200928782 九、發明說明： 【發明所屬之技術領域】 本發明係關於一種控制系統，特別關於一種嵌入式控 制糸統。 【先前技術】 隨著科技日新月異地發展，帶動各種電子產品的改良 ❹ 與進步，透過晶片内部佈局的集積度（integration)提高， 整體晶片體積有效地縮小，使得電子產品斬向更高功能性 (functionality)的方向發展。 然而，隨著電子產品汰舊換新的速率加快，舊式產品 若無法有效回收再利用，則會導致廢棄物增加，不僅需要 相對投入更高的處理成本，亦會造成環境負擔，更不符合 綠色環保減廢減量的要求。 就晶片本身處理效能而言，舊式可攜式裝置雖無法再 〇 利用於高階電子產品，但仍可作為低階電子產品或其他機 械裝置的控制元件，例如可應用於機器人、電子寵物、行 电或監視器等執行單一作動或少數作動模式。若能結 合可攜式裝置的影音輸出、感測及通訊功能於受控裝置， 更可提升舊式可攜式裝置的應用範圍。 因此，如何提供一種欲入式控制系統能夠使舊式可攜 式裴置產生新的應用態樣而可再次利用，並具有多種不同 的變化態樣更加擴展其應用層面，已成為重要課題之一。 200928782 【發明内容】 有鑑於上述課題’本發明 制系統’其係將可攜式装置 、為提供-種嵌入式控 置作為主要控制端:置在並藉由 裝置的驅動下完成相對應之作動^裝置如在可攜式 為達上述目的，依據本發明之二A 包括一受控裝置以及—可攜式 種嵌入式控制系統係 Ο Ο 傳輸介面，並具有至少一作S。受控装置設置-第-二傳輸介面斑第一傳輪八：：模式。可攜式裝置設置-第 至少-控制;號。藉二二攜式裝置係具有 接關係，控制訊號經由第一傳輪;面傳之迷 啟動受控裝置執行至少-對應的作動模式。控裝置，以 承上所述，因依據本發明之一種喪 由可穩式裝置嵌入連接至受控裝置的方式，二= 置的控制喊件以傳遞至受控裝置，且根據不_控 號則可啟㈣控裝置執行不@的作祕^。㈣訊號可 由擷取訊號而對應產生，或預先儲存於受控裝置，更可依 據實際需求由使用者可程式編碼產生，或由外接方式接收 控制訊號，以操控受控裝置執行預設的作動模式。與習知 技術相較，本發明能夠使舊式可攜式裝置產生新的應用態 樣，減廢再利用，符合綠色環保的要求。 〜 另外，由於可攜式裝置與受控裝置的，連接關係為礙入 方式連接，故能夠依據作動模式的需求而任意更換可攜式 裝置及/或受控裝置，而產生多種不同的變化態樣。 200928782 【實施方式】 以下將參照相關圖式，說明依據本發明較佳實施例之 一種嵌入式控制系統，其中相同的元件將以相同的元件符 號加以說明。 請參照圖1所示，本發明較佳實施例之一種嵌入式控 制系統20係包括一受控裝置24及一可攜式裝置22嵌入 β 連接至受控裝置24。受控裝置24係設置一第一傳輸介面 241，而可攜式裝置22係設置一第二傳輸介面221與第一 傳輸介面241電性連接。可攜式裝置22更具有一處理模 組222，其係與第二傳輸介面221電性連接，用以產生至 少一控制訊號。 透過第一俸輸介面241與第二傳輸介面221的連接係 可使受控裝置24與可攜式裝置22電性連接。此外，藉由 第一傳輸介面241與第二傳輸介面221的連接，亦可作為 ❹ 受控裝置24與可攜式裝置22之間訊號傳遞的路徑。換言 之，可攜式裝置22的處理模組222所產生的控制訊號係 經由第二傳輸介面221、第一傳輸介面241而傳遞至受控 裝置24，以啟動受控裝置24之一可動機構242執行至少 一對應的作動模式。且根據可攜式裝置22所傳送出之控 制訊號的不同，係可使受控裝置24得以啟動可動機構242 執行對應不同的作動模式。 以下將詳細說明本發明之嵌入式控制系統可整合各 種不同的功能，而具有不同的變化態樣。 200928782 -變統 2°a 的另 '、興圖1的差異在於：可攜式裝置22 傲走外，权組223以接收來自外界的訊號，外接模組22、3 :、理模組222電性連接。亦即可攜式裝置處 =的作動:式除了根據内建於可攜式裝置2丄; 錢仃運算處理喊致對應之控龍號，更可於 Ο ^妾^ 223接收到自外界的指♦或訊號後，傳送至處理 tir㈣行運算處理㈣致制之㈣峨。故藉由 妾模組223的設f ’係可使本發明得以實現使用者 部即時控制之模式。 請參照圖3所示，本發明之嵌入式控制系統施的再 一變化態樣，其與圖i的差異在於：可攜式裝置Μ更具 有一擷取模組224以擷取外界的訊號，擷取模組224與處 理模組222電性連接。擷取模組224係可為用以擷取聲音 訊號的音賴取模組，亦可為用以擷取影像訊號的影像= 取模組，或是用以擷取位置訊號的定位模組等。因此，當 可攜式裝置22嵌入連接至受控裝置24時，其係可利用可 攜式裝置22的擷取模組224以獲得各種不同訊號，並且 經過處理模組222的運算處理後，便可提供使用者更多有 關於環境的即時資訊。 菖然’由於操取模組224可細分為相當多種不同種 類，因此所擷取到的訊號種類也各不相同，為了使處理模 組222及使用者能夠順地利辨識出訊號中所挾帶的資訊内 容’擷取模組224所擷取的訊號傳送至處理模組222前， 200928782 需先經過—轉換模組224]進行訊號轉換，轉換模組2241 與擷取模組224及處理模組222電性連接。舉例來說，當 擷取模組224所擷取到的聲音訊號為類比訊號時，則必^ 先經過轉換模組洲將類比格式的聲音訊號轉換為數位、 格式，使得處理模.组222㉟在辨別出此聲音訊號的格式 後，對聲音訊號進行運算處理’而此處所使用的轉換模組 2241則係可例如為一類比數位轉換器（)。 ❹ ❹ 請參照圖4所示，本發明之嵌入式控制系統2〇c的再 一變化態樣，其與圖！的差異在於：可攜式裝置22更具 有一儲存模組225與處理模、组222電性連接，儲存模組奶 係預先儲存複數個控制訊號。可攜式裝置Μ更可且 選擇模組咖設置於儲存模組225與處理模缸從之心 選取預存任意_個或多個控制訊號，並將 ΐ ^制訊號經由處理模組功、第二傳輸介面如、 此釣π il)1面241傳运至受控裝置24，使得受控褒置24 ==據接收到的-個或多個控制訊號，以執行對應的作 入r弋ί Τ ΐ f入式控制系統係可讓使用者透過額外j 的方式來控制受控裳置24的作動模式 ▲圖5所示，嵌入式控制系統 其與圖丨的差異在於:可攜式裝置22更:有= 組226與處理模組222電性連接，用以供 式> 式編碼的動作。因此 、使用者進灯: 的程式或是指令，以使===以編寫出不 文又衩裝置24能夠執行更符合使 200928782 者需求的作動模式。 圖6至圖8所揭示的實施態樣係為可提供雙向溝、南 能的嵌入式控制系統。為了使本發明之嵌入式控制系辦^ 夠具有偵測周圍環境及感知異常的能力，如圖6所示，& 種嵌入式控制系統2〇e更設置一感測模組26與處理構衾 222電性連接，感測模組26係額外設置於受控敦置24成 Ο ❹ 可攜式裝置22之外，亦即獨立於受控裝置24及可遽4及 置22之外。 揭式教 感测模組26在偵測到周圍環境的變化後係會產 應之感測訊號，常見的環境變化參數例如但不限於環^對 度、環境_、周岐否有障礙料，為了使該 號得以回傳到可攜式裝置22的處理模組222中進行運* 處理，獨立設置的感測模組26係透過與可攜式裝置22: 性連接的方式，將訊號傳遞至處理模組222。另外，如 ’喪入式控制系統20f的感測模組26係可内建於可 :則22内；如圖8所示’嵌入式控制系統柳的感 測杈、、且26係亦可内建於受控装置24内。 " 2241虽述外接模組223、擷取模、址224、轉換模組 :存模組225、選擇模組2251、可& 226 A 感測模組26俜可+ Γ紅式扠組226及 置24內ί 置於可攜式裝置22或受控裝 置24内，以實現㈣麵輯到之目的。 器人控制的=:::如:將栽入式控制系統應用在機 加突顯。 實^樣，使得本發明之技術特徵得以更 200928782 請參照圖9所示，於嵌入式 瓜入iU工制系統3〇 置係利用一移動式機器人34以眚相. 衣 Λ貫現’而可攜式裝置則係 利用一智慧型仃動電話32以實規。教# Α M貫現移動式機器人34的頂 部係設置一第一傳輸介面341，而户知 ^ , 地 341而在智慧型行動電話32的 底部則係設置·一第二傳輪介面 μ 其機構之設計係恰可 與第一傳輸介面341的機構設古十相 〇 …相互連接，藉此使移動式 機益人34與智慧型行動電話32夕 切电活W之間得以有電性連接的關 Ο200928782 IX. Description of the Invention: TECHNICAL FIELD OF THE INVENTION The present invention relates to a control system, and more particularly to an embedded control system. [Prior Art] With the rapid development of technology, the improvement and progress of various electronic products have been promoted. Through the integration of the internal layout of the wafer, the overall wafer volume has been effectively reduced, making electronic products more functional ( The direction of functionality). However, with the accelerated rate of replacement of electronic products, if old products cannot be effectively recycled and reused, it will lead to an increase in waste, which requires not only a relatively high processing cost, but also an environmental burden, and is not in line with green. Environmental waste reduction and reduction requirements. In terms of the processing efficiency of the chip itself, the old portable device can no longer be used in high-end electronic products, but can still be used as a control element for low-order electronic products or other mechanical devices, such as robots, electronic pets, and electric power. Or a monitor or the like performs a single action or a small number of actuation modes. If the audio-visual output, sensing and communication functions of the portable device can be combined with the controlled device, the application range of the old portable device can be improved. Therefore, how to provide an add-on control system that can make the old portable device generate a new application form and reuse it, and has a variety of different aspects to further expand its application level has become one of the important topics. In view of the above-mentioned problem, the system of the present invention has a portable device and provides an embedded control as a main control terminal: it is placed and driven by the device to perform corresponding operations. ^ The device, as in portable form, achieves the above object, and in accordance with the present invention, A includes a controlled device and a portable embedded control system, and has at least one S. Controlled device settings - the first - second transmission interface spot first transmission eight:: mode. Portable device settings - at least - control; number. The two-two portable device has a connection relationship, and the control signal is transmitted through the first transmission wheel; the face-transmitting device activates the controlled device to perform at least a corresponding actuation mode. The control device, as described above, is a method for embedding a connection to a controlled device according to a method of the present invention, and the control call is transmitted to the controlled device, and according to the control number Then you can start (4) the control device to execute the secret of @. (4) The signal can be generated correspondingly by the signal, or stored in the controlled device in advance, or can be generated by the user according to the actual demand, or can receive the control signal by the external mode to control the controlled device to execute the preset operation mode. . Compared with the prior art, the present invention enables the old portable device to generate new application forms, reduce waste and reuse, and meet the requirements of green environmental protection. ~ In addition, since the connection between the portable device and the controlled device is an obstructive connection, the portable device and/or the controlled device can be arbitrarily replaced according to the requirements of the actuation mode, and a plurality of different states of change are generated. kind. [Embodiment] Hereinafter, an embedded control system according to a preferred embodiment of the present invention will be described with reference to the related drawings, in which the same elements will be described with the same element symbols. Referring to FIG. 1, an embedded control system 20 in accordance with a preferred embodiment of the present invention includes a controlled device 24 and a portable device 22 embedded in a beta connection to the controlled device 24. The controlled device 24 is provided with a first transmission interface 241, and the portable device 22 is provided with a second transmission interface 221 electrically connected to the first transmission interface 241. The portable device 22 further has a processing module 222 electrically connected to the second transmission interface 221 for generating at least one control signal. The connection between the first interface 241 and the second transmission interface 221 allows the controlled device 24 to be electrically connected to the portable device 22. In addition, the connection between the first transmission interface 241 and the second transmission interface 221 can also serve as a path for signal transmission between the controlled device 24 and the portable device 22. In other words, the control signal generated by the processing module 222 of the portable device 22 is transmitted to the controlled device 24 via the second transmission interface 221 and the first transmission interface 241 to activate the movable device 242 of the controlled device 24 to execute. At least one corresponding actuation mode. Moreover, according to the difference of the control signals transmitted by the portable device 22, the controlled device 24 can be activated to perform the corresponding different actuation modes. DETAILED DESCRIPTION OF THE INVENTION The embedded control system of the present invention will be described in detail below to integrate various different functions with different variations. 200928782 - The difference between the other 2's of the 2°a is that the portable device 22 is proud of the outside, and the right group 223 receives the signal from the outside, and the external modules 22, 3: Sexual connection. It can also be operated by the portable device: the type is not only built in the portable device 2; the money is calculated to handle the corresponding control dragon number, and the 接收 ^妾^ 223 can receive the finger from the outside world. ♦ After the signal, it is sent to the processing tir (four) line operation processing (4) (4). Therefore, the present invention can realize the mode of real-time control by the user by the setting of the 妾 module 223. Referring to FIG. 3, another variation of the embedded control system of the present invention differs from that of FIG. 1 in that the portable device further has a capture module 224 for extracting external signals. The capture module 224 is electrically connected to the processing module 222. The capture module 224 can be a sound capture module for capturing an audio signal, an image for capturing an image signal, a capture module, or a positioning module for capturing a position signal. . Therefore, when the portable device 22 is embedded and connected to the controlled device 24, the capture module 224 of the portable device 22 can be used to obtain various signals, and after being processed by the processing module 222, Provide users with more real-time information about the environment. As the operation module 224 can be subdivided into a plurality of different types, the types of signals captured are also different, so that the processing module 222 and the user can easily recognize the signals carried in the signal. The information captured by the capture module 224 is transmitted to the processing module 222. The signal conversion is performed by the conversion module 224 before the conversion module 2241 and the capture module 224 and the processing module 222. Electrical connection. For example, when the sound signal captured by the capture module 224 is an analog signal, the audio signal of the analog format is converted into a digit and a format by the conversion module continent, so that the processing mode group 22235 is After the format of the audio signal is discriminated, the audio signal is processed. The conversion module 2241 used herein can be, for example, an analog-to-digital converter (). ❹ ❹ Referring to FIG. 4, another variation of the embedded control system 2〇c of the present invention, and its figure! The difference is that the portable device 22 has a storage module 225 electrically connected to the processing module and the group 222. The storage module milk system pre-stores a plurality of control signals. The portable device is further configured to select a module to be installed in the storage module 225 and the processing die to select any one or more control signals from the heart, and to pass the processing signal through the processing module. The transmission interface, for example, the π il 1 surface 241 is transported to the controlled device 24 such that the controlled device 24 == receives one or more control signals to perform the corresponding input r 弋 Τ ΐ f-input control system allows the user to control the actuation mode of the controlled skirt 24 by means of an additional j. As shown in Fig. 5, the difference between the embedded control system and the figure is that the portable device 22 is more The group 226 is electrically connected to the processing module 222 for the operation of the encoding. Therefore, the user enters the program or instruction of the lamp to make === to write the message and the device 24 can execute the action mode more in line with the requirements of the 200928782. The embodiment disclosed in Figures 6 through 8 is an embedded control system that provides bidirectional trenches and south energy. In order to enable the embedded control system of the present invention to have the ability to detect the surrounding environment and sense abnormalities, as shown in FIG. 6, the & embedded control system 2〇e further sets a sensing module 26 and processing structure. The 衾222 is electrically connected, and the sensing module 26 is additionally disposed outside the controlled device 24, that is, independent of the controlled device 24 and the tamper 4 and the louver 22. The sensory sensing module 26 detects the change of the surrounding environment and generates a sensing signal. The common environmental change parameters are, for example, but not limited to, the degree of the environment, the environment, and the obstacles. In order to enable the number to be transmitted back to the processing module 222 of the portable device 22 for processing, the independently configured sensing module 26 transmits the signal to the portable device 22 by way of a sexual connection. Processing module 222. In addition, the sensing module 26 of the 'follow-in type control system 20f can be built in: 22; as shown in FIG. 8 'the embedded control system, the sensing 杈, and the 26 series can also be Built in controlled device 24. " 2241, although the external module 223, the capture module, the address 224, the conversion module: the storage module 225, the selection module 2251, the & 226 A sensing module 26 俜 + blush fork group 226 The device is placed in the portable device 22 or the controlled device 24 to achieve the purpose of the (4) face. The controller control =::: such as: the planted control system is applied to the machine to highlight. The technical features of the present invention can be further improved to 200928782. Referring to FIG. 9, the embedded system is used in the iU industrial system, and the mobile robot 34 utilizes a mobile robot 34 to achieve the same phase. The portable device utilizes a smart type of mobile phone 32 to regulate the actual situation. The top of the mobile robot 34 is provided with a first transmission interface 341, and the other is 341, and at the bottom of the smart mobile phone 32, a second transmission interface μ is provided. The design system can be connected to the mechanism of the first transmission interface 341 to be electrically connected to each other, thereby enabling the mobile machine to be electrically connected to the smart mobile phone 32. Guan Yu
係，並提供訊號傳輸的路徑。 326、一外接模組323。而移動式機器人34則更具有一可 動機構’可動機構係包括複數個輪子342a及複數個手臂 342b，以使移動式機器人34能夠進行前進、轉彎、旋轉 智慧型行動電話32更設置—處理器322、-收發話元 件324a…攝影元件324b、一定位元件32如、一類比數 位轉換器3241、-記憶體325、—選擇$ 3251、一編碼器 或是拿取物品等的作動模式。 另外’喪入式控制系統30更包括一獨立的感測器36, 其係例如與移動式機器人34電性連接，並且所產生的感 測訊號亦係傳送至智慧型行動電話32的處理器322進行 運算處理。因此，當智慧型行動電話32的處理器322利 用其中原始内建的程式或是指令以進行運算處理時，其係 可藉此產生複數對應的控制訊號，並藉由第二傳輸介面 321與第一傳輸介面341的連接，以將控制訊號傳遞到移 動式機器人34,並啟動輪子342a執行直走或旋轉的作動， 或是啟動手臂342b執行拿取物品的作動，亦或是同時啟 12 200928782 動輪子342a及手臂342b以執行更為複雜的作動。 而當智慧型行動電話32的攝影元件324b所擷取到的 周圍環境影像經過處理器322判定為異常現象者，則可依 據此影像訊號產生一停止的控制訊號，使得移動式機器人 34不再繼續作動。在此同時更可以透過處理器自動撥 出特定的電話號碼以語音或是文字訊息的方式，通知使用 者有關於環境異常現象發生之情形^ 〇 相反地，智慧型行動電話32亦可在外接模組3 收到特定的訊息後才啟動處理器322，以針 息來進行運算處理，並且產生對應的控制訊號來 式機:人34執行特定作動模式。另外，當智慧型行動電 話所搭载的功能不相同時，其係可驅動與之電性連接 的移動式機器人34進行不同功能的作動， 的便利性及擴充性。 门貫際應用 〇 田然，受控裝置除了上述移動式機器人 選自於電子寵物、行動家電或監視器等。而可 置除 了可為智慧型行動電話之外，也可以選自於—般的㈣電 話、個人數位助理或掌上型電腦等’且常見的第一傳輸介 面及第二傳輸介面财選自於利序舰 _ 序列埠（COM port)。 CUSB)或 遽、/Γm诹+赞明之一種嵌入式控制系统係 由可攜式裝置本身具有的功能性作為 的主要控㈣，因此可將具有不同魏的可攜==乍 連接至找裝置，而產生多種不同的變化態樣，使得以 200928782 裝置的功能能夠更加完善，而根據不同的控制訊號則可啟 動文控it置執行作械^。尤其將本發明之欲入式 控制系統應用在監測生活環境（例如監視器）、家務（例 如吸塵器）處理及娛樂產品（例如機器人或電子寵物）控 亲J更此夠提升生活情趣及協助處理事務。控制訊號可藉 由擷取訊號而對應產生，或預先儲存於受控I置，更可依 據實際需求由使用者可程式編碼產生，或由外接直接接收 控制訊號，以操控受料置執行預設的作動模式。血習知:===夠使舊式產生新的應用態樣，減廢再 利用’符合綠色環保的要求。 Μ 上所迷僅為舉例性And provide the path for signal transmission. 326. An external module 323. The mobile robot 34 further has a movable mechanism. The movable mechanism includes a plurality of wheels 342a and a plurality of arms 342b to enable the mobile robot 34 to advance, turn, and rotate the smart phone 32. The processor 322 - Transceive element 324a ... photographic element 324b, a positioning element 32, such as an analog converter 3241, - memory 325, - select $ 3251, an encoder or take an action, etc. In addition, the sinister control system 30 further includes a separate sensor 36, which is electrically connected to the mobile robot 34, for example, and the generated sensing signal is also transmitted to the processor 322 of the smart phone 32. Perform arithmetic processing. Therefore, when the processor 322 of the smart mobile phone 32 uses the originally built program or instruction to perform the arithmetic processing, the system can generate a plurality of corresponding control signals by using the second transmission interface 321 and the A connection of the transmission interface 341 to transmit the control signal to the mobile robot 34, and to activate the wheel 342a to perform a straight-moving or rotating operation, or to activate the arm 342b to perform the action of taking the object, or to simultaneously activate the 12 200928782 moving wheel Sub-342a and arm 342b perform more complex actuations. When the ambient image captured by the photographic component 324b of the smart mobile phone 32 is determined to be abnormal by the processor 322, a stop control signal may be generated according to the image signal, so that the mobile robot 34 does not continue. Actuate. At the same time, the processor can automatically dial a specific telephone number by voice or text message to inform the user about the occurrence of environmental anomalies. 〇 Conversely, the smart mobile phone 32 can also be in the external mode. After the group 3 receives the specific message, the processor 322 is started to perform the operation processing, and the corresponding control signal is generated to generate the specific operation mode. Further, when the functions of the smart mobile phone are different, it is possible to drive the mobile robot 34 electrically connected thereto to perform the operation of different functions, and the convenience and expandability. Inter-door application 〇 Tian Ran, the controlled device in addition to the above mobile robot is selected from electronic pets, mobile home appliances or monitors. In addition to being a smart mobile phone, it can also be selected from the general (4) telephone, personal digital assistant or palmtop computer, and the common first transmission interface and second transmission interface are selected from profit. Sequence ship _ serial port (COM port). CUSB) or 遽, /Γm诹+ an embedded control system is the main control (4) of the functionality of the portable device itself, so it is possible to connect the portable ==乍 with different Wei to the looking device. The result is a variety of different changes, so that the function of the 200928782 device can be more perfect, and according to different control signals, the text control can be activated to execute the machine. In particular, the application of the present invention to monitoring living environments (such as monitors), household chores (such as vacuum cleaners), and entertainment products (such as robots or electronic pets) to control pro-J is more convenient for life and assistance in handling affairs. . The control signal can be generated by capturing the signal, or pre-stored in the controlled I. It can be generated by the user's programmable code according to the actual demand, or the external control can directly receive the control signal to control the receiving execution preset. The mode of action. Blood learning: ===Enough to make the old style produce new application, reduce waste and reuse 'to meet the requirements of green environmental protection. Μ It’s only an example
【圖式簡單說明】 圖1為本發明較佳實施例之— 構方塊圖； 種嵌入式控制系統的結 圖2至圖5為本發明之嵌 態樣的結構方塊圖； 入式控制系統具有不 同變化 之嵌入式控制系統雙向溝通功能 圖6至圖8為本發明 的結構方塊圖；以及 際利用智慧型行動 圖9為本發明之嵌入式控制系統實 電話控制移動式機器人的實施示意圖 200928782 【主要元件符號說明】 20、20a〜20g、30 :嵌入式控制系統 22 :可攜式裝置 221、321 :第二傳輸介面 222 :處理模組 223、323:外接模組 224 :擷取模組 2241:轉換模組 ® 225 :儲存模組 2251 :選擇模組 226 :可程式模組 24 :受控裝置 241、341 :第一傳輸介面 242 :可動機構 26 :感測模組 IQ 32:智慧型行動電話 322 :處理器 324a :收發話元件 324b :攝影元件 324c :定位元件 3241 :類比數位轉換器 325:記憶體 · 3251 :選擇器 326 :編碼器 15 200928782 34 :移動式機器人 342a :輪子 342b :手臂 36 :感測器BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a preferred embodiment of the present invention; FIG. 2 to FIG. 5 are diagrams showing the structure of the embedded state of the present invention; Two-way communication function of embedded control system with different changes FIG. 6 to FIG. 8 are structural block diagrams of the present invention; and FIG. 9 is a schematic diagram of implementation of a mobile phone controlled mobile control robot of the embedded control system according to the present invention. Main component symbol description] 20, 20a~20g, 30: embedded control system 22: portable device 221, 321: second transmission interface 222: processing module 223, 323: external module 224: capture module 2241 : Conversion Module ® 225 : Storage Module 2251 : Selection Module 226 : Programmable Module 24 : Controlled Device 241 , 341 : First Transmission Interface 242 : Movable Mechanism 26 : Sensing Module IQ 32 : Smart Action Telephone 322: processor 324a: transceiver element 324b: photographic element 324c: positioning element 3241: analog-to-digital converter 325: memory · 3251: selector 326: encoder 15 200928782 34: mobile robot 342a: wheel 342b: Arm 36: Sensor
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