CN103177545A - Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller - Google Patents
Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller Download PDFInfo
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- CN103177545A CN103177545A CN2011104403826A CN201110440382A CN103177545A CN 103177545 A CN103177545 A CN 103177545A CN 2011104403826 A CN2011104403826 A CN 2011104403826A CN 201110440382 A CN201110440382 A CN 201110440382A CN 103177545 A CN103177545 A CN 103177545A
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Abstract
The invention discloses a remote controller, mobile equipment and a method for controlling the mobile equipment by using the remote controller. The remote controller and the mobile equipment are respectively and internally provided with electronic compasses; geographic direction information of the remote controller and the mobile equipment is detected through the electronic compasses; and expected driving direction information input by a user is converted into an actual geographic direction so that a uniform geographic coordinate system is established between the remote controller and the mobile equipment, and the user can remotely control the mobile equipment to go ahead relative to the self-expected direction and does not need to consider the direction of the mobile equipment.
Description
Technical field
The present invention relates to the remote control field of mobile device, the method that specially refers to telepilot, mobile device and control mobile device with telepilot.
Background technology
At present, remote-controlled mobile device, such as telecar or telecontrolled aircraft etc. is equipped with telepilot usually, and all directions operating key of this telepilot is corresponding one by one with each moving direction of mobile device such as front, rear, left and right etc.When the user utilizes remote controller to control mobile device, if when the correspondence direction of the front, rear, left and right direction of mobile device and telepilot is identical, shake the control meeting than being easier to.For example, if expectation makes mobile device forward, the button of pressing forward gets final product, and is also similar for the control of other directions.
But, if mobile device is different from the direction of telepilot, if user's expectation mobile device moves towards the direction of its expectation, just need at first travel direction conversion in brain, go out according to the current orientation determination of mobile device self direction that it should move, and this moving direction and user's current direction is inconsistent, last button complete operation.Obviously, control procedure in this case is too complicated and often make mistakes, and result causes that mobile device is out of control even to be damaged.
Therefore, need a kind of new remote control equipment and remote control thereof, make the user not need to carry out complicated conversion under any complex situations, just can advance towards the desired orientation with respect to himself by remote-controlled movement equipment, and needn't consider the direction of mobile device.
Summary of the invention
The purpose of this invention is to provide a kind of mobile device, be used for telepilot and the remote control thereof thereof of this mobile device.According to the present invention, by on mobile device and telepilot, electronic compass being set, to set up identical geographic coordinate system between remote controller and mobile device, make the user to advance towards the desired orientation with respect to himself by remote-controlled movement equipment, and need not to consider the direction of mobile device.
According to an aspect of the present invention, a kind of telepilot is provided, comprise: the direction input device with direction signs, described mode identifies for the direction of expression with respect to described telepilot, be used for obtaining first direction information, described first direction information is used for the expression user and expects that described mobile device moves with respect to the first direction of described telepilot; The first electronic compass, described the first electronic compass is consistent with magnetic direction; The first control module is used for based on described the first electronic compass, and described first direction information is converted to second direction information on described the first electronic compass; Signal transmitting unit, be used for sending described second direction information to described mobile device, wherein, described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the described first direction of described telepilot when described mobile device has responded described second direction information, wherein, the direction of described the second electronic compass is consistent with the direction of described earth magnetism.
Wherein, described the first electronic compass detects and exports telepilot (telepilot towards or square) with respect to the deflection angle of earth magnetism, this deflection angle is value in 0～360 degree scope.Second direction information on described the first electronic compass is the deflection angle with respect to earth magnetism.
According to a further aspect in the invention, provide a kind of mobile device, it comprises: moving-member drives mobile device in response to the second control module and moves; The second electronic compass, the direction of described the second electronic compass is consistent with the direction of earth magnetism, is used for obtaining the orientation information of described mobile device; Signal receiving unit receives the second direction information from described telepilot; The second control module is used for judging whether described orientation information is consistent with described second direction information, produces a judged result; Wherein when described judged result represents that described orientation information is consistent with described second direction information, control the described second direction information of described moving-member response; When described judged result represents described orientation information and described second direction information inconsistency, determine an anglec of rotation based on described orientation information and the described second square information, and control the described moving-member described anglec of rotation of response and described second direction information.
Described the second electronic compass detection and output mobile equipment are with respect to the deflection angle of earth magnetism, and this deflection angle is value in 0～360 degree scope.
The second direction information that described signal receiving unit receives is the deflection angle with respect to earth magnetism.
Described the second control module compares orientation information and the second direction information of described mobile device, determines the anglec of rotation of mobile device according to difference relatively.Described moving-member is deflecting roller or universal wheel.
according to a further aspect in the invention, a kind of method of controlling mobile device with telepilot is provided, be applied in telepilot, described telepilot is by wireless transfer channel and mobile device wireless connections, described telepilot comprises direction input device and the first electronic compass, described direction input device has direction signs, described mode identifies for the direction of expression with respect to described telepilot, described the first electronic compass is consistent with the direction of earth magnetism, described method comprises: obtain first direction information based on described direction signs by described direction input device, described first direction information is used for the expression user and expects that described mobile device moves with respect to the first direction of described telepilot, described first direction information is converted to second direction information on described the first electronic compass, described second direction information is sent to described mobile device, wherein, described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the described first direction of described telepilot when described mobile device has responded described second direction information, wherein, the direction of described the second electronic compass is consistent with the direction of described earth magnetism.
Wherein, described second direction information is the deflection angle with respect to earth magnetism.
According to a further aspect in the invention, a kind of control method of mobile device is provided, be applied in mobile device, described mobile device is by wireless transfer channel and telepilot wireless connections, described mobile device has the second electronic compass and with moving-member, the direction of described the second electronic compass is consistent with the direction of described earth magnetism, and described method comprises: receive the second direction information from described telepilot; Obtain the orientation information of described mobile device based on described the second electronic compass; Judge whether described orientation information is consistent with described second direction information, produce a judged result; When described judged result represents that described orientation information is consistent with described second direction information, control the described second direction information of described moving-member response; When described judged result represents described orientation information and described second direction information inconsistency, determine an anglec of rotation based on described orientation information and the described second square information, and control the described moving-member described anglec of rotation of response and described second direction information.
Optionally, describedly determine an anglec of rotation based on described orientation information and the described second square information, and control the described moving-member described anglec of rotation of response and described second direction information comprises:
Orientation information and the described second direction information of described mobile device are compared, determine the anglec of rotation of described mobile device according to difference relatively;
Move after controlling the described moving-member described anglec of rotation of rotation and controlling the described anglec of rotation of described moving-member rotation.
As mentioned above, embodiments of the invention are because user's the telepilot of holding is controlled mobile device, so telepilot towards or the positive dirction of telepilot be exactly the user towards or user's positive dirction, in other words, telepilot towards with the user towards consistent, perhaps the positive dirction of telepilot is consistent with user's positive dirction.At this moment, have the direction input device of direction signs, this direction sign sign is exactly direction (that is, user's front, rear, left and right) with respect to user self with respect to the direction (that is, front, rear, left and right) of described telepilot.
If the user need to move to the left side of oneself with mobile device, a left side of pressing the direction input device on telepilot gets final product.Telepilot sends one based on the second direction information after the first electronic compass conversion according to the scheme of the embodiment of the present invention to mobile device.At this moment, after mobile device responds described second direction information based on the second electronic compass according to the scheme of embodiments of the invention, no matter mobile device towards whether with telepilot towards the consistent left side that can move to the user.
The present invention is by arranging electronic compass on mobile device and telepilot, to set up identical geographical coordinate system between remote controller and mobile device, make the user only just can advance towards the direction of expectation by remote-controlled movement equipment according to the direction of himself, and need not to consider the direction of mobile device, do not need user's travel direction to convert, and be not easy to make mistakes.
Description of drawings
Fig. 1 has shown the situation of remote-controlled movement equipment in the prior art;
Fig. 2 has shown another situation of remote-controlled movement equipment in the prior art;
Fig. 3 has shown the telepilot of the preferred embodiment of the present invention and the structural representation of corresponding mobile device;
Fig. 4 has shown the telepilot of another optional embodiment of the present invention;
Fig. 5 has shown the control method of telepilot according to the preferred embodiment of the invention;
Fig. 6 has shown the control method of mobile device according to the preferred embodiment of the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention more cheer and bright, below in conjunction with embodiment and with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these descriptions are exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, omitted the description to known features and technology, to avoid unnecessarily obscuring concept of the present invention.
As a rule, user's direction is consistent with the direction of telepilot, and therefore, in the present invention, the direction of said telepilot also is equal to user's direction.
Fig. 1 has shown the situation of remote-controlled movement equipment in the prior art.
As shown in Figure 1, remote-controlled mobile device, such as telecar or telecontrolled aircraft etc. is equipped with corresponding telepilot usually.The all directions operating key of this telepilot is corresponding one by one with each moving direction of mobile device such as front, rear, left and right etc.As shown in Figure 1, when the correspondence direction of mobile device travel direction (front, rear, left and right) and telepilot is identical, shake the control meeting than being easier to.The user only need press the directionkeys consistent with the moving direction of its expectation, and mobile device will move according to the direction of user's expectation.For example, if expectation makes equipment forward, the button of pressing forward gets final product, and is also similar for the control of other directions.
Fig. 2 has shown another situation of remote-controlled movement equipment in the prior art.
In a lot of situations, telepilot is different from the direction of mobile device.As shown in Figure 2, telepilot is corresponding no longer one by one with the travel direction of mobile device.In this case, if the user expects mobile device and moves towards the direction of its expectation, just need at first to determine the current direction of mobile device, then travel direction converts in brain, be converted into the actual direction that should move of mobile device according to deserving the place ahead to the moving direction that will oneself expect, then press corresponding direction operating key complete operation.For example in Fig. 2, mobile device towards user's right back to, if expectation this moment mobile device moves towards the place ahead of user, can not simply press working direction, otherwise can cause mobile device to march forward towards the right back.As a result, the user have to first press left to, make mobile device redirect to the direction consistent with the user, and then press working direction.Obviously, control procedure in this case is too complicated and often easily make mistakes, and has a strong impact on the controllability of mobile device.
Fig. 3 has shown the telepilot of the preferred embodiment of the present invention and the structural representation of corresponding mobile device.
Be respectively arranged with electronic compass on remote controller of the present invention and mobile device.Electronic compass is to utilize hall principle or magnetic resistance principle, drives internal circuit according to earth magnetism with the gun parallax of itself and provides corresponding value, indicates the current orientation of self with this, and exports the digital signal that comprises the party position information.In other words, telepilot can obtain own orientation information (i.e. the positive dirction information of oneself) by its own electronic compass, for example, how much spends with respect to earth magnetism.Mobile device can obtain own orientation information (i.e. the positive dirction information of oneself) by its own electronic compass, for example, how much spends with respect to earth magnetism.Need to prove that both are same based on the earth magnetism standard.For example, the arctic.
As shown in Figure 3, the telepilot 100 of the present embodiment comprises direction input device 101, the first electronic compass 102, the first control module 103 and signal transmitting unit 104.
Direction input device comprises the multiple directions key, and each directionkeys is corresponding to the direction signs with respect to telepilot.In the present embodiment, direction input device 101 can be the front, rear, left and right four direction key corresponding to telepilot, but the present invention is not restricted to this.In another embodiment, described direction input device is touch pad, and on described touch pad, sign has the multiple directions sign with respect to described telepilot, is used for input with respect to any direction of telepilot.Because user's the telepilot of holding is controlled mobile device, so telepilot towards or the positive dirction of telepilot be exactly the user towards or user's positive dirction, in other words, telepilot towards with the user towards consistent, perhaps the positive dirction of telepilot is consistent with user's positive dirction.At this moment, have the direction input device of direction signs, this direction sign sign is exactly direction (that is, user's front, rear, left and right) with respect to user self with respect to the direction (that is, front, rear, left and right) of described telepilot.
The first electronic compass 102 is consistent with magnetic direction.After in a single day electronic compass was fixedly installed on telepilot 100, described telepilot can obtain by the first electronic compass the orientation information of oneself.Therefore, the first electronic compass 102 can detect and export telepilot with respect to the deflection angle of magnetic north, and this deflection angle is value in 0～360 degree scope.
The first control module 103 is used for based on described the first electronic compass, described first direction information is converted to second direction information on described the first electronic compass, this second direction information is the deflection angle with respect to earth magnetism, and deflection angle is value in 0～360 degree scope.Described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the described first direction of described telepilot when described mobile device has responded described second direction information.
After direction input device and electronic compass all are fixedly installed on telepilot, just there are fixing position corresponding relation between electronic compass and direction input device, and can this position corresponding relation be set flexibly according to different needs when dispatching from the factory.The first control module 103 can be based on above-mentioned position corresponding relation, and the first direction information of direction input device 101 inputs is converted to second direction information on the first electronic compass, namely with respect to the deflection angle of magnetic north.For example, in Fig. 3 example, if the input working direction, the first control module 103 is converted to the direction that partially turn 90 degrees with respect to magnetic north with this direction, and generates corresponding second direction information.
As shown in Figure 3, the mobile device 200 of the present embodiment comprises moving-member 201, the second electronic compass 202, the second control module 203 and signal receiving unit 204.
Moving-member 201 drives mobile device in response to the second control module 203 and moves.When mobile device was set to deflecting roller, the travel direction that can first redirect to described expectation was advanced afterwards, until the user discharges the direction key on telepilot.When moving-member was set to universal wheel, mobile device directly advanced after the travel direction of expectation.
The second electronic compass 202, consistent with the direction of earth magnetism, for the orientation information that obtains described mobile device.After in a single day electronic compass was fixedly installed on mobile device 200, mobile device can obtain by the second electronic compass the orientation information (i.e. the positive dirction information of oneself) of oneself.Therefore, the second electronic compass 202 can detect and output mobile equipment with respect to the deflection angle of earth magnetism, this deflection angle is value in 0～360 degree scope.
The second control module 203 is used for judging whether described orientation information is consistent with described second direction information, produces a judged result; Wherein, when described judged result represents that described orientation information is consistent with described second direction information, control the described second direction information of described moving-member response; When described judged result represents described orientation information and described second direction information inconsistency, determine an anglec of rotation based on described orientation information and the described second square information, and control the described moving-member described anglec of rotation of response and described second direction information.
The second control module 203 compares orientation information and the second direction information of described mobile device, determines that according to difference relatively mobile device is with respect to the anglec of rotation of earth magnetism.
As mentioned above, in fact above-mentioned electronic compass has set up independently reference frame based on geographic direction, and this reference frame is not affected by other factors such as true bearing of telepilot or mobile device, has independence and stability.And the electronic compass on two equipment can be realized conversion mutually between the actual direction of the direction of reference frame and place equipment.
Like this, set up a common reference frame between remote controller and mobile device.When mobile device receives from the control signal of telepilot, at first carry out the direction converse routine based on this common reference frame, the front, rear, left and right control signal that the user is sent is converted to south, north, east, the west to, then the control device on mobile device is controlled the drive unit action of mobile device, reaches to the south, north, east, moving purpose moves westwards.
Fig. 4 has shown the telepilot of another optional embodiment of the present invention.
Remote controller in this embodiment and the structure of aforementioned telepilot shown in Figure 3 are substantially identical, and difference only is wherein 4 directionkeys are replaced with touch pad, the various direction numerical value of the input that this touch pad can be continuous, and to shake the control operation more convenient comfortable thereby make.In this case, electronic compass can be converted to the deflection angle with respect to magnetic north with the directional data (for example deflection angle) of touch pad input.
For example, the directional data that the user inputs by touch pad 30 degree that take over before being, electronic compass is converted into east by south 30 degree.After mobile device receives this control signal, directional data (being east by south 30 degree) is wherein sent to the electronic compass of mobile device, electronic compass is converted to the actual directional data that will move of mobile device with these direction data, is shown as approximately right-hand (being east by south 30 degree directions) of the current direction of mobile device in the example of Fig. 4.Then, the directional data accessory drive action that will move actual in this of the control device of mobile device makes mobile device first redirect to east by south 30 degree directions, then marches forward towards the party, completes whole direction control procedure.
In another optional embodiment, 4 directionkeys on remote controller can be increased to more directionkeys, such as front, rear, left and right, eight directionkeys such as right front, left front, right back, left back, control dirigibility thereby improved direction.In this case, electronic compass accordingly the front, rear, left and right of corresponding device, right front, left front, right back, left back to and east, west, north, south, the southeast, northeast, southwest, northwest (the middle respective angles of the coordinate system that electronic compass is set up) between set up one-to-one relationship.
In another optional embodiment, the deflecting roller of mobile device can replace with universal wheel.In this case, mobile device needn't first redirect to target direction when turning to, but directly the head for target direction is advanced.
A concrete example according to telepilot of the present invention and mobile device is described below.
Shown in Figure 3, the direction input device input by telepilot namely consists of described first direction information with respect to the working direction of telepilot.The first electronic compass is consistent with magnetic direction.The first control module is based on described the first electronic compass, and described first direction information is converted to second direction information on described the first electronic compass, and this second direction information is the deflection angle with respect to earth magnetism.As shown in Figure 3, this second direction information corresponding to earth magnetism east to, namely partially turn 90 degrees with respect to magnetic north.
This second direction information is used for controlling described mobile device with respect to the described first direction of described telepilot, namely moves with respect to the direction that magnetic north turn 90 degrees partially.Signal transmitting unit sends this second direction information to described mobile device.
Signal receiving unit on mobile device receives the above-mentioned second direction information from described telepilot.
As shown in Figure 3, the orientation information that obtains mobile device by the second electronic compass on mobile device is with respect to magnetic north deflection θ angle, for example 30 degree.Then the second control module judges described orientation information and described second direction information inconsistency, and determine mobile device based on described orientation information and the described second square information need to be with respect to magnetic north deflection 60 degree, namely deflect into the direction that magnetic north turn 90 degrees partially, thereby deflect into the direction consistent with aforementioned second direction information.Then mobile device marches forward towards the party under the driving of moving-member.In addition, when moving-member is set to universal wheel, mobile device can not deflection 60 degree, but the direction that directly partially turn 90 degrees towards magnetic north advances, and deflects into gradually its working direction under the effect of universal wheel.
As mentioned above, the user only need to input the expectation travel direction with respect to self on telepilot, and unnecessary consideration mobile device current towards, do not need travel direction to convert, just can order about mobile device and advance towards this expectation travel direction.
Fig. 5 has shown the control method of telepilot according to the preferred embodiment of the invention.
The control method of the present embodiment is applied in telepilot, this telepilot is by wireless transfer channel and mobile device wireless connections, described telepilot comprises direction input device and the first electronic compass, described direction input device has direction signs, described mode identifies for the direction of expression with respect to described telepilot, described the first electronic compass is consistent with the direction of earth magnetism, and as shown in the figure, described control method comprises the steps:
Step S10 obtains first direction information based on described direction signs by described direction input device, and described first direction information is used for the expression user and expects that described mobile device moves with respect to the first direction of described telepilot.
Step S11 is converted to second direction information on described the first electronic compass with described first direction information.This second direction information is the deflection angle with respect to magnetic north, and this deflection angle is value in 0～360 degree scope.Described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the described first direction of described telepilot when described mobile device has responded described second direction information, wherein, the direction of described the second electronic compass is consistent with the direction of described earth magnetism.
The first electronic compass is consistent with magnetic direction.The first control module can be based on described the first electronic compass, and described first direction information is converted to second direction information on described the first electronic compass, namely with respect to the deflection angle of magnetic north.
Step S12 sends to described mobile device with described second direction information.Signal transmitting unit is launched second direction information with wireless to mobile device.Described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the first direction of described telepilot when described mobile device has responded described second direction information.
Fig. 6 has shown the control method of mobile device according to the preferred embodiment of the invention.
The control method of the present embodiment is applied in mobile device, described mobile device is by wireless transfer channel and telepilot wireless connections, described mobile device has the second electronic compass and with moving-member, the direction of described the second electronic compass is consistent with the direction of described earth magnetism, as shown in the figure, described control method comprises the steps:
Step S20 receives the second direction information from described telepilot.Signal receiving unit receives the second direction information from telepilot.
Described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the first direction of described telepilot when described mobile device has responded described second direction information, wherein, the direction of described the second electronic compass is consistent with the direction of described earth magnetism.Described second direction information is the deflection angle with respect to earth magnetism, and this deflection angle is value in 0～360 degree scope.
Step S21 is based on the orientation information of described the second described mobile device of electronic compass acquisition.The second electronic compass can detect the orientation information of mobile device self in real time, and namely with respect to the deflection angle of magnetic north, the second control module obtains this information from the second electronic compass.
Step S22 judges whether described orientation information is consistent with described second direction information, produces a judged result.The second control module compares orientation information and the second direction information of described mobile device, determines that according to difference relatively mobile device is with respect to the anglec of rotation of earth magnetism.
Step S23 when described judged result represents that described orientation information is consistent with described second direction information, controls the described second direction information of described moving-member response.
Step S24, when described judged result represents described orientation information and described second direction information inconsistency, determine an anglec of rotation based on described orientation information and the described second square information, and control the described moving-member described anglec of rotation of response and described second direction information.
Step S24 comprises, orientation information and the described second direction information of described mobile device is compared, and determines the anglec of rotation of described mobile device according to difference relatively; Move after controlling the described moving-member described anglec of rotation of rotation and controlling the described anglec of rotation of described moving-member rotation.
Mobile device in the present invention comprises any mobile device by its moving direction of telepilot remote control such as telecar, telecontrolled aircraft, drone.Can certainly be the intelligent electronic device with locomotive function, for example, intelligent robot; Remote controller equipment can be the electronic equipment that can communicate with this intelligent electronic device with locomotive function, for example, and mobile phone or panel computer.
Should be understood that, above-mentioned embodiment of the present invention only is used for exemplary illustration or explains principle of the present invention, and is not construed as limiting the invention.Therefore, in the situation that any modification of making without departing from the spirit and scope of the present invention, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.In addition, claims of the present invention are intended to contain whole variations and the modification in the equivalents that falls into claims scope and border or this scope and border.
Claims (15)
1. telepilot comprises:
Direction input device with direction signs, described mode identifies for the direction of expression with respect to described telepilot, be used for obtaining first direction information, described first direction information is used for the expression user and expects that described mobile device moves with respect to the first direction of described telepilot;
The first electronic compass, described the first electronic compass is consistent with magnetic direction;
The first control module is used for based on described the first electronic compass, and described first direction information is converted to second direction information on described the first electronic compass;
Signal transmitting unit, be used for sending described second direction information to described mobile device, wherein, described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the described first direction of described telepilot when described mobile device has responded described second direction information, wherein, the direction of described the second electronic compass is consistent with the direction of described earth magnetism.
2. telepilot according to claim 1, described the first electronic compass detects and exports telepilot with respect to the deflection angle of earth magnetism, and described deflection angle is value in 0～360 degree scope.
3. telepilot according to claim 1, the second direction information on described the first electronic compass is the deflection angle with respect to earth magnetism.
4. telepilot according to claim 1, described direction input device comprises the multiple directions key, each directionkeys is corresponding to the direction signs with respect to described telepilot.
5. telepilot according to claim 1, described direction input device is touch pad, on described touch pad, sign has the multiple directions sign with respect to described telepilot, is used for input with respect to any direction of telepilot.
6. mobile device comprises:
Moving-member drives mobile device in response to the second control module and moves;
The second electronic compass, the direction of described the second electronic compass is consistent with the direction of earth magnetism, is used for obtaining the orientation information of described mobile device;
Signal receiving unit receives the second direction information from described telepilot;
The second control module is used for judging whether described orientation information is consistent with described second direction information, produces a judged result; Wherein
When described judged result represents that described orientation information is consistent with described second direction information, control the described second direction information of described moving-member response;
When described judged result represents described orientation information and described second direction information inconsistency, determine an anglec of rotation based on described orientation information and the described second square information, and control the described moving-member described anglec of rotation of response and described second direction information.
7. mobile device according to claim 6, described the second electronic compass detect and output mobile equipment with respect to the deflection angle of earth magnetism, this deflection angle is value in 0～360 degree scope.
8. mobile device according to claim 6, the second direction information that described signal receiving unit receives is the deflection angle with respect to earth magnetism.
9. mobile device according to claim 6, described the second control module compares orientation information and the second direction information of described mobile device, determines the mobile device anglec of rotation according to difference relatively.
10. mobile device according to claim 6, described moving-member is deflecting roller or universal wheel.
11. method of controlling mobile device with telepilot, be applied in telepilot, described telepilot is by wireless transfer channel and mobile device wireless connections, described telepilot comprises direction input device and the first electronic compass, described direction input device has direction signs, described mode identifies for the direction of expression with respect to described telepilot, and described the first electronic compass is consistent with the direction of earth magnetism, and described method comprises:
Obtain first direction information based on described direction signs by described direction input device, described first direction information is used for the expression user and expects that described mobile device moves with respect to the first direction of described telepilot;
Described first direction information is converted to second direction information on described the first electronic compass;
Described second direction information is sent to described mobile device;
Wherein, described second direction information is used for controlling described mobile device and moves to second direction based on the second electronic compass, so that described mobile device moves with respect to the described first direction of described telepilot when described mobile device has responded described second direction information, wherein, the direction of described the second electronic compass is consistent with the direction of described earth magnetism.
12. method according to claim 11, described second direction information are the deflection angles with respect to earth magnetism.
13. the control method of a mobile device, be applied in mobile device, described mobile device is by wireless transfer channel and telepilot wireless connections, described mobile device has the second electronic compass and with moving-member, the direction of described the second electronic compass is consistent with the direction of described earth magnetism, and described method comprises:
Reception is from the second direction information of described telepilot;
Obtain the orientation information of described mobile device based on described the second electronic compass;
Judge whether described orientation information is consistent with described second direction information, produce a judged result;
When described judged result represents that described orientation information is consistent with described second direction information, control the described second direction information of described moving-member response;
When described judged result represents described orientation information and described second direction information inconsistency, determine an anglec of rotation based on described orientation information and the described second square information, and control the described moving-member described anglec of rotation of response and described second direction information.
14. method according to claim 13 wherein, is describedly determined an anglec of rotation based on described orientation information and the described second square information, and controls the described moving-member described anglec of rotation of response and described second direction information comprises:
Orientation information and the described second direction information of described mobile device are compared, determine the anglec of rotation of described mobile device according to difference relatively;
Move after controlling the described moving-member described anglec of rotation of rotation and controlling the described anglec of rotation of described moving-member rotation.
15. according to claim 13 or 14 described methods, described second direction information are the deflection angles with respect to earth magnetism, this deflection angle is value in 0～360 degree scope.
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| CN2011104403826A CN103177545A (en) | 2011-12-26 | 2011-12-26 | Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller |
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| CN2011104403826A CN103177545A (en) | 2011-12-26 | 2011-12-26 | Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller |
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| CN2011104403826A Pending CN103177545A (en) | 2011-12-26 | 2011-12-26 | Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller |
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| CN103713637A (en) * | 2013-12-09 | 2014-04-09 | 广西科技大学 | Intelligent trolley gravity inclination angle control method based on one-chip microcomputer |
| CN103713635A (en) * | 2013-12-09 | 2014-04-09 | 广西科技大学 | Intelligent trolley control system based on one-chip microcomputer |
| CN106023554A (en) * | 2016-06-17 | 2016-10-12 | 深圳市元征科技股份有限公司 | Remote control method and remote controller |
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| CN110015418A (en) * | 2015-03-31 | 2019-07-16 | 深圳市大疆创新科技有限公司 | For generating the Verification System and method of air traffic control |
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| WO2017215187A1 (en) * | 2016-06-17 | 2017-12-21 | 深圳市元征科技股份有限公司 | Remote control method and remote control |
| CN106527493B (en) * | 2016-11-29 | 2020-01-14 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle |
| CN106527493A (en) * | 2016-11-29 | 2017-03-22 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle control method based on terrestrial magnetism mode and unmanned aerial vehicle |
| WO2018102989A1 (en) * | 2016-12-06 | 2018-06-14 | Orange | An improved method of managing a flying drone and an improved drone system |
| CN108762509B (en) * | 2018-06-06 | 2021-04-16 | 上海瀚创机器人技术有限公司 | Method for operating remote control object and operating system |
| CN108762509A (en) * | 2018-06-06 | 2018-11-06 | 上海瀚创机器人技术有限公司 | A kind of method and operating system of operation remotely-controlled object |
| CN110764497A (en) * | 2019-09-09 | 2020-02-07 | 深圳市无限动力发展有限公司 | Mobile robot remote control method, device, storage medium and remote control terminal |
| WO2021046682A1 (en) * | 2019-09-09 | 2021-03-18 | 深圳市无限动力发展有限公司 | Mobile robot remote control method and device as well as remote control terminal |
| CN111736511A (en) * | 2020-07-17 | 2020-10-02 | 哈工大机器人（岳阳）军民融合研究院 | Equipment control method and device |
| CN111752282A (en) * | 2020-07-17 | 2020-10-09 | 哈工大机器人（岳阳）军民融合研究院 | Equipment control method and device |
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