Keyboard robot and control method

Abstract

This invention provides a keyboard robot and its control method. The control method includes: acquiring key commands; determining the operation corresponding to the key commands based on the key commands and a pre-built mapping table between keys and a rotating arm; and controlling the key clicker to click the keys on the keyboard according to the operation. The solution of this invention can flexibly achieve positioning through the rotation and extension of the rotating arm, and control the key clicker to accurately click the keys on the keyboard, thereby achieving remote and precise control.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial equipment, and in particular to a keyboard robot and a control method thereof. Background Art

[0002] In the large industrial sector, many projects are delivered in remote areas, resulting in high maintenance costs. According to information security requirements, the system does not provide remote access interfaces; access to external hardware is often prohibited.

[0003] To provide non-invasive remote support, there are several requirements:

[0004] Visible: It is visible to the user, for example, as if a real person were sitting in front of the machine;

[0005] Controllable: It can be removed at any time; even if there is "illegal" behavior, the control speed is predictable, and in the worst case it should not exceed the speed of "a person entering the computer room without any objects";

[0006] Traceable: Operation traces can be traced.

[0007] In the prior art, remote control products need to install software in the existing system, open a network port, or plug into an interface (such as USB, HDMI, etc.) of an existing hardware device, which makes it impossible to achieve secure remote operation, especially remote keyboard operation. Summary of the invention

[0008] The invention provides a keyboard robot and a control method, which can realize accurate keyboard operation.

[0009] In order to solve the above technical problems, an embodiment of the present invention provides a keyboard robot, comprising:

[0010] Pedestal;

[0011] A fixed frame rotatably connected to the base, wherein the fixed frame is equipped with a first rotating motor, and when the first rotating motor rotates, the fixed frame is driven to rotate on the base;

[0012] A rotating arm rotatably connected to the fixing frame, the rotating arm being provided with a telescopic motor, the telescopic motor driving the rotating arm to telescope;

[0013] A connecting rod is fixedly connected to the rotating arm, and a button clicker is installed at the end of the connecting rod.

[0014] Optionally, the rotating arm includes two or three rotating arms.

[0015] Optionally, the rotating arm comprises: a connecting portion, the connecting portion is rotatably connected to the fixing frame, and the telescopic motor is installed in the connecting portion;

[0016] A fixing part is sleeved in the connecting part and is telescopically connected to the connecting part, and the telescopic motor drives the fixing part to move in a telescopic manner.

[0017] Optionally, the connecting rod is threadedly connected to the fixing portion.

[0018] Optionally, the button clicker is equipped with a camera.

[0019] Optionally, the button clicker is equipped with a second rotary motor, and the second rotary motor drives the button clicker to rotate.

[0020] Optionally, the keyboard robot also includes: a processor, electrically connected to the first rotating motor, the second rotating motor and the telescopic motor.

[0021] Optionally, the keyboard robot also includes: a communication module for receiving control instructions from a remote terminal, which is electrically connected to the processor.

[0022] An embodiment of the present invention further provides a control method for a keyboard robot, wherein the keyboard robot is the keyboard robot as described above, and the method comprises:

[0023] Get key commands;

[0024] Determine the operation corresponding to the key instruction according to the key instruction and a pre-built mapping table between the key and the rotating arm;

[0025] Control the key clicker to click the keys on the keyboard according to the operation.

[0026] Optionally, the mapping table between the buttons and the rotating arms includes:

[0027] The corresponding relationship between the corresponding symbol on the button, the rotating arm number, the telescopic arm length of the rotating arm, and the rotation angle of the rotating arm.

[0028] Optionally, determining the operation corresponding to the key instruction according to the key instruction and a pre-built mapping table between the key and the rotating arm includes:

[0029] If the key instruction indicates clicking a key combination consisting of more than two keys, determining the rotating arm corresponding to each key in the key combination, the arm length of the rotating arm, and the rotation angle of the rotating arm according to the mapping table;

[0030] Detecting whether a conflict occurs when the rotating arms corresponding to any two keys in the combination key rotate according to their arm lengths and rotation angles, and if a conflict occurs, controlling the rotating arm corresponding to at least one of the any two keys to extend or shorten according to a preset strategy;

[0031] The rotation of the rotating arm is controlled according to the rotation angle corresponding to the extended or shortened arm length.

[0032] Optionally, detecting whether a conflict occurs when the rotating arms corresponding to any two keys in the key combination rotate according to their arm lengths and rotation angles includes:

[0033] Taking the first coordinate system where the first rotating arm corresponding to the first key of any two keys in the combination key is located as a reference, assuming that the origin of the second coordinate system where the second rotating arm corresponding to the second key of any two keys is located is (x 0 ,y 0 ), the angle between the positive x-coordinate of the second rotating arm and the first rotating arm is θ 0 ;

[0034] For multiple points in the common area {P i}, point {P i The coordinates of} in the first coordinate system are (r i1 ,θ i1 ), the coordinates in the second coordinate system are (r i2 ,θ i2 ), where each point within the effective coverage of each rotating arm can be represented by polar coordinates (r,θ);

[0035] If the equation: If a solution exists, it is determined that there is a conflict between the first rotating arm and the second rotating arm.

[0036] Optionally, if a conflict occurs, the rotating arm corresponding to at least one of the two buttons is controlled to extend or shorten according to a preset strategy, including:

[0037] If a conflict occurs, select a rotating arm at the position where the button to be clicked is located and can be covered by the rotating arms corresponding to the two buttons respectively; or

[0038] If a conflict occurs, the rotating arms corresponding to any two keys in the combination key are rotated with the shortest arm length, and then extended and retracted after reaching the target position; or,

[0039] If a conflict occurs, the rotating arms corresponding to any two keys in the combination key are rotated at the shortest arm length, and after rotating to the target position, they are retracted and retracted. If a conflict still occurs, the arm length is retracted to the shortest; or,

[0040] If a conflict occurs, the rotating arms corresponding to any two keys in the combination key rotate with the shortest arm length, and then extend and retract after rotating to the target position. If a conflict still occurs, one rotating arm extends and retracts first, and then the other rotating arm extends and retracts.

[0041] Optionally, controlling the key clicker to click keys on the keyboard according to the operation includes:

[0042] When the rotating arm rotates to a target position according to the determined arm length and rotation angle, the key clicker is controlled to click a corresponding key on the keyboard.

[0043] The beneficial effects of the above technical solution of the present invention are:

[0044] The above embodiment of the present invention obtains a key command; determines the operation corresponding to the key command according to the key command and a pre-built mapping table between keys and rotating arms; and controls the key clicker to click the keys on the keyboard according to the operation. When the keyboard robot receives an unwarranted control command, it can flexibly realize positioning through the rotation and extension of the rotating arm, and control the key clicker to accurately click the keys on the keyboard, thereby realizing remote precise control. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram showing the three-dimensional structure of a keyboard robot according to an embodiment of the present invention;

[0046] Figure 2 A front view showing a keyboard robot according to an embodiment of the present invention;

[0047] Figure 3 A flow chart showing a control method of a keyboard robot according to an embodiment of the present invention;

[0048] Figure 4 A schematic diagram showing the effective coverage of the rotating arm in an embodiment of the present invention;

[0049] Figure 5 A schematic diagram showing the movement of a rotating arm from a current position to a target position in an embodiment of the present invention;

[0050] Figure 6 A schematic diagram showing an area that can be covered by two or three rotating arms within an area that can be covered by three rotating arms in an embodiment of the present invention;

[0051] Figure 7 A schematic diagram showing how to obtain the conversion relationship between two rotation axes according to the common area key coordinates in an embodiment of the present invention;

[0052] Figure 8 A schematic diagram showing collision detection of a rotating arm in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0053] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0054] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a keyboard robot, comprising:

[0055] A base 11; a fixed frame 12 rotatably connected to the base 11, the fixed frame 12 being equipped with a first rotating motor 16, and when the first rotating motor 16 rotates, the fixed frame 12 is driven to rotate on the base 11; the height of the fixed frame 12 can be adjusted, thereby achieving greater adjustment flexibility;

[0056] A rotating arm 13 rotatably connected to the fixing frame 12, wherein the rotating arm 13 is provided with a telescopic motor 17, and the telescopic motor 17 drives the rotating arm 13 to telescope;

[0057] A connecting rod 14 is fixedly connected to the rotating arm 13 , and a button clicker 15 is installed at the end of the connecting rod 14 .

[0058] In an optional embodiment of the present invention, the rotating arm 13 includes two or three rotating arms. Figure 1 As shown, it is a schematic diagram of three rotating arms. For example, when realizing the combination of three shortcut keys CRL+ALT+DEL, three rotating arms are required (if it is to be realized), and when realizing the combination of two shortcut keys, two rotating arms are required. A key clicker 15 is installed on each rotating arm. Through the rotation of the fixed frame 12, the extension of the rotating arm 13 and the clicking of the key by the key clicker 15, free clicking of the key can be realized.

[0059] In an optional embodiment of the present invention, the rotating arm 13 includes: a connecting portion 131 and a fixing portion 132 which is sleeved in the connecting portion 131 and telescopically connected to the connecting portion 131;

[0060] The connecting portion 131 is rotatably connected to the fixing frame 12 , and the telescopic motor 17 is installed in the connecting portion 131 ; the telescopic motor 17 drives the fixing portion 132 to move in a telescopic manner.

[0061] In an optional embodiment of the present invention, the connecting rod 14 is threadedly connected to the fixing portion 132 . Of course, other fixing connection methods are also possible.

[0062] In an optional embodiment of the present invention, the key clicker 15 is equipped with a camera. The image captured by the camera is transmitted back to the remote terminal through the line of the keyboard robot, so that the staff can view the clicks of the keys on the keyboard by the key clicker according to the image, thereby realizing auxiliary positioning of the key clicks, such as intelligent positioning during debugging or fine-tuning during operation.

[0063] In an optional embodiment of the present invention, the button clicker 15 is equipped with a second rotary motor 18, and the second rotary motor 18 drives the button clicker 15 to rotate.

[0064] In an optional embodiment of the present invention, the keyboard robot may further include: a processor electrically connected to the first rotating motor, the second rotating motor and the telescopic motor.

[0065] In an optional embodiment of the present invention, the keyboard robot may further include: a communication module for receiving control instructions from a remote terminal, electrically connected to the processor.

[0066] The processor receives a key command from a remote terminal through a communication module, and drives a corresponding motor to rotate or extend according to the command, thereby enabling the key clicker 15 to click the key accurately and flexibly.

[0067] In the above embodiment of the present invention, the keyboard robot further includes a processor, a communication module and a circuit for electrically connecting the drive motor. The rotation of the rotating arm can realize free movement in two dimensions within a plane.

[0068] In the above-mentioned embodiment of the present invention, the keyboard where the key clicked by the key clicker of the keyboard robot is located can adopt a controllable motor contact module, and the contact module is installed on a fully covered truss structure or a movable arm. When the keyboard robot receives an unwarranted control instruction, it can flexibly realize positioning through the rotation and extension of the rotating arm, and control the key clicker to accurately click the keys on the keyboard, thereby realizing remote precise control.

[0069] like Figure 3 As shown, an embodiment of the present invention further provides a control method for a keyboard robot, wherein the keyboard robot is the keyboard robot as described above, and the method comprises:

[0070] Step 31, obtaining a key instruction; the key instruction here may be, for example, a character corresponding to a key, or a character or character combination corresponding to a key combination, for example, the key combination CRL+ALT+DEL;

[0071] Step 32, determining the operation corresponding to the key instruction according to the key instruction and a pre-built mapping table between the key and the rotating arm;

[0072] Step 33, controlling the key clicker to click the keys on the keyboard according to the operation.

[0073] This embodiment of the present invention obtains a key instruction; determines the operation corresponding to the key instruction according to the key instruction and a pre-constructed mapping table between the key and the rotating arm; controls the key clicker to click the keys on the keyboard according to the operation; and can flexibly achieve positioning through the rotation and extension of the rotating arm, and control the key clicker to accurately click the keys on the keyboard, thereby realizing remote precise control.

[0074] In an optional embodiment of the present invention, the mapping table between the button and the rotating arm includes: the corresponding relationship between the symbol on the button, the rotating arm number, the telescopic arm length of the rotating arm and the rotation angle of the rotating arm.

[0075] The specific mapping table may be as follows, but is not limited to the values ​​in the table, and may also be other values:

[0076] button Rotating arm number Telescopic arm length Rotation angle θ ... Q 1 100 15 W 1 101 18 ... G 1 105 45 G 2 108 48 G 3 50 2

[0077] In an optional embodiment of the present invention, step 32 may include:

[0078] Step 321, if the key instruction indicates clicking a key combination consisting of more than two keys, determining the rotating arm corresponding to each key in the key combination, the arm length of the rotating arm, and the rotation angle of the rotating arm according to the mapping table;

[0079] Step 322, detecting whether a conflict occurs when the rotating arms corresponding to any two keys in the combination key rotate according to their arm lengths and rotation angles. If a conflict occurs, the rotating arm corresponding to at least one of the two keys is controlled to extend or shorten according to a preset strategy; if there is no conflict, the rotating arm is rotated and retracted according to the arm length and rotation angle corresponding to the rotating arm, and the rotation and retraction actions can be performed simultaneously;

[0080] Step 323, controlling the rotation of the rotating arm according to the rotation angle corresponding to the length of the extended or shortened arm.

[0081] like Figure 4 As shown, each rotating arm has its effective coverage range, and each point in the effective coverage range can be expressed by polar coordinates (r, θ);

[0082] like Figure 5 As shown, the movement of each rotating arm from the current position to the target position corresponds to the two actions of the rotating motor and the telescopic motor;

[0083] like Figure 6As shown, within the area that can be covered by three rotating arms, there are many areas that can be covered by two or three rotating arms. In this way, conflicts may occur when two or three rotating arms rotate and extend. At this time, it is necessary to perform conflict detection on the rotating arms corresponding to any two keys in the combination key.

[0084] In an optional embodiment of the present invention, detecting whether a conflict occurs when the rotating arms corresponding to any two keys in the key combination rotate according to their arm lengths and rotation angles includes:

[0085] 1) Align the spatial coordinate systems of any two rotating arms

[0086] Each point within the effective coverage of each rotating arm can be expressed in polar coordinates (r, θ), but the coordinate systems of different rotating arms are different. Therefore, it is necessary to align different rotating arms in pairs to know whether they conflict with each other.

[0087] like Figure 7 As shown, taking the first coordinate system where the first rotating arm is located as the reference, the origin of the second coordinate system where the second rotating arm is located is (x 0 ,y 0 ), the angle between the positive x-coordinate of the second rotating arm and the first rotating arm is θ 0 ;

[0088] For multiple points in the common area {P i}, point {P i The coordinates of} in the first coordinate system are (r i1 ,θ i1 ), the coordinates in the second coordinate system are (r i2 ,θ i2 );in,;

[0089] Then we have the following equation:

[0090] Based on more than three points, the coordinate transformation parameters (x 0 ,y 0 ,θ 0 );

[0091] 2) Collision detection when two arms rotate simultaneously

[0092] like Figure 8 As shown, when the first rotating arm needs to rotate from point P1 to point P2, and the second rotating arm needs to rotate from point P3 to point P4, it is necessary to determine whether there is a conflict on the rotation path.

[0093] Use (r1, θ 1 ) represents the coordinate corresponding to P1 (in the first rotating arm coordinate system); (r2, θ2 ) is the corresponding coordinate of P2 (in the first rotating arm coordinate system); (r3, θ 3 ) is the corresponding coordinate of P3 (in the second rotating arm coordinate system); (r4, θ 4 ) is the corresponding coordinate of P4 (in the coordinate system of the second rotating arm). P1 is the starting point of the first rotating arm, P2 is the end point of the first rotating arm; P3 is the starting point of the second rotating arm, P4 is the end point of the second rotating arm.

[0094] If the following set of equations has a solution within a given parameter interval, it is determined that the first rotation arm and the second rotation arm are in conflict;

[0095] The parameter range is:

[0096] In an optional embodiment of the present invention, if a conflict occurs, the rotating arm corresponding to at least one of the two buttons is controlled to extend or shorten according to a preset strategy, including:

[0097] If a conflict occurs, select a rotating arm at the position where the button to be clicked is located and can be covered by the rotating arms corresponding to the two buttons respectively; or

[0098] If a conflict occurs, the rotating arms corresponding to any two keys in the combination key are rotated with the shortest arm length, and then extended and retracted after reaching the target position; or,

[0099] If a conflict occurs, the rotating arms corresponding to any two keys in the combination key are rotated at the shortest arm length, and after rotating to the target position, they are retracted and retracted. If a conflict still occurs, the arm length is retracted to the shortest; or,

[0100] If a conflict occurs, the rotating arms corresponding to any two keys in the combination key rotate with the shortest arm length, and then extend and retract after rotating to the target position. If a conflict still occurs, one rotating arm extends and retracts first, and then the other rotating arm extends and retracts.

[0101] In an optional embodiment of the present invention, the above step 33 may include: when the rotating arm rotates to the target position according to the determined arm length and rotation angle, controlling the key clicker to click the corresponding key on the keyboard.

[0102] When receiving a remote control instruction, the keyboard robot of the present invention can control the rotation and extension of the rotating arm through a pre-constructed mapping table, flexibly realize positioning, and further control the key clicker to accurately click the keys on the keyboard, thereby realizing remote precise control.

[0103] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A keyboard robot, characterized in that: include: Pedestal; A fixed frame rotatably connected to the base, wherein the fixed frame is equipped with a first rotating motor, and when the first rotating motor rotates, the fixed frame is driven to rotate on the base; A rotating arm rotatably connected to the fixing frame, the rotating arm being provided with a telescopic motor, the telescopic motor driving the rotating arm to telescope; A connecting rod fixedly connected to the rotating arm, a button clicker being installed at the end of the connecting rod; After the keyboard robot obtains the key command, it determines the operation corresponding to the key command according to the key command and the pre-built mapping table between the key and the rotating arm; and controls the key clicker to click the key on the keyboard according to the operation; Wherein, the rotating arm includes two or three rotating arms; The mapping table between the buttons and the rotating arms includes: The corresponding relationship between the corresponding symbol on the button, the rotating arm number, the arm length of the rotating arm and the rotation angle of the rotating arm; Wherein, determining the operation corresponding to the key instruction according to the key instruction and a pre-built mapping table between the key and the rotating arm includes: If the key instruction indicates clicking a key combination consisting of more than two keys, determining the rotating arm corresponding to each key in the key combination, the arm length of the rotating arm, and the rotation angle of the rotating arm according to the mapping table; Detecting whether a conflict occurs when the rotating arms corresponding to any two keys in the combination key rotate according to their arm lengths and rotation angles, and if a conflict occurs, controlling the rotating arm corresponding to at least one of the any two keys to extend or shorten according to a preset strategy; The rotation of the rotating arm is controlled according to the rotation angle corresponding to the extended or shortened arm length.

2. The keyboard robot according to claim 1, characterized in that: The rotating arm comprises: A connecting part, the connecting part is rotatably connected to the fixing frame, and the telescopic motor is installed in the connecting part; A fixing part is sleeved in the connecting part and is telescopically connected to the connecting part, and the telescopic motor drives the fixing part to move in a telescopic manner.

3. The keyboard robot according to claim 2, characterized in that: The connecting rod is threadedly connected to the fixing portion.

4. The keyboard robot according to claim 1, characterized in that: The button clicker is equipped with a camera.

5. The keyboard robot according to claim 1, characterized in that: The key clicker is equipped with a second rotary motor, and the second rotary motor drives the key clicker to rotate.

6. The keyboard robot according to claim 5, characterized in that: Also includes: A processor is electrically connected to the first rotating motor, the second rotating motor and the telescopic motor.

7. The keyboard robot according to claim 6, characterized in that: Also includes: A communication module for receiving control instructions from a remote terminal is electrically connected to the processor.

8. A method for controlling a keyboard robot, characterized in that: The keyboard robot is a keyboard robot according to any one of claims 1 to 7, and the method comprises: Get key commands; Determine the operation corresponding to the key instruction according to the key instruction and a pre-built mapping table between the key and the rotating arm; Controlling the key clicker to click keys on the keyboard according to the operation; The mapping table between the buttons and the rotating arms includes: The corresponding relationship between the corresponding symbol on the button, the rotating arm number, the arm length of the rotating arm and the rotation angle of the rotating arm; Wherein, determining the operation corresponding to the key instruction according to the key instruction and a pre-built mapping table between the key and the rotating arm includes: If the key instruction indicates clicking a key combination consisting of more than two keys, determining the rotating arm corresponding to each key in the key combination, the arm length of the rotating arm, and the rotation angle of the rotating arm according to the mapping table; Detecting whether a conflict occurs when the rotating arms corresponding to any two keys in the combination key rotate according to their arm lengths and rotation angles, and if a conflict occurs, controlling the rotating arm corresponding to at least one of the any two keys to extend or shorten according to a preset strategy; The rotation of the rotating arm is controlled according to the rotation angle corresponding to the extended or shortened arm length.

9. The control method of the keyboard robot according to claim 8, characterized in that: Detecting whether a conflict occurs when the rotating arms corresponding to any two keys in the key combination rotate according to their arm lengths and rotation angles, including: Taking the first coordinate system where the first rotating arm corresponding to the first key of any two keys in the combination key is located as a reference, assuming that the origin of the second coordinate system where the second rotating arm corresponding to the second key of the any two keys is located is (x0, y0), and the angle between the positive x-coordinate of the second rotating arm and the first rotating arm is θ0; For multiple points in the common area {P i }, point {P i The coordinates of} in the first coordinate system are (r i1 ,θ i1 ), the coordinates in the second coordinate system are (r i2 ,θ i2 ), where each point within the effective coverage of each rotating arm can be represented by polar coordinates (r,θ); If the equation: If a solution exists, it is determined that there is a conflict between the first rotating arm and the second rotating arm.

10. The control method of the keyboard robot according to claim 8, characterized in that: If a conflict occurs, the rotating arm corresponding to at least one of the two buttons is controlled to extend or shorten according to a preset strategy, including: If a conflict occurs, the rotating arms corresponding to any two keys in the combination key are rotated with the shortest arm length, and then extended and retracted after reaching the target position; or, If a conflict occurs, the rotating arms corresponding to any two keys in the combination key are rotated at the shortest arm length, and after rotating to the target position, they are retracted and retracted. If a conflict still occurs, the arm length is retracted to the shortest; or, If a conflict occurs, the rotating arms corresponding to any two keys in the combination key rotate with the shortest arm length, and then extend and retract after rotating to the target position. If a conflict still occurs, one rotating arm extends and retracts first, and then the other rotating arm extends and retracts.

11. The keyboard robot control method according to claim 8, characterized in that: Controlling the key clicker to click keys on the keyboard according to the operation includes: When the rotating arm rotates to a target position according to the determined arm length and rotation angle, the key clicker is controlled to click a corresponding key on the keyboard.

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