CN106970741A - The implementation method of virtual rail is set by mobile applications - Google Patents
The implementation method of virtual rail is set by mobile applications Download PDFInfo
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- CN106970741A CN106970741A CN201710181083.2A CN201710181083A CN106970741A CN 106970741 A CN106970741 A CN 106970741A CN 201710181083 A CN201710181083 A CN 201710181083A CN 106970741 A CN106970741 A CN 106970741A
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- Prior art keywords
- virtual rail
- virtual
- user
- rail
- mobile applications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/0486—Drag-and-drop
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a kind of implementation method by mobile applications setting virtual rail, it comprises the following steps：Step one, virtual rail is added, by mobile applications interface, user is clicked on after addition virtual rail button, and virtual rail is added by three kinds of modes；Step 2, edits virtual rail, by mobile applications interface, user realizes editting function by clicking on virtual rail；Step 3, deletes virtual rail, by mobile applications interface, user can delete virtual rail etc. by four kinds of modes.The present invention is by user in interactive interface setting arbitrary shape, the virtual rail of length, support segmentation modification, delete the functions such as track, simple operation is flexible, compared to original fixation locus cruise system technology, extra auxiliary hardware devices, low cost are not needed, in use more flexibly, fast, possesses the ability for realizing remotely located virtual rail, without making any change physically to robot environment simultaneously.
Description
Technical field
The present invention relates to mobile robot field, in particular it relates to which one kind sets virtual rail by mobile applications
Implementation method.
Background technology
At present, it is existing to realize mainly there is following several according to desired guiding trajectory fixed point cruise system：
First, track is laid, using magnetic conductance physics trailer system, realizes and pinpoints cruise by desired guiding trajectory, for example city railroad
Electric car, some meal delivery robots etc., using railway technology, add aiding sensors (people carries the sensor such as infrared, ultrasonic)
Realize avoid-obstacle behavior, but need extra deployment track, high cost, complex operation and using dumb, operation noise it is big and
Big is changed to environment；
2nd, using other detecting instrument line walkings such as visible light camera, infrared thermography, desired trajectory fixed point is pressed in realization
Cruise, it is necessary to dispose auxiliary equipment in use environment, but complex operation, cost it is higher, dumb, it cannot be guaranteed that environment is constant
Property and cleaning.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of realization by mobile applications setting virtual rail
Method, it, in interactive interface setting arbitrary shape, the virtual rail of length, is supported segmentation modification, deletes the work(such as track by user
Can, simple operation flexibly, compared to original fixation locus cruise system technology, it is not necessary to extra auxiliary hardware devices, it is low into
This, while in use more flexibly, fast, possessing the ability for realizing remotely located virtual rail, without to robot
Environment makes any change physically.
The present invention is to solve above-mentioned technical problem by following technical proposals：One kind is set by mobile applications
The implementation method of virtual rail, it comprises the following steps：
Step one, virtual rail is added, by mobile applications interface, user is clicked on after addition virtual rail button,
Virtual rail is added by three kinds of modes；
Step 2, edits virtual rail, by mobile applications interface, and user realizes editor by clicking on virtual rail
Function；
Step 3, deletes virtual rail, by mobile applications interface, user can be deleted virtually by four kinds of modes
Track；
Step 4, preserves virtual rail：After user is in the addition of mobile applications interface, editor, deletion virtual rail,
Program sends virtual rail configuration information to robot device.
Preferably, the step one comprises the following steps：
Step 11, singly refers on map and marks straight line or curve to increase virtual rail newly；User is clicking on addition
After button, the virtual rail that arbitrary shape and length can be marked with singly referring on map；
Step 12, user is clicked on after addition virtual rail button, and a default-length and shape are generated on map
Virtual rail, user can be by pulling any intermediate point of track, to change the shape of track, size and location；
Step 13, user can repeatedly be segmented addition virtual rail, by connecting different 2 points of spellings of virtual rails ending
Connect and locate new virtual rail.
Preferably, the step 2 comprises the following steps：
Step 2 11, realizes the flexible of track, when user pins virtual rail one end anchor point by pulling two ends anchor point
And when dragging, other end anchor point keeps fixed position constant, the length and curvature of virtual rail are sent out as user's finger is moved
Changing；
Step 2 12, the change of orbital curve is realized by pulling any intermediate point of track, when user pins virtual rail
Any intermediate point in road and when dragging, track two ends anchor point holding position immobilizes, and the curve of virtual rail is with user's finger
Move and change；
Step 2 13, realizes virtual rail change in location, user can be virtual by long-press by pulling orbital fashion
Track is changed into removable state by track, and the position of virtual rail changes as user's finger is moved；
Step 2 14, virtual rail segmentation modification, user can be by clicking on segmentation button or drawing disconnected void by finger
Intend orbital fashion and virtual rail is divided into any number of line segments, each line segment individually can be edited and deleted；
Step 2 15, realizes virtual rail change in location, user can be by singly referring to operation dragging by pulling map
Map, so as to change the relative position of virtual rail；
Step 2 16, by scaling and rotating the change that map realizes virtual rail size and location, user can lead to
Cross it is double refer to operation scaling map sizes and double rotation process that refer to change direction in map-making so that change virtual rail relative position and
Size.
Preferably, the step 3 comprises the following steps：
Step 3 11, single virtual track is chosen by long-press, is then clicked on and is deleted button, deletes single virtual rail
Road；
Step 3 12, multiple virtual rails are chosen by multiple long-press, are then clicked on and are deleted button, and batch is deleted virtual
Track；
Step 3 13, single virtual track is chosen by long-press, then pulls out body of a map or chart, or be drawn to deletion figure
At mark, single virtual track is deleted；
Step 3 14, by clicking on erasing rubber button, any part of any virtual rail is then erased with finger, is deleted
Except virtual rail all or in part.
Preferably, the addition virtual rail of the step one is realized by an add module.
Preferably, editor's virtual rail of the step 2 is realized by an editor module.
Preferably, the deletion virtual rail of the step 3 is realized by a removing module.
Preferably, the preservation virtual rail of the step 4 is realized by a preserving module.
Preferably, the virtual rail adjusts corresponding angle by an angle adjustment module.
The positive effect of the present invention is：The present invention is by interactive mode, by user at mobile applications interface
Arbitrary shape, the virtual rail of length are deleted in addition, modification, and this information is sent to robot device.This method branch
Hold segmentation modification, delete the functions such as track, simple operation is flexible.Robot device is set according to user in mobile applications
Virtual rail information, construct virtual rail in robot device's map, realize and press planned orbit locomotive function.The program
Do not need extra cost to dispose auxiliary equipment, using enhanced convenience, flexibly, it is quick, except this, without changing environment, increase
Delete and more facilitate, it is more intelligent.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the invention.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in figure 1, the present invention sets the implementation method of virtual rail to comprise the following steps by mobile applications：
Step one, virtual rail is added, by mobile applications interface, user is clicked on after addition virtual rail button,
Virtual rail is added by three kinds of modes；
Step 2, edits virtual rail, by mobile applications interface, and user realizes editor by clicking on virtual rail
Function；
Step 3, deletes virtual rail, by mobile applications interface, user can be deleted virtually by four kinds of modes
Track；
Step 4, preserves virtual rail：After user is in the addition of mobile applications interface, editor, deletion virtual rail,
Program sends virtual rail configuration information to robot device.
The addition virtual rail of step one is realized by an add module, so convenient to operate.
Editor's virtual rail of step 2 is realized by an editor module, so convenient to operate.
The deletion virtual rail of step 3 is realized by a removing module, so convenient to operate.
The preservation virtual rail of step 4 is realized by a preserving module, so convenient to operate.
Virtual rail can adjust corresponding angle by an angle adjustment module, so convenient adjustment.
The step one comprises the following steps：
Step 11, singly refers on map and marks straight line or curve to increase virtual rail newly；User is clicking on addition
After button, the virtual rail that arbitrary shape and length can be marked with singly referring on map；
Step 12, user is clicked on after addition virtual rail button, and a default-length and shape are generated on map
Virtual rail, user can be by pulling any intermediate point of track, to change the shape of track, size and location；
Step 13, user can repeatedly be segmented addition virtual rail, by connecting different 2 points of spellings of virtual rails ending
Connect and locate new virtual rail.
The step 2 comprises the following steps：
Step 2 11, realizes the flexible of track, when user pins virtual rail one end anchor point by pulling two ends anchor point
And when dragging, other end anchor point keeps fixed position constant, the length and curvature of virtual rail are sent out as user's finger is moved
Changing；
Step 2 12, the change of orbital curve is realized by pulling any intermediate point of track, when user pins virtual rail
Any intermediate point in road and when dragging, track two ends anchor point holding position immobilizes, and the curve of virtual rail is with user's finger
Move and change；
Step 2 13, realizes virtual rail change in location, user can be virtual by long-press by pulling orbital fashion
Track is changed into removable state by track, and the position of virtual rail changes as user's finger is moved；
Step 2 14, virtual rail segmentation modification, user can be by clicking on segmentation button or drawing disconnected void by finger
Intend orbital fashion and virtual rail is divided into any number of line segments, each line segment individually can be edited and deleted；
Step 2 15, realizes virtual rail change in location, user can be by singly referring to operation dragging by pulling map
Map, so as to change the relative position of virtual rail；
Step 2 16, by scaling and rotating the change that map realizes virtual rail size and location, user can lead to
Cross it is double refer to operation scaling map sizes and double rotation process that refer to change direction in map-making so that change virtual rail relative position and
Size.
The step 3 comprises the following steps：
Step 3 11, single virtual track is chosen by long-press, is then clicked on and is deleted button, deletes single virtual rail
Road；
Step 3 12, multiple virtual rails are chosen by multiple long-press, are then clicked on and are deleted button, and batch is deleted virtual
Track；
Step 3 13, single virtual track is chosen by long-press, then pulls out body of a map or chart, or be drawn to deletion figure
At mark, single virtual track is deleted；
Step 3 14, by clicking on erasing rubber button, any part of any virtual rail is then erased with finger, is deleted
Except virtual rail all or in part.
In summary, the present invention supports segmentation to repair by user in interactive interface setting arbitrary shape, the virtual rail of length
Change, delete the functions such as track, simple operation is flexible, compared to original fixation locus cruise system technology, it is not necessary to which extra is auxiliary
Hardware device, low cost are helped, while in use more flexibly, fast, possessing the energy for realizing remotely located virtual rail
Power, without making any change physically to robot environment.
Particular embodiments described above, technical problem, technical scheme and beneficial effect to the solution of the present invention are carried out
It is further described, should be understood that the specific embodiment that the foregoing is only of the invention, be not limited to
The present invention, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. should be included in this
Within the protection domain of invention.
Claims (9)
1. a kind of implementation method by mobile applications setting virtual rail, it is characterised in that it comprises the following steps：
Step one, virtual rail is added, by mobile applications interface, user is clicked on after addition virtual rail button, is passed through
Three kinds of modes add virtual rail；
Step 2, edits virtual rail, by mobile applications interface, and user realizes editor's work(by clicking on virtual rail
Energy；
Step 3, deletes virtual rail, by mobile applications interface, user can delete virtual rail by four kinds of modes
Road；
Step 4, preserves virtual rail：After user is in the addition of mobile applications interface, editor, deletion virtual rail, program
Virtual rail configuration information is sent to robot device.
2. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
Step one comprises the following steps：
Step 11, singly refers on map and marks straight line or curve to increase virtual rail newly；User is clicking on addition button
Afterwards, the virtual rail that arbitrary shape and length can be marked with singly referring on map；
Step 12, user is clicked on after addition virtual rail button, and the virtual of a default-length and shape is generated on map
Track, user can be by pulling any intermediate point of track, to change the shape of track, size and location；
Step 13, user can repeatedly be segmented addition virtual rail, by connecting different 2 stitching portions of virtual rails ending
New virtual rail.
3. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
Step 2 comprises the following steps：
Step 2 11, realizes the flexible of track, when user pins virtual rail one end anchor point and drags by pulling two ends anchor point
When dynamic, other end anchor point keeps fixed position constant, and the length and curvature of virtual rail become as user's finger is moved
Change；
Step 2 12, the change of orbital curve is realized by pulling any intermediate point of track, is appointed when user pins virtual rail
Meaning intermediate point and when dragging, track two ends anchor point holding position is immobilized, and the curve of virtual rail is moved with user's finger
And change；
Step 2 13, realizes virtual rail change in location, user can pass through long-press virtual rail by pulling orbital fashion
Track is changed into removable state, the position of virtual rail changes as user's finger is moved；
Step 2 14, virtual rail segmentation modification, user can be by clicking on segmentation button or drawing the virtual rail that breaks by finger
Virtual rail is divided into any number of line segments by road mode, and each line segment individually can be edited and deleted；
Step 2 15, realizes virtual rail change in location, user can drag map by singly referring to operation by pulling map,
So as to change the relative position of virtual rail；
Step 2 16, by scaling and rotating the change that map realizes virtual rail size and location, user can be by double
Refer to operation scaling map size and double rotation process that refer to change direction in map-making, so as to change the relative position of virtual rail and big
It is small.
4. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
Step 3 comprises the following steps：
Step 3 11, single virtual track is chosen by long-press, is then clicked on and is deleted button, deletes single virtual track；
Step 3 12, multiple virtual rails are chosen by multiple long-press, are then clicked on and are deleted button, virtual rail is deleted in batches
Road；
Step 3 13, single virtual track is chosen by long-press, then pulls out body of a map or chart, or be drawn to deletion icon
Place, deletes single virtual track；
Step 3 14, by clicking on erasing rubber button, then erases any part of any virtual rail with finger, deletes whole
Individual or partial virtual track.
5. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
The addition virtual rail of step one is realized by an add module.
6. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
Editor's virtual rail of step 2 is realized by an editor module.
7. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
The deletion virtual rail of step 3 is realized by a removing module.
8. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
The preservation virtual rail of step 4 is realized by a preserving module.
9. the implementation method as claimed in claim 1 by mobile applications setting virtual rail, it is characterised in that described
Virtual rail adjusts corresponding angle by an angle adjustment module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181083.2A CN106970741A (en) | 2017-03-24 | 2017-03-24 | The implementation method of virtual rail is set by mobile applications |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181083.2A CN106970741A (en) | 2017-03-24 | 2017-03-24 | The implementation method of virtual rail is set by mobile applications |
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| CN106970741A true CN106970741A (en) | 2017-07-21 |
Family
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| CN201710181083.2A Pending CN106970741A (en) | 2017-03-24 | 2017-03-24 | The implementation method of virtual rail is set by mobile applications |
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Citations (5)
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|---|---|---|---|---|
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| US9372095B1 (en) * | 2014-05-08 | 2016-06-21 | Google Inc. | Mobile robots moving on a visual display |
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-
2017
- 2017-03-24 CN CN201710181083.2A patent/CN106970741A/en active Pending
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| CN102968571A (en) * | 2012-12-05 | 2013-03-13 | 西安航空电子科技有限公司 | Method for editing flying plan rapidly through electronic map |
| US9372095B1 (en) * | 2014-05-08 | 2016-06-21 | Google Inc. | Mobile robots moving on a visual display |
| CN105518415A (en) * | 2014-10-22 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Flight path setting method and apparatus |
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Application publication date: 20170721 |