CN103309353B - A kind of robot long-distance control method and communication terminal - Google Patents
A kind of robot long-distance control method and communication terminal Download PDFInfo
- Publication number
- CN103309353B CN103309353B CN201210064220.1A CN201210064220A CN103309353B CN 103309353 B CN103309353 B CN 103309353B CN 201210064220 A CN201210064220 A CN 201210064220A CN 103309353 B CN103309353 B CN 103309353B
- Authority
- CN
- China
- Prior art keywords
- steering order
- communication terminal
- robot
- motion
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of robot long-distance control method and communication terminal.Described method is applied to the communication terminal with display unit, and described robot has image acquisition units and movement instruction receiving element; Described method comprises: obtain the image information that described robot collects, and shows at described display unit; Receive the instruction that user is inputted by described communication terminal, and generate the steering order for controlling described robot motion according to described instruction; Described steering order is sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.Adopt method of the present invention or communication terminal, communication terminal can be utilized to carry out Long-distance Control to the motion state of robot, reduce the cost of remote control robot, and user-friendly.
Description
Technical field
The present invention relates to sensing control field, particularly relate to a kind of robot long-distance control method and communication terminal.
Background technology
Along with the progress of science and technology, the application of robot is more and more extensive.More common robot has function that is mobile and collection surrounding environment image information usually.When control moves, need in prior art to adopt special controller.
But adopt special controller in order to control, the cost consumed is too large, and for user, is also not easy to user and uses.If user wants to control robot at any time, the controller of this robot just must be carried with.
Summary of the invention
The object of this invention is to provide a kind of robot long-distance control method and communication terminal, communication terminal can be utilized to carry out Long-distance Control to the motion state of robot, reduce the cost of remote control robot, and user-friendly.
For achieving the above object, the invention provides following scheme:
A kind of robot long-distance control method, be applied to the communication terminal with display unit, described robot has image acquisition units and movement instruction receiving element;
Described method comprises:
Obtain the image information that described robot collects, and show at described display unit;
Receive the instruction that user is inputted by described communication terminal, and generate the steering order for controlling described robot motion according to described instruction;
Described steering order is sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.
Preferably, described communication terminal has touch command receiving element, and described generation according to described instruction comprises for the steering order controlling described robot motion:
At described display unit display and control instruction input area; Described steering order input area has baseline locomotor direction reference identification and baseline locomotor speed reference mark;
Obtain the position of touch of operating body at described steering order input area;
Distance between identifying according to described position of touch and described baseline locomotor speed reference, generates movement velocity steering order;
According to the angle between described position of touch and described baseline locomotor direction reference identification, generate direction of motion steering order.
Preferably, described baseline locomotor direction reference identification is linear, and described baseline locomotor speed reference is designated point-like, described according to the angle between described position of touch and described baseline locomotor direction reference identification, generates direction of motion steering order, comprising:
Identify according to described position of touch and described baseline locomotor speed reference, generate direction of motion instruction line segment;
Obtain the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification;
Using the direction of motion anglec of rotation of described angle as described robot, generate direction of motion steering order.
Preferably, described communication terminal has gravity sensing unit, and described generation according to described instruction comprises for the steering order controlling described robot motion:
The described communication terminal sensed according to described gravity sensing unit and the angle of gravity direction, generate movement velocity steering order;
According to the described communication terminal anglec of rotation in the horizontal direction that described gravity sensing unit senses, generate direction of motion steering order.
Preferably, the angle of the described described communication terminal that senses according to described gravity sensing unit and gravity direction, generates movement velocity steering order, comprising:
Judge whether the angle of described communication terminal and gravity direction is greater than the first predetermined angle, obtains the first judged result;
When described first judged result represents that the angle of described communication terminal and gravity direction is greater than the first predetermined angle, generate pace steering order;
Judge whether the angle of described communication terminal and gravity direction is less than the second predetermined angle, obtains the second judged result;
When described second judged result represents that the angle of described communication terminal and gravity direction is less than the second predetermined angle, generate astern speed steering order.
A kind of communication terminal, described communication terminal has display unit and robot control module, and described robot control module is for controlling the robot with image acquisition units and movement instruction receiving element;
Described robot control module comprises:
Image information acquisition unit, for obtaining the image information that described robot collects, and shows at described display unit;
Steering order generation unit, for receiving the instruction that user is inputted by described communication terminal, and generates the steering order for controlling described robot motion according to described instruction;
Steering order transmitting element, for described steering order is sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.
Preferably, described communication terminal has touch command receiving element, and described steering order generation unit comprises:
Steering order input area display subelement, at described display unit display and control instruction input area; Described steering order input area has baseline locomotor direction reference identification and baseline locomotor speed reference mark;
Position of touch obtains subelement, for obtaining the position of touch of operating body at described steering order input area;
First movement velocity steering order generates subelement, for the distance between identify according to described position of touch and described baseline locomotor speed reference, and generation movement velocity steering order;
First direction of motion steering order generates subelement, for according to the angle between described position of touch and described baseline locomotor direction reference identification, generates direction of motion steering order.
Preferably, described baseline locomotor direction reference identification is linear, and described baseline locomotor speed reference is designated point-like, and the first direction of motion steering order generates subelement and comprises:
Direction of motion instruction line segment generates subelement, for identifying according to described position of touch and described baseline locomotor speed reference, generates direction of motion instruction line segment;
Angle obtains subelement, for obtaining the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification;
Direction of motion steering order generates subelement, for using the direction of motion anglec of rotation of described angle as described robot, generates direction of motion steering order.
Preferably, described communication terminal has gravity sensing unit, and described steering order generation unit comprises:
Second movement velocity steering order generates subelement, for the described communication terminal that senses according to the described gravity sensing unit angle with gravity direction, and generation movement velocity steering order;
Second direction of motion steering order generates subelement, for the described communication terminal anglec of rotation in the horizontal direction sensed according to described gravity sensing unit, generates direction of motion steering order.
Preferably, described second movement velocity steering order generation subelement comprises:
First judgment sub-unit, for judging whether the angle of described communication terminal and gravity direction is greater than the first predetermined angle, obtains the first judged result;
Pace steering order generates subelement, for when described first judged result represents that the angle of described communication terminal and gravity direction is greater than the first predetermined angle, generates pace steering order;
Second judgment sub-unit, for judging whether the angle of described communication terminal and gravity direction is less than the second predetermined angle, obtains the second judged result;
Astern speed steering order generates subelement, for when described second judged result represents that the angle of described communication terminal and gravity direction is less than the second predetermined angle, generates astern speed steering order.
According to specific embodiment provided by the invention, the invention discloses following technique effect:
Robot long-distance control method of the present invention and communication terminal, by receiving the instruction that user is inputted by described communication terminal, and generate the steering order for controlling described robot motion according to described instruction, communication terminal can be utilized to carry out Long-distance Control to the motion state of robot, thus reduce the cost of remote control robot, and user-friendly.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram of robot long-distance control method embodiment 1 of the present invention;
Fig. 2 is the process flow diagram of robot long-distance control method embodiment 2 of the present invention;
Fig. 3 is steering order input area schematic diagram of the present invention;
Fig. 4 is the process flow diagram of step 205 of the present invention;
Fig. 5 is the process flow diagram of robot long-distance control method embodiment 3 of the present invention;
Fig. 6 is the process flow diagram of step 503 of the present invention;
Fig. 7 is the application schematic diagram of the embodiment of the present invention three;
Fig. 8 is the structural drawing of robot control module's embodiment 1 of communication terminal of the present invention;
Fig. 9 is the structural drawing of robot control module's embodiment 2 of communication terminal of the present invention;
Figure 10 is the structural drawing of robot control module's embodiment 3 of communication terminal of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Robot long-distance control method of the present invention, is applied to the communication terminal with display unit, and described robot has image acquisition units and movement instruction receiving element.Wherein, display unit can be the touch-screen with touch controllable function, also can be common display screen; The image information that the image acquisition units that display unit can receive also display device people collects.Movement instruction receiving element can received communication terminal send steering order, according to the steering order received, the motion state of control.
In the present invention, the motion state of robot at least comprises movement velocity and sense of rotation.For the selection of wireless signal, when robot is with when controlling the close together of communication terminal of this robot, wifi signal can be adopted to carry out transmission and the reception of steering order; When robot and communication terminal distant, the signal of communication of the frequency range that communication base station can be adopted to support, like this, as long as in the signal cover of communication base station, can carry out Long-distance Control to robot.
Fig. 1 is the process flow diagram of robot long-distance control method embodiment 1 of the present invention.As shown in Figure 1, the method comprising the steps of:
Step 101: obtain the image information that described robot collects, and show the image information gathered;
Here, described display can be completed by the display unit on communication terminal; In the image information that display unit display device people collects, user can be made to observe the viewed image of the camera that robot is arranged.And then user can according to the current residing landform of robot, the motion state of control.
Step 102: receive the instruction that user is inputted by described communication terminal, and generate the steering order for controlling described robot motion according to described instruction;
Concrete, can according to the corresponding relation of user instruction and robot motion, the instruction transformation inputted by communication terminal in robotic end is the steering order for controlling described robot motion.
For the communication terminal with touch command receiving element (such as touch-screen), user can carry out touch control operation by steering order input area on the touchscreen, realizes the input of instruction;
For the communication terminal with gravity sensing unit, user can by conversion communication terminal put posture, realize the input of instruction.
Step 103: described steering order is sent to robot by wireless signal, to control the motion state of described robot.
Concrete, described steering order is sent to the movement instruction receiving element in robot.
In the present embodiment, by receiving the instruction that user is inputted by described communication terminal, and generate the steering order for controlling described robot motion according to described instruction, communication terminal can be utilized to carry out Long-distance Control to the motion state of robot, reduce the cost of remote control robot, and user-friendly.
Fig. 2 is the process flow diagram of robot long-distance control method embodiment 2 of the present invention.As shown in Figure 2, the method comprising the steps of:
Step 201: obtain image information that described robot collects and show;
Here, the display of gathered image information can be completed by the display unit on communication terminal.
Step 202: display and control instruction input area, described steering order input area has baseline locomotor direction reference identification and baseline locomotor speed reference mark;
In the present embodiment, specifically at described display unit display and control instruction input area; Described communication terminal has touch command receiving element, such as touch-screen.
Fig. 3 is steering order input area schematic diagram of the present invention.In Fig. 3, ray OA is baseline locomotor direction reference identification, and some O is baseline locomotor speed reference mark.Usually, the travel direction when direction indicated by the reference identification of baseline locomotor direction is the advance of robot.
Step 203: obtain the position of touch of operating body at described steering order input area;
Here, described operating body can be the object such as finger or writing pencil of people.
In Fig. 3, operating body is a B at the position of touch of described steering order input area.
Step 204: the distance between identifying according to described position of touch and described baseline locomotor speed reference, generates movement velocity steering order;
In Fig. 3, according to the distance between a B and some O, movement velocity steering order can be generated.Concrete, can be that the distance between OB is larger, then represent and wish the movement velocity that control reaches faster.Relation between the movement velocity that distance between OB and control reach can be linear, also can be nonlinear.If linear, then represent that the distance between OB is larger, then the movement velocity of robot is faster.If nonlinear, then can be distance between OB when being greater than certain numerical value, control reaches a certain movement velocity.
For nonlinear situation, in Fig. 3, give more concrete embodiment.There is in Fig. 3 circle 1 and circle 2.Time within the radius that position of touch is positioned at circle 1, can the movement velocity of control be 0 (namely static); When position of touch is between circle 1 and circle 2, can the movement velocity of control be first grade of movement velocity; When position of touch is positioned at outside circle 2, can the movement velocity of control be second gear movement velocity; Second gear movement velocity is greater than first grade of movement velocity.
Step 205: according to the angle between described position of touch and described baseline locomotor direction reference identification, generates direction of motion steering order.
Step 206: described movement velocity steering order and direction of motion steering order are sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.
Concrete, step 205 can comprise step shown in Fig. 4:
Step 401: identify according to described position of touch and described baseline locomotor speed reference, generates direction of motion instruction line segment;
Concrete, direction of motion instruction line segment can be the line segment OB in Fig. 3.
Step 402: obtain the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification;
In Fig. 3, the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification is the angle theta between the ray at line segment OB place and ray OA.
Step 403: using the direction of motion anglec of rotation of described angle as described robot, generates direction of motion steering order.
For the anglec of rotation in Fig. 3 for θ, just can control anglec of rotation θ to the right on the basis of original working direction.
In the present embodiment, by the distance between identifying according to described position of touch and described baseline locomotor speed reference, generate movement velocity steering order; According to the angle between described position of touch and described baseline locomotor direction reference identification, generate direction of motion steering order, Long-distance Control can be carried out by a simple touch command to the movement velocity of robot and direction of motion, simplify the control for robot.
Fig. 5 is the process flow diagram of robot long-distance control method embodiment 3 of the present invention.As shown in Figure 5, the method comprising the steps of:
Step 501: obtain image information that described robot collects and show;
Here, the display of gathered image information can be completed by the display unit on communication terminal.
Step 502: the described communication terminal sensed according to described gravity sensing unit and the angle of gravity direction, generates movement velocity steering order;
Concrete, if the angle in certain direction in the front and rear direction of gravity direction and communication terminal exceedes the threshold value preset, then send advance, the direction of motion retreated and rate control instruction respectively.
Step 503: the described communication terminal anglec of rotation in the horizontal direction sensed according to described gravity sensing unit, generates direction of motion steering order.
Concrete, if the angle in certain direction in the left and right both direction of gravity direction and communication terminal exceedes the threshold value preset, then respectively transmission original place turn round left, original place pivotal direction of motion steering order to the right.
Step 504: described movement velocity steering order and direction of motion steering order are sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.
Concrete, step 503 can comprise step shown in Fig. 6:
Step 601: judge whether the angle of described communication terminal and gravity direction is greater than the first predetermined angle, obtains the first judged result;
Step 602: when described first judged result represents that the angle of described communication terminal and gravity direction is greater than the first predetermined angle, generates pace steering order;
Step 603: judge whether the angle of described communication terminal and gravity direction is less than the second predetermined angle, obtains the second judged result;
Step 604: when described second judged result represents that the angle of described communication terminal and gravity direction is less than the second predetermined angle, generates astern speed steering order.
Fig. 7 is the application schematic diagram of the embodiment of the present invention three.See Fig. 7, the initial position of communication terminal is 3, and after user operation, putting position is 4.At position 3 place, the normal perpendicular to the screen of communication terminal is M, and at position 4 place, the normal perpendicular to the screen of communication terminal is N.Angle between normal M and normal N is θ, then the described communication terminal anglec of rotation in the horizontal direction that described gravity sensing unit senses is just θ.Now, the direction of motion steering order of generation can control described robot and rotates θ angle in the horizontal direction.
In Fig. 7, the communication terminal at position 4 place and the angle in gravity (Gravity) direction are α.In the figure 7, suppose that user is positioned on the left of Fig. 7, then can think that the upper direction of screen of described communication terminal is α away from the angle of inclination in the direction of user.Now, can judge whether angle [alpha] is greater than predetermined angle (such as 60 °), if be greater than, then generate the steering order that control advances.If the upper direction of the screen of the communication terminal in Fig. 7 is β near the angle of inclination in the direction of user, so inclination angle beta is negative value.Now can judge whether angle beta is less than predetermined angle (such as-30 °), if be less than, then generate the steering order that control retreats.
In the present embodiment, by the angle of the described communication terminal that senses according to described gravity sensing unit and gravity direction, generate movement velocity steering order; According to the described communication terminal anglec of rotation in the horizontal direction that described gravity sensing unit senses, generate direction of motion steering order, Long-distance Control can be carried out by the adjustment of the putting position to communication terminal to the movement velocity of robot and direction of motion, simplify the control for robot from another angle.
The invention also discloses a kind of communication terminal, described communication terminal has display unit and robot control module, and described robot control module is for controlling the robot with image acquisition units and movement instruction receiving element.
Fig. 8 is the structural drawing of robot control module's embodiment 1 of communication terminal of the present invention.As shown in Figure 8, this robot control module can comprise:
Image information acquisition unit 801, for obtaining the image information that described robot collects, and is sent to described display unit and shows;
Steering order generation unit 802, for receiving the instruction that user is inputted by described communication terminal, and generates the steering order for controlling described robot motion according to described instruction;
Steering order transmitting element 803, for described steering order is sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.
In the present embodiment, by receiving the instruction that user is inputted by described communication terminal, and generate the steering order for controlling described robot motion according to described instruction, communication terminal can be utilized to carry out Long-distance Control to the motion state of robot, reduce the cost of remote control robot, and user-friendly.
Fig. 9 is the structural drawing of robot control module's embodiment 2 of communication terminal of the present invention.As shown in Figure 9, this robot control module can comprise:
Image information acquisition unit 801, for obtaining the image information that described robot collects, and is sent to described display unit and shows;
Steering order generation unit 802, for receiving the instruction that user is inputted by described communication terminal, and generates the steering order for controlling described robot motion according to described instruction;
Described communication terminal has touch command receiving element, and described steering order generation unit 802 can comprise:
Steering order input area display subelement 901, at described display unit display and control instruction input area; Described steering order input area has baseline locomotor direction reference identification and baseline locomotor speed reference mark;
Position of touch obtains subelement 902, for obtaining the position of touch of operating body at described steering order input area;
First movement velocity steering order generates subelement 903, for the distance between identify according to described position of touch and described baseline locomotor speed reference, and generation movement velocity steering order;
First direction of motion steering order generates subelement 904, for according to the angle between described position of touch and described baseline locomotor direction reference identification, generates direction of motion steering order.
Steering order transmitting element 803, for described steering order is sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.
Concrete, described baseline locomotor direction reference identification can be linear, and described baseline locomotor speed reference mark can be point-like, and the first direction of motion steering order generates subelement 904 and can comprise:
Direction of motion instruction line segment generates subelement, for identifying according to described position of touch and described baseline locomotor speed reference, generates direction of motion instruction line segment;
Angle obtains subelement, for obtaining the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification;
Direction of motion steering order generates subelement, for using the direction of motion anglec of rotation of described angle as described robot, generates direction of motion steering order.
In the present embodiment, by the distance between identifying according to described position of touch and described baseline locomotor speed reference, generate movement velocity steering order; According to the angle between described position of touch and described baseline locomotor direction reference identification, generate direction of motion steering order, Long-distance Control can be carried out by a simple touch command to the movement velocity of robot and direction of motion, simplify the control for robot.
Figure 10 is the structural drawing of robot control module's embodiment 3 of communication terminal of the present invention.As shown in Figure 10, this robot control module can comprise:
Image information acquisition unit 801, for obtaining the image information that described robot collects, and is sent to described display unit and shows;
Steering order generation unit 802, for receiving the instruction that user is inputted by described communication terminal, and generates the steering order for controlling described robot motion according to described instruction;
Described communication terminal has gravity sensing unit, and described steering order generation unit 802 comprises:
Second movement velocity steering order generates subelement 1001, for the described communication terminal that senses according to the described gravity sensing unit angle with gravity direction, and generation movement velocity steering order;
Second direction of motion steering order generates subelement 1002, for the described communication terminal anglec of rotation in the horizontal direction sensed according to described gravity sensing unit, generates direction of motion steering order.
Steering order transmitting element 803, for described steering order is sent to described movement instruction receiving element by wireless signal, to control the motion state of described robot.
Concrete, described second movement velocity steering order generates subelement 1001 and can comprise:
First judgment sub-unit, for judging whether the angle of described communication terminal and gravity direction is greater than the first predetermined angle, obtains the first judged result;
Pace steering order generates subelement, for when described first judged result represents that the angle of described communication terminal and gravity direction is greater than the first predetermined angle, generates pace steering order;
Second judgment sub-unit, for judging whether the angle of described communication terminal and gravity direction is less than the second predetermined angle, obtains the second judged result;
Astern speed steering order generates subelement, for when described second judged result represents that the angle of described communication terminal and gravity direction is less than the second predetermined angle, generates astern speed steering order.
In the present embodiment, by the angle of the described communication terminal that senses according to described gravity sensing unit and gravity direction, generate movement velocity steering order; According to the described communication terminal anglec of rotation in the horizontal direction that described gravity sensing unit senses, generate direction of motion steering order, Long-distance Control can be carried out by the adjustment of the putting position to communication terminal to the movement velocity of robot and direction of motion, simplify the control for robot from another angle.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add required hardware platform by software and realize, can certainly all be implemented by hardware, but in a lot of situation, the former is better embodiment.Based on such understanding, what technical scheme of the present invention contributed to background technology can embody with the form of software product in whole or in part, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment of the present invention or embodiment.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For communication terminal disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications.In sum, this description should not be construed as limitation of the present invention.
Claims (8)
1. a robot long-distance control method, is characterized in that, described method comprises:
Obtain the image information that robot collects, and show the image information collected;
Receive the instruction that user is inputted by communication terminal, and generate the steering order for controlling described robot motion according to described instruction;
Described steering order is sent to described robot by wireless signal, controls the motion state of described robot;
Wherein, described communication terminal has gravity sensing unit, and described generation according to described instruction comprises for the steering order controlling described robot motion:
The described communication terminal sensed according to described gravity sensing unit and the angle of gravity direction, generate movement velocity steering order;
According to the described communication terminal anglec of rotation in the horizontal direction that described gravity sensing unit senses, generate direction of motion steering order.
2. method according to claim 1, is characterized in that, the angle of the described described communication terminal that senses according to described gravity sensing unit and gravity direction, generates movement velocity steering order, comprising:
Judge whether the angle of described communication terminal and gravity direction is greater than the first predetermined angle, obtains the first judged result;
When described first judged result represents that the angle of described communication terminal and gravity direction is greater than the first predetermined angle, generate pace steering order;
Judge whether the angle of described communication terminal and gravity direction is less than the second predetermined angle, obtains the second judged result;
When described second judged result represents that the angle of described communication terminal and gravity direction is less than the second predetermined angle, generate astern speed steering order.
3. a robot long-distance control method, is characterized in that, described method comprises:
Obtain the image information that robot collects, and show the image information collected;
Receive the instruction that user is inputted by communication terminal, and generate the steering order for controlling described robot motion according to described instruction;
Described steering order is sent to described robot by wireless signal, controls the motion state of described robot;
Wherein, described communication terminal has display unit and touch command receiving element, and described generation according to described instruction comprises for the steering order controlling described robot motion:
At described display unit display and control instruction input area; Described steering order input area has baseline locomotor direction reference identification and baseline locomotor speed reference mark;
Obtain the position of touch of operating body at described steering order input area;
Distance between identifying according to described position of touch and described baseline locomotor speed reference, generates movement velocity steering order;
According to the angle between described position of touch and described baseline locomotor direction reference identification, generate direction of motion steering order.
4. method according to claim 3, is characterized in that, described baseline locomotor direction reference identification is linear, and described baseline locomotor speed reference is designated point-like; Described according to the angle between described position of touch and described baseline locomotor direction reference identification, generate direction of motion steering order, comprising:
Identify according to described position of touch and described baseline locomotor speed reference, generate direction of motion instruction line segment;
Obtain the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification;
Using the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification as the direction of motion anglec of rotation of described robot, generate direction of motion steering order.
5. a communication terminal, is characterized in that, described communication terminal has display unit and robot control module, and described robot control module is for controlling the robot with image acquisition units and movement instruction receiving element;
Described robot control module comprises:
Image information acquisition unit, for obtaining the image information that described robot collects, and is sent to described display unit and shows;
Steering order generation unit, for receiving the instruction that user is inputted by described communication terminal, and generates the steering order for controlling described robot motion according to described instruction;
Steering order transmitting element, for described steering order is sent to described movement instruction receiving element by wireless signal, controls the motion state of described robot;
Wherein, described communication terminal has gravity sensing unit, and described steering order generation unit comprises:
Second movement velocity steering order generates subelement, for the described communication terminal that senses according to the described gravity sensing unit angle with gravity direction, and generation movement velocity steering order;
Second direction of motion steering order generates subelement, for the described communication terminal anglec of rotation in the horizontal direction sensed according to described gravity sensing unit, generates direction of motion steering order.
6. communication terminal according to claim 5, is characterized in that, described second movement velocity steering order generates subelement and comprises:
First judgment sub-unit, for judging whether the angle of described communication terminal and gravity direction is greater than the first predetermined angle, obtains the first judged result;
Pace steering order generates subelement, for when described first judged result represents that the angle of described communication terminal and gravity direction is greater than the first predetermined angle, generates pace steering order;
Second judgment sub-unit, for judging whether the angle of described communication terminal and gravity direction is less than the second predetermined angle, obtains the second judged result;
Astern speed steering order generates subelement, for when described second judged result represents that the angle of described communication terminal and gravity direction is less than the second predetermined angle, generates astern speed steering order.
7. a communication terminal, is characterized in that, described communication terminal has display unit and robot control module, and described robot control module is for controlling the robot with image acquisition units and movement instruction receiving element;
Described robot control module comprises:
Image information acquisition unit, for obtaining the image information that described robot collects, and is sent to described display unit and shows;
Steering order generation unit, for receiving the instruction that user is inputted by described communication terminal, and generates the steering order for controlling described robot motion according to described instruction;
Steering order transmitting element, for described steering order is sent to described movement instruction receiving element by wireless signal, controls the motion state of described robot;
Wherein, described communication terminal has touch command receiving element, and described steering order generation unit comprises:
Steering order input area display subelement, at described display unit display and control instruction input area; Described steering order input area has baseline locomotor direction reference identification and baseline locomotor speed reference mark;
Position of touch obtains subelement, for obtaining the position of touch of operating body at described steering order input area;
First movement velocity steering order generates subelement, for the distance between identify according to described position of touch and described baseline locomotor speed reference, and generation movement velocity steering order;
First direction of motion steering order generates subelement, for according to the angle between described position of touch and described baseline locomotor direction reference identification, generates direction of motion steering order.
8. communication terminal according to claim 7, is characterized in that, described baseline locomotor direction reference identification is linear, and described baseline locomotor speed reference is designated point-like; First direction of motion steering order generates subelement and comprises:
Direction of motion instruction line segment generates subelement, for identifying according to described position of touch and described baseline locomotor speed reference, generates direction of motion instruction line segment;
Angle obtains subelement, for obtaining the angle between described direction of motion instruction line segment and described baseline locomotor direction reference identification;
Direction of motion steering order generates subelement, for indicating the angle between line segment and described baseline locomotor direction reference identification as the direction of motion anglec of rotation of described robot described direction of motion, generates direction of motion steering order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210064220.1A CN103309353B (en) | 2012-03-12 | 2012-03-12 | A kind of robot long-distance control method and communication terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210064220.1A CN103309353B (en) | 2012-03-12 | 2012-03-12 | A kind of robot long-distance control method and communication terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103309353A CN103309353A (en) | 2013-09-18 |
| CN103309353B true CN103309353B (en) | 2016-03-30 |
Family
ID=49134676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210064220.1A Active CN103309353B (en) | 2012-03-12 | 2012-03-12 | A kind of robot long-distance control method and communication terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103309353B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019014951A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Information transmission method of robot and robot |
| CN109542301B (en) * | 2017-09-21 | 2021-07-09 | 腾讯科技（深圳）有限公司 | Intelligent hardware control method and device, storage medium and electronic device |
| CN108284452A (en) * | 2018-02-11 | 2018-07-17 | 遨博（北京）智能科技有限公司 | A kind of control method of robot, device and system |
| CN108536165A (en) * | 2018-04-02 | 2018-09-14 | 深圳小趴智能科技有限公司 | A kind of posture induction remote control control robot movement technique |
| CN108638095A (en) * | 2018-04-02 | 2018-10-12 | 深圳小趴智能科技有限公司 | A kind of robot movement control device and its operating method |
| CN114869171B (en) * | 2022-04-21 | 2024-08-23 | 美智纵横科技有限责任公司 | Cleaning robot, control method and device thereof, and readable storage medium |
| CN115209049B (en) * | 2022-06-28 | 2023-11-24 | 联想(北京)有限公司 | Remote control method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100060607A1 (en) * | 2004-02-13 | 2010-03-11 | Ludwig Lester F | User interface mouse with touchpad responsive to gestures and multi-touch |
| KR20100090616A (en) * | 2009-02-06 | 2010-08-16 | 이동욱 | Cybernaut assistant transputer |
| CN101826251A (en) * | 2009-03-05 | 2010-09-08 | 冷中安 | Far-end remote control method and system |
| CN102314169A (en) * | 2010-07-27 | 2012-01-11 | 上海中为智能机器人有限公司 | Wireless remote control intelligent terminal of mine autonomous intelligent detection multi-robot system |
| CN202120111U (en) * | 2011-06-23 | 2012-01-18 | 俞亚峰 | All-weather movable monitoring robot |
-
2012
- 2012-03-12 CN CN201210064220.1A patent/CN103309353B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100060607A1 (en) * | 2004-02-13 | 2010-03-11 | Ludwig Lester F | User interface mouse with touchpad responsive to gestures and multi-touch |
| KR20100090616A (en) * | 2009-02-06 | 2010-08-16 | 이동욱 | Cybernaut assistant transputer |
| CN101826251A (en) * | 2009-03-05 | 2010-09-08 | 冷中安 | Far-end remote control method and system |
| CN102314169A (en) * | 2010-07-27 | 2012-01-11 | 上海中为智能机器人有限公司 | Wireless remote control intelligent terminal of mine autonomous intelligent detection multi-robot system |
| CN202120111U (en) * | 2011-06-23 | 2012-01-18 | 俞亚峰 | All-weather movable monitoring robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103309353A (en) | 2013-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103309353B (en) | A kind of robot long-distance control method and communication terminal | |
| CN201699853U (en) | Remote controller with action recognition function | |
| CN102662578B (en) | Switching control method of desktop container and terminal | |
| US20090315834A1 (en) | Apparatus, method and computer program product for manipulating a device using dual side input devices | |
| EP2843528A1 (en) | File selection method and terminal | |
| CN102566754A (en) | Mobile device and computational system including same | |
| CN102566914A (en) | Mobile terminal and operation control method thereof | |
| US10281996B2 (en) | Touch sensitive system and stylus for commanding by maneuvering and method thereof | |
| KR20140081423A (en) | Apparatus and method for key input and computer readable media storing program for method therefor | |
| KR20140126129A (en) | Apparatus for controlling lock and unlock and method therefor | |
| CN108769299B (en) | Screen control method and device and mobile terminal | |
| CN101910983A (en) | Radio communication device and split type touch sensitive user input surface | |
| CN105487689A (en) | Ring mouse and method for operating mobile terminal through same | |
| CN111610869B (en) | Touch pen, electronic device and control method | |
| CN104461172A (en) | Display method and electronic device | |
| CN105242780B (en) | A kind of interaction control method and device | |
| CN102609163A (en) | Electronic device | |
| CN104661066A (en) | Multi-point floating touch remote control device and remote control method thereof | |
| CN107111435A (en) | A kind of page sliding method, device and user terminal | |
| CN103412648B (en) | The in-vehicle device interaction control device pointed to based on mobile device and method | |
| CN103064532A (en) | Air mouse remote controller | |
| KR20140134940A (en) | Mobile terminal and method for controlling touch screen and system threefor | |
| KR102091710B1 (en) | Coordinate sensing apparatus and method for controlling thereof | |
| CN105204764A (en) | Hand-held terminal provided with suspension screen, display equipment and remote control method | |
| CN105320260A (en) | Control method for mobile terminal and mobile terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |