CN108089694A

CN108089694A - A kind of intelligent control method and equipment

Info

Publication number: CN108089694A
Application number: CN201611048815.2A
Authority: CN
Inventors: 孙晓路; 董泽贤
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2016-11-22
Filing date: 2016-11-22
Publication date: 2018-05-29

Abstract

The present invention relates to field of intelligent control, disclose a kind of intelligent control method and equipment, to solve to control the technical issues of not enough facilitating to robot in the prior art.This method includes：The first equipment in the first operating mode receives the first control data that the second equipment is sent, and the first control data describe data based on the first athletic posture of the second equipment by the second equipment and determine；At least one controlled cell under the first operating mode is determined based on the first control data；The second athletic posture obtained at least one controlled cell describes data, and the first control instruction of the corresponding controlled cell of data generation is described based on the second athletic posture, wherein, the second athletic posture, which describes data, to be generated based on the first control data；The first control instruction is responded, is controlled at least one controlled cell to the first equipment.The technique effect that can be controlled by the second equipment the first equipment is reached.

Description

A kind of intelligent control method and equipment

Technical field

The present invention relates to field of intelligent control more particularly to a kind of intelligent control method and equipment.

Background technology

It is continuously improved with the development of the society, people’s lives are horizontal, the requirement to quality of life is higher and higher, robot Show up prominently in every respect, expedite the emergence of out various robots therewith, robot (Robot) is the machine of automated execution work Device.It can not only receive mankind commander, but also can run the program of advance layout, can also be according to artificial intelligence technology system Fixed principle guiding principle action.Its task is to assist or substitute the work of the mankind, such as production industry, construction industry or danger Work, robot play daily life, social production very big effect.

In the prior art, to there are many controls of robot also meeting, such as：Gesture control, voice control, remote control control Etc., inventor has found that at least there are the following problems in the prior art：It is 1. not square enough to the detection of human body gesture by robot Just；2. by voice control, there are the limitations of distance；3. by remote control control, it is necessary to carry remote controler at any time, remote control It is in the form of a single.It can be seen that the technical issues of not enough facilitating to robot control exists in the prior art.

The content of the invention

The present invention provides a kind of control method and equipment, to solve to control not convenient enough skill to robot in the prior art Art problem.

In a first aspect, the embodiment of the present invention provides a kind of intelligent control method, applied to the first equipment, including：

The first control data that first equipment the second equipment of reception in the first operating mode is sent, described first Control data describe data based on the first athletic posture of second equipment by second equipment and determine；

At least one controlled cell under first operating mode is determined based on the described first control data；

The second athletic posture obtained at least one controlled cell describes data, and based on the described second movement First control instruction of the corresponding controlled cell of attitude description data generation, wherein, second athletic posture describes data It is to be generated based on the described first control data；

First control instruction is responded, is controlled at least one controlled cell to first equipment.

Optionally, if described first controls data to describe data for first athletic posture, first is in described After first equipment of operating mode receives the first control data that the second equipment is sent, the method further includes：

Determine the database of special exercise attitude description data；

Judge that first athletic posture describes whether data are located at the database；

Wherein, if first athletic posture describes data and is located at the database, perform described based on described first The step of control data determine at least one controlled cell under first operating mode；

If first athletic posture, which describes data, is not located at the database, do not perform described based on the described first control Data processed determine the step of at least one controlled cell under first operating mode.

Optionally, at least one controlled list determined based on the described first control data under first operating mode Member, including：

Based on the described first control data, searched from the correspondence of default control data and controlled cell and obtain institute State at least one controlled cell.

Optionally, first athletic posture, which describes data, includes：Second equipment is compared with the first preset plane First angle data and the second angle data compared with the second preset plane, at least one controlled cell are described first The movement chassis of equipment, the response first control instruction, at least one controlled cell to first equipment into Row control, including：

If first athletic posture description is statistics indicate that the first angle data are increased by first angle value as the Two angle values, the variable quantity of the second angle data are less than the first preset angle angle value, are controlled by first control instruction The movement chassis drives first equipment to advance towards second device orientation；Alternatively,

If first athletic posture description is statistics indicate that the first angle data are reduced to the by first angle value Three angle values, the variable quantity of the second angle data are less than the first preset angle angle value, are controlled by first control instruction The movement chassis drives first equipment away from second equipment；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the first angle data is default less than second Angle value, it is the 5th angle value that the second angle data are increased by fourth angle angle value, passes through first control instruction and controls The movement chassis drives first device left to rotate；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the first angle data is default less than second Angle value, it is hexagonal angle value that the second angle data are increased by fourth angle angle value, passes through first control instruction and controls The movement chassis drives first equipment to turn right.

Optionally, first athletic posture, which describes data, includes：Second equipment is compared with the 3rd preset plane Third angle data and the fourth angle data compared with the 4th preset plane, at least one controlled cell are described first The holder of equipment, response first control instruction, is controlled at least one controlled cell to first equipment System, including：

If first athletic posture description is statistics indicate that the third angle data are increased by heptangle angle value as the Octagonal angle value, the variable quantity of the fourth angle data is less than the 3rd preset angle angle value, by first control instruction to institute The pitch angle for stating holder is adjusted；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the third angle data is default less than the 4th Angle value, it is the tenth angle value that the fourth angle data are increased by the 9th angle value, by first control instruction to institute The yaw angle for stating holder is adjusted；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the third angle data is default less than the 4th Angle value, the fourth angle data are reduced to the 11st angle value by the 9th angle value, pass through first control instruction pair The roll angle of the holder is adjusted.

Optionally, the method further includes：

Into machine learning state；

Under the machine learning state, the athletic posture that detection obtains user's generation of second equipment describes number According to；

Detection obtains the control instruction described based on the athletic posture set by data；

Data and control instruction are described based on the athletic posture for detecting acquisition, establish the athletic posture and control instruction Between correspondence, and set the of the athletic posture and first equipment corresponding to the correspondence of control instruction One operating mode.

Second aspect, the embodiment of the present invention provide a kind of intelligent control method, applied to the second equipment, including：

The first athletic posture that detection obtains second equipment describes data；

Data acquisition the first control Data Concurrent is described based on first athletic posture to send in the first operating mode The second equipment so that second equipment based on described first control data determine under first operating mode at least One controlled cell and the first control instruction controlled at least one controlled cell, first control instruction At least one controlled cell is controlled for first equipment.

Optionally, described described based on first athletic posture before data obtain the first control data, the side Method further includes：

Determine the database of special exercise attitude description data；

Wherein, if first athletic posture describes data and is located at the database, perform described based on described first Athletic posture describes the step of data obtain the first control data；

If first athletic posture, which describes data, is not located at the database, do not perform described based on the described first fortune The step of dynamic attitude description data obtain the first control data.

Optionally, the method further includes：

Into machine learning state；

The third aspect, the embodiment of the present invention provide a kind of first equipment, including：

Receiving module, for being in the first control that first equipment of the first operating mode receives the second equipment and sends Data, it is true that the first control data by first athletic posture of second equipment based on second equipment describe data It is fixed；

First determining module, it is at least one under first operating mode for being determined based on the described first control data Controlled cell；

Module is obtained, the second athletic posture for obtaining at least one controlled cell describes data, and base The first control instruction of the corresponding controlled cell of data generation is described in second athletic posture, wherein, second fortune Dynamic attitude description data are generated based on the described first control data；

Respond module, for responding first control instruction, at least one controlled cell to first equipment It is controlled.

Optionally, if described first controls data to describe data for first athletic posture, first equipment is also Including：

Second determining module, for determining the database of special exercise attitude description data；

First judgment module, for judging that first athletic posture describes whether data are located at the database；

Wherein, if first athletic posture describes data and is located at the database, first determining module is passed through Perform described the step of determining at least one controlled cell under first operating mode based on the described first control data；

If first athletic posture, which describes data, is not located at the database, do not held by first determining module The step of at least one controlled cell under first operating mode being determined described in row based on the described first control data.

Optionally, first determining module, is used for：

Optionally, first athletic posture, which describes data, includes：Second equipment is compared with the first preset plane First angle data and the second angle data compared with the second preset plane, at least one controlled cell are described first The movement chassis of equipment, the respond module, including：

First control unit, if for first athletic posture description statistics indicate that the first angle data are by the It is second angle value that one angle value, which increases, and the variable quantity of the second angle data is less than the first preset angle angle value, by described The first control instruction control movement chassis drives first equipment to advance towards second device orientation；Alternatively,

Second control unit, if for first athletic posture description statistics indicate that the first angle data are by the One angle value is reduced to the third angle angle value, and the variable quantity of the second angle data is less than the first preset angle angle value, by described The first control instruction control movement chassis drives first equipment away from second equipment；Alternatively,

3rd control unit, if described for first athletic posture statistics indicate that the change of the first angle data Change amount is less than the second preset angle angle value, and it is the 5th angle value that the second angle data are increased by fourth angle angle value, by described The first control instruction control movement chassis drives first device left to rotate；Alternatively,

4th control unit, if described for first athletic posture statistics indicate that the change of the first angle data Change amount is less than the second preset angle angle value, and it is hexagonal angle value that the second angle data are increased by fourth angle angle value, by described The first control instruction control movement chassis drives first equipment to turn right.

Optionally, first athletic posture, which describes data, includes：Second equipment is compared with the 3rd preset plane Third angle data and the fourth angle data compared with the 4th preset plane, at least one controlled cell are described first The holder of equipment, the respond module, including：

5th control unit, if for first athletic posture description statistics indicate that the third angle data are by the It is eighth angle value that heptangle angle value, which increases, and the variable quantity of the fourth angle data is less than the 3rd preset angle angle value, by described First control instruction is adjusted the pitch angle of the holder；Alternatively,

6th control unit, if described for first athletic posture statistics indicate that the change of the third angle data Change amount is less than the 4th preset angle angle value, and it is the tenth angle value that the fourth angle data are increased by the 9th angle value, by described First control instruction is adjusted the yaw angle of the holder；Alternatively,

7th control unit, if described for first athletic posture statistics indicate that the change of the third angle data Change amount is less than the 4th preset angle angle value, and the fourth angle data are reduced to the 11st angle value by the 9th angle value, pass through institute The first control instruction is stated to be adjusted the roll angle of the holder.

Optionally, first equipment further includes：

First study module, for entering machine learning state；

First detection module, under the machine learning state, the user that detection obtains second equipment to generate Athletic posture data are described；

Second detection module, for detecting the control instruction for obtaining and being described based on the athletic posture set by data；

First establishes module, for describing data and control instruction based on detecting the athletic posture obtained, described in foundation Correspondence between athletic posture and control instruction, and set corresponding to the athletic posture and the correspondence of control instruction First equipment the first operating mode.

Fourth aspect, the embodiment of the present invention provide a kind of second equipment, including：

3rd detection module, the first athletic posture for detecting acquisition second equipment describe data；

Sending module, for be based on first athletic posture describe data obtain first control Data Concurrent send in Second equipment of the first operating mode, so that second equipment is based on the described first control data and determines first work At least one controlled cell under pattern and the first control instruction controlled at least one controlled cell, it is described First control instruction controls at least one controlled cell for first equipment.

Optionally, second equipment further includes：

3rd determining module, for determining the database of special exercise attitude description data；

Second judgment module, for judging that first athletic posture describes whether data are located at the database；

Wherein, if first athletic posture describes data and is located at the database, performed by the sending module It is described that the step of data obtain the first control data is described based on first athletic posture；

If first athletic posture, which describes data, is not located at the database, institute is not performed by the sending module It states and the step of data obtain the first control data is described based on first athletic posture.

Optionally, second equipment further includes：

Second study module, for entering machine learning state；

4th detection module, under the machine learning state, the user that detection obtains second equipment to generate Athletic posture data are described；

5th detection module, for detecting the control instruction for obtaining and being described based on the athletic posture set by data；

Second detection module, for describing data and control instruction based on detecting the athletic posture obtained, described in foundation Correspondence between athletic posture and control instruction, and set corresponding to the athletic posture and the correspondence of control instruction First equipment the first operating mode.

The present invention has the beneficial effect that：

The first athletic posture of the second equipment is obtained due to that in embodiments of the present invention, can be detected by the second equipment Data are described, and will the first control data sending to the first equipment that data are obtained be described based on first athletic posture, After first equipment in the first operating mode receives the first control data that the second equipment is sent, it can be based on described First control data determine at least one controlled cell under first operating mode, and obtain for it is described it is at least one by Second athletic posture of control unit describes data, and describes the corresponding controlled list of data generation based on second athletic posture First control instruction of member, wherein, second athletic posture, which describes data, to be generated based on the described first control data；Most First control instruction is responded eventually, is controlled at least one controlled cell to first equipment.Based on the program, The technique effect that can be controlled by the second equipment the first equipment is reached, compared to gesture control, the program is not required to Want robot gestures detection function；Compared to voice control, the program is not present distance and limits；Compared to remote controler control System, the program need not carry remote controler, it is only necessary to and the second equipment is the equipment for possessing posture detection function, so reach More convenient technique effect is controlled first equipment.

Description of the drawings

Fig. 1 is the flow chart of the intelligent control method of first aspect of the embodiment of the present invention；

Fig. 2 shows the first schematic diagram controlled based on athletic posture the first equipment of the embodiment of the present invention；

Fig. 3 shows second of the schematic diagram controlled based on athletic posture the first equipment of the embodiment of the present invention；

Fig. 4 shows the third schematic diagram controlled based on athletic posture the first equipment of the embodiment of the present invention；

Fig. 5 shows the 4th kind of schematic diagram controlled based on athletic posture the first equipment of the embodiment of the present invention；

Fig. 6 is the flow chart of the intelligent control method of second aspect of the embodiment of the present invention；

Fig. 7 is the structure chart of the first equipment of the third aspect of the embodiment of the present invention；

Fig. 8 is the structure chart of the second equipment of fourth aspect of the embodiment of the present invention.

Specific embodiment

For technical solution in the embodiment of the present application to solve the technical issues of above-mentioned, general thought is as follows：

It detects that the first athletic posture for obtaining the second equipment describes data by the second equipment, and described first will be based on Athletic posture describes the first control data sending to the first equipment that data are obtained, and described first in the first operating mode After equipment receives the first control data that the second equipment is sent, first work can be determined based on the described first control data At least one controlled cell under operation mode, and acquisition describes number for the second athletic posture of at least one controlled cell According to, and the first control instruction of the corresponding controlled cell of data generation is described based on second athletic posture, wherein, it is described Second athletic posture, which describes data, to be generated based on the described first control data；First control instruction is finally responded, with At least one controlled cell of first equipment is controlled.Based on the program, having reached can be by the second equipment pair The technique effect that first equipment is controlled, compared to gesture control, robot gestures detection function is not required in the program； Compared to voice control, the program is not present distance and limits；Compared to remote control control, the program need not carry remote controler, It is the equipment for possessing posture detection function only to need the second equipment, so reached more convenient to the control of the first equipment Technique effect.

In order to better understand the above technical scheme, below by attached drawing and specific embodiment to technical solution of the present invention It is described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the detailed of technical solution of the present invention Thin explanation rather than the restriction to technical solution of the present invention, in the case where there is no conflict, the embodiment of the present invention and embodiment In technical characteristic can be mutually combined.

It in a first aspect, the embodiment of the present invention provides a kind of intelligent control method, applied to the first equipment, please refers to Fig.1, wraps It includes：

Step S101：First equipment in the first operating mode receives the first control number that the second equipment is sent According to the first control data describe data based on the first athletic posture of second equipment by second equipment and determine；

Step S102：At least one controlled list under first operating mode is determined based on the described first control data Member；

Step S103：The second athletic posture obtained at least one controlled cell describes data, and based on institute The first control instruction that the second athletic posture describes the corresponding controlled cell of data generation is stated, wherein, the second movement appearance State, which describes data, to be generated based on the described first control data；

Step S104：First control instruction is responded, to be carried out at least one controlled cell of first equipment Control.

For example, the first equipment is usually controlled device, such as：Unmanned plane, balance car, robot etc., second sets Standby usually control device, such as：Mobile phone, tablet computer, smartwatch, other controller forms etc..

In step S101, athletic posture sensor can be installed in the second equipment, which is, for example,：Three Axis gyroscope, three axis accelerometer, three axle electronic compass etc..The user of second equipment is needing to control the first equipment When, corresponding first athletic posture can be generated, the detection of the second equipment obtains the first athletic posture and describes data, first movement Attitude description data include two parts, and a part is the athletic posture of controlled cell describes data, another part is for specifying Second athletic posture describes data, and the second equipment, can be directly by first after detecting that the first athletic posture describes data Athletic posture describes data as the first control data sending to the first equipment；Second equipment can also retouch the first athletic posture It states data and is divided into two parts, corresponding controlled list is determined by being used to the athletic posture of controlled cell be specified to describe data Then member will include：The control instruction of controlled cell and the second athletic posture is specified to describe data as the first control data It is sent to the firstth equipment.

Wherein, the controlled cell of the first equipment can be a variety of controlled cells, such as：Chassis, shooting tripod head etc. are moved, Such as：If the first equipment is balance car, robot etc., the controlled cell for example including：The movement chassis of balance car, machine Movement chassis of people etc., in another example, if the first equipment includes image collecting device, by shooting tripod head by image collector It puts and is connected to the first equipment, then the controlled cell includes shooting tripod head etc..

In specific implementation process, controlled cell can be preset with controlling the correspondence of data, with the control number Data instance is described according to for athletic posture, then can establish correspondence as shown in Table 1：

Table 1

Athletic posture describes data	Controlled cell
		Second equipment is rotated by rotation axis of boundary frame area	Move chassis
Second equipment is rotated by rotation axis of top margin frame	Shooting tripod head
		Second equipment is rotated by rotation axis of left frame	Move chassis and shooting cloud disk

Then after detecting that the first athletic posture describes data, the fortune for wherein specifying controlled cell part can be extracted Dynamic attitude description data, then by the athletic posture describe data determined in above-mentioned correspondence it is controlled specified by it Unit.

Wherein, the second equipment can be when needing to control the first equipment, and opening movement attitude transducer is examined It surveys, the athletic posture that athletic posture sensor can also detect the second equipment constantly describes data, and the embodiment of the present invention does not limit System.

First equipment can include a variety of different operating modes, and the first operating mode can be this variety of different work Several operating modes for enumerating the first equipment are introduced below for any operative pattern in pattern, certainly, are being embodied In the process, following several operating modes are not limited to.

The first, follow the mode, first equipment is in the default tracking of second equipment under the follow the mode In the range of second equipment is followed to move.

For example, default following range is, for example,：Pre-determined distance scope, predetermined angle scope etc., the pre-determined distance Scope is, for example,：Within 3m, within 5m, 4m~6m etc., the angle between the first equipment and the second equipment is, for example,：First sets Standby the first face (such as：Plane where the head of first equipment) with the first face of the second equipment (such as：Control interface) between Angle, which is, for example,：Within 90 °~120 °, 90 ° etc..The default following range can be set by second The user of standby (or first equipment) manually sets, can also be by default.

Second, follow candid photograph pattern, it is described follow candid photograph pattern under first equipment in second equipment It presets and follows second equipment mobile in the range of following and gather image.

For example, image collecting device is installed or is circumscribed in the first equipment, it, can be under the tracking candid photograph pattern The first equipment is controlled to be moved in the preset range of the second equipment, so as to carry out Image Acquisition, the Image Acquisition to the second equipment Process can carry out automatically, can also be performed after control instruction caused by the second equipment is received, the embodiment of the present invention It is not restricted.

The third, ride mode, user rides first equipment under the ride mode, and controls described first to set It is standby mobile.

For example, the user for the first equipment of riding can carry the second equipment, and pass through the second equipment and carry out mould of riding The control of the first equipment under formula；The user for first equipment of riding can not also carry the second equipment, and the is carried by other users One equipment, and pass through control of the first equipment realization to the second equipment.

4th kind, remote control mode is moved under the remote control mode by the first equipment described in second equipment remote-control. In such a case, it is possible to by the second equipment the first equipment is controlled to perform any operation, such as：Movement, overturning, Image Acquisition Etc..

In step S102, from the introduction of front, the correspondence for controlling data and controlled cell can be pre-established, Then after the first control data are obtained, directly by the first control data in the correspondence of the control data and controlled cell It is searched, it is possible to obtain corresponding controlled cell.Such as：If it is included in the first control data:Second equipment is with boundary frame area Athletic posture for rotation axis rotation describes data, then corresponding controlled cell can be determined for movement chassis；If first It is included in control data：Second equipment describes data by the athletic posture that rotation axis rotates of left frame, then can determine pair The controlled cell answered is movement chassis and shooting cloud disk etc..

In step S102, if first controls data to describe data for the first athletic posture, the first control can obtained It after data processed, is directly based upon the first control data and determines at least one controlled cell, as a kind of optional embodiment, such as First controls data to describe data for first athletic posture described in fruit, and described the first of the first operating mode is in described After equipment receives the first control data that the second equipment is sent, the method further includes：Determine special exercise attitude description number According to database；Judge that first athletic posture describes whether data are located at the database；Wherein, if first fortune Dynamic attitude description data are located at the database, and execution is described to determine first operating mode based on the described first control data Under at least one controlled cell the step of；If first athletic posture, which describes data, is not located at the database, do not hold The step of at least one controlled cell under first operating mode being determined described in row based on the described first control data.

For example, the athletic posture detected by the second equipment describes data and can be used for controlling the first equipment System, can be used for controlling the second equipment, in such a case, it is possible to establish the number of special exercise attitude description data The athletic posture controlled the first equipment is stored with according to storehouse, in the database and describes data, and first is obtained in the first equipment After athletic posture describes data, it can be described data with the athletic posture in database and matched, if matching into Work(then illustrates that first athletic posture describes data for controlling the first equipment, so subsequent step can be carried out；Such as Fruit matching it is unsuccessful, then illustrate that the first athletic posture describes data and is not intended to control equipment, so may not need into Row subsequent step, to reduce the processing load of the first equipment.

In step S103, it directly can go out the second athletic posture from the first control extracting data and describe data, so as to real Now to the control of the controlled cell of the first equipment.

In step S104, it is corresponding between athletic posture and control instruction can data to be described by the second athletic posture It is searched in relation and obtains corresponding first control instruction, in specific implementation process, movement appearance can be established in the following manner Correspondence between state and control instruction：Into machine learning state；Under the machine learning state, described in detection acquisition The athletic posture that the user of second equipment generates describes data；Detection is obtained and described based on the athletic posture set by data Control instruction；Data and control instruction are described based on the athletic posture for detecting acquisition, the athletic posture is established and refers to control Correspondence between order, and set the athletic posture and first equipment corresponding to the correspondence of control instruction First operating mode.

For example, a study button in the first equipment can be set, detecting the operation of the click study button Afterwards, it is possible into machine learning state, under machine learning state, each athletic posture can be obtained by mode of learning Corresponding control instruction, so as to establish the correspondence of athletic posture and control instruction.Such as：One prompting circle is first provided Face prompts the second equipment of user's control to generate corresponding athletic posture, and corresponding movement appearance is generated in the second equipment of user's control After state, the detection of the second equipment obtains the athletic posture and describes data and send it to the first equipment；Then in the first equipment Prompting interface prompting user set corresponding control instruction, such as：All control instructions is defeated all by the prompting interface Go out, corresponding control instruction is therefrom selected by user；After user's selection terminates, it is possible to establish the movement set by user The correspondence of attitude description data and control instruction；Then the prompting interface reresent user set the correspondence institute it is right The operating mode for the first equipment answered, such as：All operating modes are all supplied to user, are set by user based on selection operation Determine operating mode, so as to finally establish under each operating mode, the correspondence between athletic posture and control instruction.

Due in said program, be user learn by way of come determine each athletic posture describe data institute it is right The control instruction answered describes data the first equipment is controlled so its most common athletic posture may be employed in each user System, to improve the efficiency controlled the first equipment.

Certainly, in specific implementation process, can also athletic posture be set by system default and describes data and control instruction Between correspondence, the embodiment of the present invention is not restricted.

In step S104, at least one controlled cell can be controlled in several ways, be set forth below therein Two kinds are introduced, and certainly, in specific implementation process, are not limited to following two situations.

The first, first athletic posture, which describes data, to be included：Second equipment is compared with the first preset plane First angle data and the second angle data compared with the second preset plane, at least one controlled cell are described first The movement chassis of equipment, for example, first preset plane is, for example,：Horizontal plane, the second equipment are default flat compared with first The first angle data in face are, for example,：The angle value of the back side of second equipment with respect to the horizontal plane；Second preset plane is, for example,： When the second equipment does not move, the plane vertical with the housing of the second equipment, the second equipment is compared with the second preset plane Second angle data be, for example, the second equipment frame (such as：Left frame) compared with the angle value of the second preset plane, certainly, First angle data and second angle data can also be other angles data, and the embodiment of the present invention no longer itemizes, and It is not restricted.

Response first control instruction, is controlled at least one controlled cell to first equipment, Including one or more of situation：

(1) if first athletic posture description is statistics indicate that the first angle data are by first angle value increase Second angle value, the variable quantity of the second angle data are less than the first preset angle angle value, pass through the first control instruction control Making the movement chassis drives first equipment to advance towards second device orientation；

In this case, the first preset angle angle value is, for example,：10 °, 20 ° etc., first angle value is such as 30 °, 40 ° Deng second angle value is, for example,：100 °, 120 ° etc., in this case, usually there are one by the user of the second equipment of explanation The action of arm is received from outside to inside, so as to which the first equipment is controlled also to move from outside to inside namely by moving chassis control First equipment is moved towards close to the second device orientation, as shown in Figure 2.

(2) if first athletic posture description is statistics indicate that the first angle data are reduced to by first angle value The third angle angle value, the variable quantity of the second angle data are less than the first preset angle angle value, pass through the first control instruction control It makes the movement chassis and drives first equipment away from second equipment；

In this case, such as 30 °, 40 ° etc. of first angle value, second angle value are, for example,：10 °, 20 ° etc., In this case, action of the user there are an arm of waving from inside to outside of the second equipment is usually illustrated, so as to control It transports in the direction that first equipment also moves namely by moving chassis the first equipment driven to be directed away from the second equipment from inside to outside It is dynamic, as shown in Figure 3.

(3) if first athletic posture description is statistics indicate that the variable quantity of the first angle data is less than second in advance If angle value, it is the 5th angle value that the second angle data are increased by fourth angle angle value, passes through the first control instruction control Making the movement chassis drives first device left to rotate；

In this case, the second preset angle angle value is, for example,：5 °, 10 ° etc., fourth angle angle value is, for example,：0°、10°、 20 ° etc., the 5th angle value is usually acute angle, such as：60 °, 70 ° etc., if first angle data variation scope is little, the The variation of two angle-datas then illustrates the operation of the user of the second equipment there are this swinging arm from right to left, at this for acute angle In the case of kind, then it can be turned by moving the first device left of chassis control, as shown in Figure 4.

(4) if first athletic posture description is statistics indicate that the variable quantity of the first angle data is less than second in advance If angle value, it is hexagonal angle value that the second angle data are increased by fourth angle angle value, passes through the first control instruction control Making the movement chassis drives first equipment to turn right.

In specific implementation process, hexagonal angle value is usually obtuse angle, such as：120 °, 150 ° etc., if first angle Data variation scope is little, and second angle data variation is obtuse angle, then illustrates the user of the second equipment there are this from left to right The operation of swinging arm in this case, then can be turned right, as shown in Figure 5 by moving the first equipment of chassis control.

Second, first athletic posture, which describes data, to be included：Second equipment is compared with the 3rd preset plane Third angle data and the fourth angle data compared with the 4th preset plane, at least one controlled cell are described first The holder of equipment, wherein, the 3rd preset plane is, for example, horizontal plane, the second equipment compared with the 3rd preset plane third angle Data are, for example,：Angle between the back side of second equipment and horizontal plane, the 4th preset plane are, for example,：Do not have in the second equipment During movement, the plane vertical with the back side of the second equipment, the second equipment compared with the 4th preset plane fourth angle scope example Such as it is：Angle of the back side of second equipment and the 4th preset plane etc..

(1) if first athletic posture description is statistics indicate that the third angle data are by heptangle angle value increase Eighth angle value, the variable quantity of the fourth angle data are less than the 3rd preset angle angle value, pass through first control instruction pair The pitch angle of the holder is adjusted.

For example, heptangle angle value is, for example, 30 °, 40 ° etc., and eighth angle value is, for example,：90 °, 100 ° etc., the Three preset angle angle value are, for example, 0 °, 10 ° etc., if third angle data increase, and fourth angle data are constant, then illustrate the The user of two equipment is there may be the action that an ecto-entad receives arm, in such a case, it is possible to the pitch angle to holder It is adjusted, such as：Reduce pitch angle, increase pitch angle etc..

(2) if first athletic posture description is statistics indicate that the variable quantity of the third angle data is less than the 4th in advance If angle value, it is the tenth angle value that the fourth angle data are increased by the 9th angle value, passes through first control instruction pair The yaw angle of the holder is adjusted；

In specific implementation process, the 4th preset angle angle value is, for example,：10 °, 20 ° etc., the 9th angle value is, for example,： 85 °, 90 ° etc., the tenth angle value is, for example,：120 °, 150 ° etc., in this case, illustrate that the user of the second equipment deposits In the action of a full wind-up to the left, in such a case, it is possible to be adjusted to the yaw angle of holder.

(3) if first athletic posture description is statistics indicate that the variable quantity of the third angle data is less than the 4th in advance If angle value, the fourth angle data are reduced to the 11st angle value by the 9th angle value, pass through first control instruction The roll angle of the holder is adjusted.

In specific implementation process, the 4th preset angle angle value is, for example,：10 °, 20 ° etc., the 9th angle value is, for example,： 85 °, 90 ° etc., the tenth angle value is, for example,：20 °, 50 ° etc., in this case, illustrate that the user of the second equipment exists The action of one full wind-up to the right, in such a case, it is possible to be adjusted to the roll angle of holder.

Second aspect, based on same inventive concept, the embodiment of the present invention provides a kind of intelligent control method, applied to second Equipment refer to Fig. 6, including：

Step S601：The first athletic posture that detection obtains second equipment describes data；

Step S602：Data acquisition the first control Data Concurrent is described based on first athletic posture to send in first Second equipment of operating mode, so that second equipment is based on the described first control data and determines first operating mode Under at least one controlled cell and the first control instruction for being controlled at least one controlled cell, described first Control instruction controls at least one controlled cell for first equipment.

Determine the database of special exercise attitude description data；

Optionally, the method further includes：

Into machine learning state；

Since the intelligent control method that second aspect of the present invention is introduced and the intelligence that first aspect present invention is introduced are controlled Method processed is corresponding, and based on the intelligent control method that first aspect present invention is introduced, those skilled in the art can be much of that The intelligent control method that solution second aspect of the present invention is introduced, so details are not described herein.

The third aspect, based on same inventive concept, the embodiment of the present invention provides a kind of first equipment, refer to Fig. 7, wraps It includes：

Receiving module 70, for being in the first control that first equipment of the first operating mode receives the second equipment and sends Data processed, it is true that the first control data by first athletic posture of second equipment based on second equipment describe data It is fixed；

First determining module 71, for determining at least one under first operating mode based on the described first control data A controlled cell；

Module 72 is obtained, the second athletic posture for obtaining at least one controlled cell describes data, and First control instruction of the corresponding controlled cell of data generation is described based on second athletic posture, wherein, described second Athletic posture, which describes data, to be generated based on the described first control data；

Respond module 73, for responding first control instruction, at least one controlled list to first equipment Member is controlled.

Optionally, first determining module 71, is used for：

Optionally, first athletic posture, which describes data, includes：Second equipment is compared with the first preset plane First angle data and the second angle data compared with the second preset plane, at least one controlled cell are described first The movement chassis of equipment, the respond module 73, including：

Optionally, first athletic posture, which describes data, includes：Second equipment is compared with the 3rd preset plane Third angle data and the fourth angle data compared with the 4th preset plane, at least one controlled cell are described first The holder of equipment, the respond module 73, including：

Optionally, first equipment further includes：

First study module, for entering machine learning state；

By the first equipment that the third aspect of the embodiment of the present invention is introduced, to implement first aspect of the embodiment of the present invention Equipment used by intelligent control method, based on the intelligent control method that first aspect of the embodiment of the present invention is introduced, this field Those of skill in the art can understand concrete structure and the deformation of first equipment, so details are not described herein, every this hair of implementation Equipment used by the intelligent control method that bright embodiment first aspect is introduced, belongs to what the embodiment of the present invention to be protected Scope.

Fourth aspect, based on same inventive concept, the embodiment of the present invention provides a kind of second equipment, refer to Fig. 8, wraps It includes：

3rd detection module 80, the first athletic posture for detecting acquisition second equipment describe data；

Sending module 81, for be based on first athletic posture describe data obtain first control Data Concurrent send to place In the second equipment of the first operating mode, so that second equipment is based on the described first control data and determines first work At least one controlled cell under operation mode and the first control instruction controlled at least one controlled cell, institute The first control instruction is stated to control at least one controlled cell for first equipment.

Optionally, second equipment further includes：

Wherein, if first athletic posture describes data and is located at the database, held by the sending module 81 Row is described to describe the step of data obtain the first control data based on first athletic posture；

If first athletic posture, which describes data, is not located at the database, do not performed by the sending module 81 It is described that the step of data obtain the first control data is described based on first athletic posture.

Optionally, second equipment further includes：

Second study module, for entering machine learning state；

By the second equipment that fourth aspect of the embodiment of the present invention is introduced, to implement second aspect of the embodiment of the present invention Equipment used by intelligent control method, based on the intelligent control method that second aspect of the embodiment of the present invention is introduced, this field Those of skill in the art can understand concrete structure and the deformation of second equipment, so details are not described herein, every this hair of implementation Equipment used by the intelligent control method that bright embodiment second aspect is introduced, belongs to what the embodiment of the present invention to be protected Scope.

One or more embodiment of the invention, at least has the advantages that：

It should also be noted that, a variety of different methods may be employed in following in the embodiment of the present invention, including but not only Tracking, the tracking etc. based on carrierfree communication for being limited to view-based access control model, wherein, the tracking based on carrierfree communication Method includes but not limited to the tracking based on ultra wide band (UWB, Ultra Wideband) communication, and UWB is a kind of and tradition The communication technology has the communication technology of huge difference, and transmission signal need not be carried out using carrier wave, but is had by sending and receiving Ultra-narrow pulse below nanosecond or submicrosecond grade transfers data, low with strong anti-interference performance, carrierfree, transmitting power of equipment The features such as, it can be used for being accurately positioned, range accuracy can reach 10 centimetres or so.

Follower method based on UWB is pacified on the first electronic equipment, it is necessary to install UWB beacons on the target object of tracking UWB anchor nodes are filled, by UWB anchor nodes to UWB beacon emissions signals, and the return signal of UWB beacons is received, can obtain Relative distance d and relative angle θ between UWB beacons and UWB anchor nodes are described between UWB beacons and UWB anchor nodes according to this Relative position relation；According to the relative position relation between the UWB beacons and UWB anchor nodes, and consider default UWB letters Mark and the position conversion relation between target object, UWB anchor nodes and the first electronic equipment, can obtain the first electronic equipment with Relative position relation between target object, and for describing the relative position between the first electronic equipment and target object.Its In, the relative distance d between UWB beacons and UWB anchor nodes may be employed the technology based on (TOF, Time of Flight) and come Measurement, the time difference that TOF emits and reflects by calculating radio wave (or light, sound wave etc.), to be converted into relative distance d.UWB The technology based on angle of arrival (AOA, Angle of arrival) may be employed in relative angle θ between beacon and UWB anchor nodes It measures, AOA is the location algorithm based on direction of arrival degree, passes through the arrival that some hardware devices perceive transmitting node signal Direction can calculate relative bearing or relative angle between receiving node and anchor node.

When using the follower method based on UWB, the second equipment of UWB beacons and the embodiment of the present invention can be closed and be arranged on On same electronic equipment, in this way, also simplifying equipment composition and device category convenient for control.

Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent It selects embodiment and falls into all change and modification of the scope of the invention.

Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising including these modification and variations.

Claims

1. a kind of intelligent control method, applied to the first equipment, which is characterized in that including：

First equipment in the first operating mode receives the first control data that the second equipment is sent, first control Data describe data based on the first athletic posture of second equipment by second equipment and determine；

The second athletic posture obtained at least one controlled cell describes data, and based on second athletic posture First control instruction of the corresponding controlled cell of data generation is described, wherein, it is base that second athletic posture, which describes data, In the described first control data generation；

2. the method as described in claim 1, which is characterized in that if described first controls data as first athletic posture Data are described, first equipment for being in the first operating mode described receive the first control data that the second equipment sends it Afterwards, the method further includes：

Determine the database of special exercise attitude description data；

Wherein, if first athletic posture describes data and is located at the database, perform described based on the described first control Data determine the step of at least one controlled cell under first operating mode；

If first athletic posture, which describes data, is not located at the database, do not perform described based on the described first control number The step of according at least one controlled cell under first operating mode is determined.

3. the method as described in claim 1, which is characterized in that described to determine first work based on the described first control data At least one controlled cell under operation mode, including：

Based on the described first control data, searched from the correspondence of default control data and controlled cell obtain it is described to A few controlled cell.

4. the method as described in claim 1, which is characterized in that first athletic posture, which describes data, to be included：Described second First angle data of the equipment compared with the first preset plane and the second angle data compared with the second preset plane, it is described extremely A few controlled cell is the movement chassis of first equipment, response first control instruction, with to described first At least one controlled cell of equipment is controlled, including：

If the first athletic posture description is statistics indicate that the first angle data are increased by first angle value as second jiao Angle value, the variable quantity of the second angle data are less than the first preset angle angle value, by described in first control instruction control Movement chassis drives first equipment to advance towards second device orientation；Alternatively,

If the first athletic posture description is statistics indicate that the first angle data are reduced to the third angle by first angle value Angle value, the variable quantity of the second angle data are less than the first preset angle angle value, by described in first control instruction control It moves chassis and drives first equipment away from second equipment；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the first angle data is less than the second predetermined angle Value, it is the 5th angle value that the second angle data are increased by fourth angle angle value, by described in first control instruction control Moving chassis drives first device left to rotate；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the first angle data is less than the second predetermined angle Value, it is hexagonal angle value that the second angle data are increased by fourth angle angle value, by described in first control instruction control Movement chassis drives first equipment to turn right.

5. the method as described in claim 1, which is characterized in that first athletic posture, which describes data, to be included：Described second Third angle data of the equipment compared with the 3rd preset plane and the fourth angle data compared with the 4th preset plane, it is described extremely A few controlled cell is the holder of first equipment, response first control instruction, with to first equipment At least one controlled cell controlled, including：

If the first athletic posture description is statistics indicate that the third angle data are increased by heptangle angle value as illiciumverum Angle value, the variable quantity of the fourth angle data is less than the 3rd preset angle angle value, by first control instruction to the cloud The pitch angle of platform is adjusted；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the third angle data is less than the 4th predetermined angle Value, it is the tenth angle value that the fourth angle data are increased by the 9th angle value, by first control instruction to the cloud The yaw angle of platform is adjusted；Alternatively,

If the first athletic posture description is statistics indicate that the variable quantity of the third angle data is less than the 4th predetermined angle Value, the fourth angle data are reduced to the 11st angle value by the 9th angle value, by first control instruction to described The roll angle of holder is adjusted.

6. the method as described in claim 1-5 is any, which is characterized in that the method further includes：

Into machine learning state；

Under the machine learning state, the athletic posture that detection obtains user's generation of second equipment describes data；

Data and control instruction are described based on the athletic posture for detecting acquisition, are established between the athletic posture and control instruction Correspondence, and set the first work of the athletic posture and first equipment corresponding to the correspondence of control instruction Operation mode.

7. a kind of intelligent control method, applied to the second equipment, which is characterized in that including：

Data are described based on first athletic posture and obtain the first control Data Concurrent to send to the in the first operating mode Two equipment so that second equipment based on described first control data determine it is at least one under first operating mode Controlled cell and the first control instruction controlled at least one controlled cell, first control instruction are used for First equipment controls at least one controlled cell.

8. the method for claim 7, which is characterized in that data acquisition is described based on first athletic posture described Before first control data, the method further includes：

Determine the database of special exercise attitude description data；

Wherein, if first athletic posture describes data and is located at the database, perform described based on the described first movement Attitude description data obtain the step of the first control data；

If first athletic posture, which describes data, is not located at the database, do not perform described based on the described first movement appearance State describes the step of data obtain the first control data.

9. the method for claim 7, which is characterized in that the method further includes：

Into machine learning state；

10. a kind of first equipment, which is characterized in that including：

Receiving module, for being in the first control number that first equipment of the first operating mode receives the second equipment and sends According to the first control data describe data based on the first athletic posture of second equipment by second equipment and determine；

First determining module, it is at least one controlled under first operating mode for being determined based on the described first control data Unit；

Module is obtained, the second athletic posture for obtaining at least one controlled cell describes data, and based on institute The first control instruction that the second athletic posture describes the corresponding controlled cell of data generation is stated, wherein, the second movement appearance State, which describes data, to be generated based on the described first control data；

Respond module, for responding first control instruction, to be carried out at least one controlled cell of first equipment Control.

11. the first equipment as claimed in claim 10, which is characterized in that if described first controls data as the described first fortune Dynamic attitude description data, first equipment further include：

Wherein, if first athletic posture describes data and is located at the database, performed by first determining module Described the step of determining at least one controlled cell under first operating mode based on the described first control data；

If first athletic posture, which describes data, is not located at the database, institute is not performed by first determining module State the step of determining at least one controlled cell under first operating mode based on the described first control data.

12. the first equipment as claimed in claim 10, which is characterized in that first determining module is used for：

13. the first equipment as claimed in claim 10, which is characterized in that first athletic posture, which describes data, to be included：Institute First angle data of second equipment compared with the first preset plane and the second angle data compared with the second preset plane are stated, At least one controlled cell be first equipment movement chassis, the respond module, including：

First control unit, if for first athletic posture description statistics indicate that the first angle data are by first jiao It is second angle value that angle value, which increases, and the variable quantity of the second angle data is less than the first preset angle angle value, passes through described first The control instruction control movement chassis drives first equipment to advance towards second device orientation；Alternatively,

Second control unit, if for first athletic posture description statistics indicate that the first angle data are by first jiao Angle value is reduced to the third angle angle value, and the variable quantity of the second angle data is less than the first preset angle angle value, passes through described first The control instruction control movement chassis drives first equipment away from second equipment；Alternatively,

3rd control unit, if described for first athletic posture statistics indicate that the variable quantity of the first angle data Less than the second preset angle angle value, it is the 5th angle value that the second angle data are increased by fourth angle angle value, passes through described first The control instruction control movement chassis drives first device left to rotate；Alternatively,

4th control unit, if described for first athletic posture statistics indicate that the variable quantity of the first angle data Less than the second preset angle angle value, it is hexagonal angle value that the second angle data are increased by fourth angle angle value, passes through described first The control instruction control movement chassis drives first equipment to turn right.

14. the first equipment as claimed in claim 10, which is characterized in that first athletic posture, which describes data, to be included：Institute Third angle data of second equipment compared with the 3rd preset plane and the fourth angle data compared with the 4th preset plane are stated, At least one controlled cell be first equipment holder, the respond module, including：

5th control unit, if for first athletic posture description statistics indicate that the third angle data are by heptangle It is eighth angle value that angle value, which increases, and the variable quantity of the fourth angle data is less than the 3rd preset angle angle value, passes through described first Control instruction is adjusted the pitch angle of the holder；Alternatively,

6th control unit, if described for first athletic posture statistics indicate that the variable quantity of the third angle data Less than the 4th preset angle angle value, it is the tenth angle value that the fourth angle data are increased by the 9th angle value, passes through described first Control instruction is adjusted the yaw angle of the holder；Alternatively,

7th control unit, if described for first athletic posture statistics indicate that the variable quantity of the third angle data Less than the 4th preset angle angle value, the fourth angle data are reduced to the 11st angle value by the 9th angle value, pass through described One control instruction is adjusted the roll angle of the holder.

15. the first equipment as described in claim 10-14 is any, which is characterized in that first equipment further includes：

First study module, for entering machine learning state；

First detection module, under the machine learning state, detection to obtain the fortune that the user of second equipment generates Dynamic attitude description data；

First establishes module, for describing data and control instruction based on the athletic posture for detecting acquisition, establishes the movement Correspondence between posture and control instruction, and set the athletic posture and the institute corresponding to the correspondence of control instruction State the first operating mode of the first equipment.

16. a kind of second equipment, which is characterized in that including：

Sending module, for be based on first athletic posture describe data obtain first control Data Concurrent send in first Second equipment of operating mode, so that second equipment is based on the described first control data and determines first operating mode Under at least one controlled cell and the first control instruction for being controlled at least one controlled cell, described first Control instruction controls at least one controlled cell for first equipment.

17. the second equipment as claimed in claim 16, which is characterized in that second equipment further includes：

Wherein, if first athletic posture describes data and is located at the database, by described in sending module execution The step of data obtain the first control data is described based on first athletic posture；

If first athletic posture, which describes data, is not located at the database, the base is not performed by the sending module The step of data obtain the first control data is described in first athletic posture.

18. the second equipment as claimed in claim 16, which is characterized in that second equipment further includes：

Second study module, for entering machine learning state；

4th detection module, under the machine learning state, detection to obtain the fortune that the user of second equipment generates Dynamic attitude description data；

Second detection module for describing data and control instruction based on the athletic posture for detecting acquisition, establishes the movement Correspondence between posture and control instruction, and set the athletic posture and the institute corresponding to the correspondence of control instruction State the first operating mode of the first equipment.