突破性之結構設計，而具有改良之發明內容，同時又能夠達到產業上之利用性與進步性，且本發明未見於任何刊物，亦具新穎性，當符合專利法相關法條之規定，爰依法提出發明專利申請，懇請 鈞局審查委員授予合法專利權，至為感禱。 In summary, the present invention has indeed achieved a breakthrough structural design, and has improved invention content, and at the same time, can achieve industrial utilization and progress, and the present invention is not found in any publication, but also novel, when In accordance with the provisions of the relevant laws and regulations of the Patent Law, the application for invention patents is filed according to law, and the examination authority of the bureau is required to grant legal patent rights.
唯以上所述者，僅為本發明之一較佳實施例而已，當不能以之限定本 發明實施之範圍；即大凡依本發明申請專利範圍所作之均等變化與修飾，皆應仍屬本發明專利涵蓋之範圍內。 The above is only a preferred embodiment of the present invention, and cannot be limited thereto. The scope of the invention is to be construed as being in accordance with the scope of the invention.
10‧‧‧智慧機器人 10‧‧‧Smart Robot
11‧‧‧微控器 11‧‧‧Microcontroller
12‧‧‧驅動電子單元 12‧‧‧Drive electronic unit
13‧‧‧驅動馬達 13‧‧‧Drive motor
14‧‧‧藍芽 14‧‧‧Blue Bud
15‧‧‧平板電腦 15‧‧‧ Tablet PC
20‧‧‧監控裝置 20‧‧‧Monitor
21‧‧‧攝影機 21‧‧‧ camera
22‧‧‧數位馬達 22‧‧‧Digital Motor
30‧‧‧感測裝置 30‧‧‧Sensing device
40‧‧‧遠端裝置 40‧‧‧ Remote device
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