CN107305464A - A kind of control method and device based on pressure sensitive - Google Patents
A kind of control method and device based on pressure sensitive Download PDFInfo
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- CN107305464A CN107305464A CN201610261085.8A CN201610261085A CN107305464A CN 107305464 A CN107305464 A CN 107305464A CN 201610261085 A CN201610261085 A CN 201610261085A CN 107305464 A CN107305464 A CN 107305464A
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- kinematic parameter
- timesharing
- pressure
- pressure information
- controlled device
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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]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
Abstract
The invention discloses a kind of control method based on pressure sensitive, the pressure information received is obtained；First kinematic parameter is determined according to the pressure information；First kinematic parameter is sent to outside controlled device.The invention also discloses a kind of control device based on pressure sensitive.
Description
Technical field
The present invention relates to human-computer interaction technology, more particularly to a kind of control method and device based on pressure sensitive.
Background technology
Pressure sensitive screen, also known as pressure sensitive screen, are a kind of screens being applied in the equipment such as terminal, work as inspection
Finger touch is measured, the pressure sensor of pressure sensitive screen will obtain the size of pressure during whole touch-control；
Pressure sensitive is a kind of newly-increased Consumer's Experience mode of current terminal, and the application scenarios of pressure sensitive mainly include
Weighing, playing based on pressure sensitive, preview picture and application icon right button menu control etc.；Pressure sensitive
As a kind of new man-machine interaction mode, the application scenarios being related to are not limited to also swim at present extensively, mostly
Play application.
Currently, the development of robot technology is maked rapid progress, in addition artificial intelligence, deep learning, machine vision
Etc. the continuous progress of computer technology, various industrial robots, indoor service robot emerge in an endless stream, machine
People has gradually entered into the life of people.The mode of people and robot interactive mainly has remote control, voice, body
Sense etc., speech recognition can only recognize a part of voice command, also have for the semantic understanding of natural language very big
Difficulty, body-sensing needs the support of more multi-sensor data and complicated algorithm, and remote control mode it is then relatively simple,
Reliably, control instruction is sent directly to robot.
The mode of remote-controlled robot is varied, for example, pass through computor-keyboard, game paddle, terminal etc.；
At present, the control mode of terminal be install an application software, application software shown on screen it is upper and lower,
Left and right four buttons, press key, and robot advances, by left button, robot left-hand rotation etc. and machine
The movement velocity of people is the fixed value of setting.
The mode of existing terminal control machine people is more dull, and such control mode almost passes through electricity with user
Brain Keyboard Control is the same, and user does not have real time control machine device human action, the real-time experience of speed.
The content of the invention
In view of this, the embodiment of the present invention expect to provide a kind of control method based on pressure sensitive, device and
System, based on pressure sensitive and slip gesture, realizes flexible, the accurate manipulation to mobile robot so that
Man-machine interaction is more friendly.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
The embodiments of the invention provide a kind of control method based on pressure sensitive, methods described includes：
Obtain the pressure information received；
First kinematic parameter is determined according to the pressure information；
First kinematic parameter is sent to outside controlled device, first kinematic parameter is described for controlling
Outside controlled device is moved.
It is described that first kinematic parameter is determined according to the pressure information in such scheme, including：
According to default corresponding relation, corresponding first kinematic parameter of the pressure information is determined；
The default corresponding relation includes：Preset the pressure value scope and described first in the pressure information
The mapping relations of the span of kinematic parameter.
It is described that first kinematic parameter is determined according to the pressure information in such scheme, including：
Statistics specifies each pressure information received in the period, it is determined that the first fortune corresponding with the period
Dynamic parameter.
In such scheme, the statistics specifies each pressure information for receiving in the period, it is determined that with it is described when
Between corresponding first kinematic parameter of section, including：
Timesharing obtains the pressure information received；
The corresponding kinematic parameter of timesharing first is determined according to each pressure information；
Moving average filter is weighted to each kinematic parameter of timesharing first, by the weighting moving average
Filtered result is defined as first kinematic parameter；
It is described moving average filter is weighted to each kinematic parameter of timesharing first to include：Preset each timesharing
The weights of first kinematic parameter；The product that each kinematic parameter of timesharing first is multiplied by into correspondence weights is added, will
The sum is defined as first kinematic parameter；
The corresponding weights sum of the kinematic parameter of each timesharing first is 1.
In such scheme, methods described also includes：
According to the kinematic parameter of history timesharing first of the current kinematic parameter of timesharing first, and predetermined number, lead to
Cross the weighting moving average filter and determine the first current kinematic parameter.
It is described that first kinematic parameter is determined according to the pressure information in such scheme, including：According to described
Pressure information determines movement velocity.
In such scheme, methods described also includes：
Slip gesture information is obtained, the second kinematic parameter is determined according to the slip gesture information；
Second kinematic parameter is sent to the outside controlled device；
Entered according to first kinematic parameter, and/or second kinematic parameter control outside controlled device
Row motion.
It is described that second kinematic parameter is determined according to the slip gesture information in such scheme, including：According to
The slip gesture information determines the direction of motion and/or movement angle；
The slip gesture information includes：Sliding type and/or slip angle.
The embodiment of the present invention additionally provides a kind of control device based on pressure sensitive, and described device includes：Obtain
Modulus block, determining module and sending module；Wherein,
The acquisition module, for obtaining the pressure information received；
The determining module, for determining the first kinematic parameter according to the pressure information；
The sending module, for sending first kinematic parameter to outside controlled device；
First kinematic parameter is used to control the outside controlled device to be moved.
In such scheme, the determining module, specifically for：
According to default corresponding relation, corresponding first kinematic parameter of the pressure information is determined；
The default corresponding relation includes：Preset the pressure value scope and described first in the pressure information
The mapping relations of the span of kinematic parameter.
In such scheme, the acquisition module is additionally operable to count each pressure letter received in the specified period
Breath,
The determining module, is additionally operable to according to each pressure information received in timing statisticses section, it is determined that
The first kinematic parameter corresponding with the period.
In such scheme, the acquisition module is additionally operable to timesharing and obtains the pressure information received；
The determining module, is additionally operable to：
The corresponding kinematic parameter of timesharing first is determined according to each pressure information；
Moving average filter is weighted to each kinematic parameter of timesharing first, by the weighting moving average
Filtered result is defined as first kinematic parameter；
It is described moving average filter is weighted to each kinematic parameter of timesharing first to include：Preset each timesharing
The weights of first kinematic parameter；The product that each kinematic parameter of timesharing first is multiplied by into correspondence weights is added, will
The sum is defined as first kinematic parameter；
The corresponding weights sum of the kinematic parameter of each timesharing first is 1；
The determining module, is additionally operable to：According to the current kinematic parameter of timesharing first, and predetermined number is gone through
The kinematic parameter of history timesharing first, the first current kinematic parameter is determined by the weighting moving average filter.
In such scheme, the acquisition module is additionally operable to obtain slip gesture information；
The determining module, is additionally operable to determine the second kinematic parameter according to the slip gesture information；
The sending module, is additionally operable to send second kinematic parameter to the outside controlled device；
Wherein, second kinematic parameter is used to control the outside controlled device to be moved.
Control method based on pressure sensitive and device that the embodiment of the present invention is provided, obtain the pressure received
Force information, the first kinematic parameter is determined according to the pressure information, and described first is sent to outside controlled device
Kinematic parameter；The motion of outside controlled device is controlled according to the dynamics of screen is sensed by press pressure；Enter one
Step, the direction of motion and angle of outside controlled device are determined by the slip gesture information received on touch-screen,
Realize flexible, the accurate manipulation to mobile robot so that man-machine interaction is more friendly.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the control method of pressure sensitive of the embodiment of the present invention；
Fig. 2 is that the embodiment of the present invention weights moving average filter handling process schematic diagram；
Fig. 3 is the specific steps schematic diagram that terminal program of the embodiment of the present invention is performed；
Fig. 4 is the specific steps schematic diagram that robot program of the embodiment of the present invention performs；
Fig. 5 is the composition structural representation of the control device of pressure sensitive of the embodiment of the present invention.
Embodiment
In the embodiment of the present invention, the pressure information received is obtained；First fortune is determined according to the pressure information
Dynamic parameter；First kinematic parameter is sent to outside controlled device.
With reference to embodiment, the present invention is further described in more detail.
Control method provided in an embodiment of the present invention based on pressure sensitive, as shown in figure 1, including：
Step 101：Obtain the pressure information that pressure sensitive screen is received；
Here it is possible to obtain the pressure information being subject on terminal pressure sensing screen；When pressure sensitive screen is detected
Finger touch, the pressure sensor of pressure sensitive screen will obtain the size of the pressure during whole touch-control；
Here it is possible to obtain pressure information by the pressure sensor.
Step 102：First kinematic parameter is determined according to the pressure information；
Generally, the mode of controlled device includes the sides such as bluetooth, wireless and mobile communications network outside terminal control
Formula, can be by control parameter by being wirelessly sent to the outside controlled device；
Here, the first kinematic parameter can be the parameter that the outside controlled device of control is moved, and such as transport
Dynamic speed etc., it is possible to sense the difference of pressure by pressure sensitive screen to adjust first kinematic parameter；
Wherein outside controlled device can be robot etc..
In concrete application, the communication that can be set up by radio communication between terminal and controlled machine people, and just
Between beginningization user's finger pressing terminal pressure sensing screen pressure size and outside controlled device movement velocity size
Mapping relations；Robot movement velocity and user's finger press terminal pressure and are sensing the pressure size shielded into just
Than the movement velocity of robot is represented with S, the pressure P tables of user's finger pressing terminal pressure sensing screen
Show, use SmaxThe maximum movement speed of robot is represented, S is usedminThe minimum movement speed of robot is represented, is used
PmaxThe maximum pressure of user's finger pressing terminal pressure sensing screen is represented, P is usedminRepresent user's finger pressing eventually
The minimum pressure of end pressure sensing screen；The pressure size and robot of user's finger pressing terminal pressure sensing screen
Linear mapping relation is used between movement velocity size, its mapping relations can be represented with expression formula (1)：
Wherein, SmaxAnd SminDetermined in itself by robot, communication link can be set up in robot and control terminal
When connecing, the S is obtained from robotic end by terminalmaxAnd Smin；PmaxAnd PminDetermined by terminal pressure sensing capability
It is fixed, P can be presetmaxAnd PminValue；In this way, can be determined corresponding according to the pressure value of acquisition
Robot movement velocity.
Because the pressure that user's press pressure senses screen is jiggly, in order that outside controlled device is more stable
Smooth operation, several split time points can be at the appointed time set in section, are obtained in each split time point
The pressure information that the pressure sensitive screen is subject to；Determine that corresponding timesharing first is transported according to each pressure information
Dynamic parameter；Moving average filter is weighted to each kinematic parameter of timesharing first, the weighting is slided
Result after average filter is defined as first kinematic parameter；Further, can be according to current timesharing
One kinematic parameter, and predetermined number the kinematic parameter of history timesharing first, by weighting moving average filter
Processing determines the first current kinematic parameter；The the first motion ginseng calculated using the weighting moving average
Controlled device described in numerical control system so that the outside more stable smooth operation of controlled device.
Specifically, pressure information can be obtained in due order with timesharing, and to the corresponding robot of each pressure information
Timesharing movement velocity S' does weighting moving average filter processing；Expression can be used by weighting moving average filter processing
Formula (2) is represented：
Wherein, S'(i) represent ith robot movement velocity, CiRepresent ith robot movement velocity
Weight coefficient, N represents that being weighted moving average filter handles the robot movement velocity value number stored,
Represent the filtering output value of robot movement velocity；For the weight coefficient of the movement velocitys of Ge Ci robots
Relation can be preset, the relation for each weight coefficient that can be represented using expression formula (3)：
The specific steps of robot movement velocity S weighting moving average filter processing can be with as shown in Fig. 2 bag
Include：
Step 1201：Initialize N=5, i=1, C1=1/15, C2=2/15, C3=3/15, C4=4/15, C5=5/15,
Set up the array Buf that a size is N；
Step 1202：Obtain the movement velocity of robot and be designated as S'(i), store S'(i) arrive Buf, i=i+1；
Step 1203：Judge whether i is more than or equal to N, if it is, into step 1024；Otherwise, return
Return step 1202；
Step 1204：The filtering output value of robot movement velocity is obtained using formula (2)By Buf
In first velocity amplitude S'(1) remove, S'(1), S'(1), S'(1) ..., S'(N) it is overall move to left, i=N；
Step 1205：Return to step 1202, constantly circulation.
Here it is possible to by the filtering output value of the expression movement velocity calculatedIt is used as the first kinematic parameter.
Further, touch function is had on the pressure sensitive screen of usual terminal, slip gesture letter can be obtained
Breath, can determine the second kinematic parameter according to the slip gesture information；
Specifically, the second kinematic parameter can be the direction of motion, and/or angle；Can be according to user in terminal
Glide direction on pressure sensitive screen, and/or slip angle determine the second kinematic parameter；Robot motion's
Action can include four classes：Advance, retreat, turn left and turn right；Shield when user's finger senses in terminal pressure
Upward sliding, can indicate that robot advances；Shield slide downward when user's finger senses in terminal pressure, can
To indicate that robot is retreated；When user's finger is in terminal pressure sensing screen slid clockwise, machine can be indicated
People turns right；When user's finger is slided counterclockwise in terminal pressure sensing screen, it can indicate that robot turns left；With
Family finger senses the angle slided clockwise or counterclockwise of screen in terminal pressure, can indicate robot turn left,
Or angle when turning right.
Step 103：First kinematic parameter is sent to outside controlled device；
Here it is possible to send institute to outside controlled device using modes such as bluetooth, wireless and mobile communication networks
State the first kinematic parameter；
Further, can also send second movement parameter simultaneously, or, two parameters one are risen
Give the outside controlled device.Outside controlled device is moved according to first kinematic parameter, and/or second
Parameter is moved.
In actual applications, the mapping and described first of the pressure information and first kinematic parameter
The determination of kinematic parameter can also be carried out in the outside controlled device；Terminal can believe the pressure of acquisition
Breath is sent to the outside controlled device, and outside controlled device can be by the pressure information and the speed of itself
Mapped etc. parameter, so that it is determined that the first kinematic parameter, and transported according to the setting of the first kinematic parameter
It is dynamic；Further, the outside controlled device can also count each pressure letter received in the specified period
Breath, it is determined that the first kinematic parameter corresponding with the period；The outside controlled device can also receive end
Hold the glide direction of touch-screen, and/or slip angle information, so that it is determined that the second kinematic parameter, and according to the
Two kinematic parameters are moved.
Method provided in an embodiment of the present invention, can be applied in the control of the devices such as telecontrolled aircraft, drone
In, the revolution speed of propeller of the pressure information and telecontrolled aircraft can be mapped, play control rotating speed
Effect.
The use of the present invention is described in further detail with reference to specific example.
Here, the control of the direction of motion, angle and speed is carried out by terminal-pair external robots；Such as Fig. 3
Shown, what is performed in terminal comprises the following steps that：
The action of motion includes four classes：Advance, retreat, turn left and turn right, respectively with F, B, L and R table
Show；When user's finger is in terminal pressure sensing screen upward sliding, A is usedupRepresent, indicate that robot advances；When
User's finger uses A in terminal pressure sensing screen slide downwarddownRepresent, indicate that robot is retreated；Work as user
Finger uses A in terminal pressure sensing screen slid clockwiseclockwiseRepresent, indicate that robot turns right；Work as user
Finger is slided counterclockwise in terminal pressure sensing screen, uses AcounterclockwiseRepresent, indicate that robot turns left；Machine
People's movement velocity and the pressure size of user's finger pressing terminal pressure sensing screen are directly proportional, the motion of robot
Speed represents that the pressure of user's finger pressing terminal pressure sensing screen represents that user's finger is at end with P with S
Sliding type A on end pressure sensing screenuserRepresent, the action A that robot is performedrobotRepresent；Use Smax
The maximum movement speed of robot is represented, S is usedminRepresent the minimum movement speed of robot；User is represented with D
Finger senses the angle that screen is slided clockwise or counterclockwise in terminal pressure；Use PmaxRepresent user's finger pressing eventually
The maximum pressure of end pressure sensing screen, uses PminRepresent the minimum pressure of user's finger pressing terminal pressure sensing screen.
Step 301：The communication set up by bluetooth between terminal and robot, S is initialized according to actualmax、
Smin、PmaxAnd Pmin, meanwhile, initialize D=0；
Step 302：Screen is sensed by terminal pressure and touch-screen perceives the sliding type A of user's finger respectivelyuser、
Finger presses the pressure P and slip angle D, A of touch-screenuserValue can use expression formula (4) table
Show：
Wherein, A is worked asuser=AupWhen, user gesture is upward sliding, D=0：Work as Auser=AdownWhen, user
Gesture is slide downward, D=0；Work as Auser=AclockwiseWhen, the angle of D=slid clockwises；When
Auser=AcounterclockwiseWhen, the angle that D=is slided counterclockwise；
Step 303：The pressure value P obtained in step 302 is substituted into formula (1), point of robot is obtained
Shi Yundong velocity magnitudes S'；
Step 304：The step of being handled by above-mentioned robot timesharing movement velocity S' weighting moving average filters pair
The robot movement velocity obtained is done digital filtering processing and obtained
Step 305：By the sliding type A of user's finger in step 302userValue, the slip angle of user's finger
The robot movement velocity size that D values and step 304 are obtainedValue is merged, and constitutes a packet,
Plus data packet head and calculate verification and, be sent to robot finally by bluetooth.Robot receives the data
Parsed after bag, its direction of motion and movement velocity are changed according to analysis result；
Step 306：Return to step 302, constantly circulation.
As shown in figure 4, what is performed in robot comprises the following steps that：
Step 401：The communication set up by bluetooth between robot and terminal, initializes D=0, Arobot=F,
Step 402：Reading terminals be sent to the packet of robot and calculate verification and, if calculate school
Test and with terminal calculate verification and unanimously, illustrate there is no mistake in data transmission procedure, robot is parsed
A in packetuser, D andAccording to AuserValue to ArobotAssignment such as expression formula (5) is represented：
If the verification calculated and the verification and inconsistent calculated with terminal, illustrate wrong in data transmission procedure
By mistake, the packet is ignored by robot；
Step 403：Robot performs the action A in step 402robot, and robot is changed according to D values
The direction of motion, changes the movement velocity of robot according to S values.Robot changes its direction of motion according to D values
When can use relative change, that is, robot last time be rotated after the position starting that is used as rotate next time
Position；
Step 404：Return to step 402, constantly circulation.
It is repeated continuously according to above-mentioned steps, so that it may realize and sense flexible control machine people's based on terminal pressure
Motion.
Control device provided in an embodiment of the present invention based on pressure sensitive, as shown in figure 5, described device bag
Include：Acquisition module 51, determining module 52 and sending module 53；Wherein,
The acquisition module 51, for obtaining the pressure information received,
Here it is possible to obtain the pressure information being subject on terminal pressure sensing screen；When pressure sensitive screen is detected
Finger touch, the pressure sensor of pressure sensitive screen will obtain the size of the pressure during whole touch-control；
Here it is possible to obtain pressure information by the pressure sensor.
The determining module 52, for determining the first kinematic parameter according to the pressure information；
Generally, the mode of controlled device includes the sides such as bluetooth, wireless and mobile communications network outside terminal control
Formula, can be by control parameter by being wirelessly sent to the outside controlled device；
Here, the first kinematic parameter can be the parameter that the outside controlled device of control is moved, and such as transport
Dynamic speed etc., it is possible to sense the difference of pressure by pressure sensitive screen to adjust first kinematic parameter；
Wherein outside controlled device can be robot etc..
In concrete application, the communication that can be set up by radio communication between terminal and controlled machine people, and just
Between beginningization user's finger pressing terminal pressure sensing screen pressure size and outside controlled device movement velocity size
Mapping relations；Robot movement velocity and user's finger press terminal pressure and are sensing the pressure size shielded into just
Than the movement velocity of robot is represented with S, the pressure P tables of user's finger pressing terminal pressure sensing screen
Show, use SmaxThe maximum movement speed of robot is represented, S is usedminThe minimum movement speed of robot is represented, is used
PmaxThe maximum pressure of user's finger pressing terminal pressure sensing screen is represented, P is usedminRepresent user's finger pressing eventually
The minimum pressure of end pressure sensing screen；The pressure size and robot of user's finger pressing terminal pressure sensing screen
Linear mapping relation is used between movement velocity size, its mapping relations can be represented with expression formula (1)；Its
In, SmaxAnd SminDetermined in itself by robot, can when robot and control terminal set up communication connection,
By terminal the S is obtained from robotic endmaxAnd Smin；PmaxAnd PminDetermined by terminal pressure sensing capability, can
To preset PmaxAnd PminValue；In this way, corresponding robot can be determined according to the pressure value of acquisition
Movement velocity.
Because the pressure that user's press pressure senses screen is jiggly, in order that outside controlled device is more stable
Smooth operation, several split time points can be at the appointed time set in section, are obtained in each split time point
The pressure information that the pressure sensitive screen is subject to；Determine that corresponding timesharing first is transported according to each pressure information
Dynamic parameter；Moving average filter is weighted to each kinematic parameter of timesharing first, the weighting is slided
Result after average filter is defined as first kinematic parameter；Further, can be according to current timesharing
One kinematic parameter, and predetermined number the kinematic parameter of history timesharing first, by weighting moving average filter
Processing determines the first current kinematic parameter；The the first motion ginseng calculated using the weighting moving average
Controlled device described in numerical control system so that the outside more stable smooth operation of controlled device.
Specifically, pressure information can be obtained in due order with timesharing, and to the corresponding robot of each pressure information
Timesharing movement velocity S' does weighting moving average filter processing；Expression can be used by weighting moving average filter processing
Formula (2) is represented；Wherein, S'(i) represent ith robot movement velocity, CiRepresent ith robot fortune
The weight coefficient of dynamic speed, N represents to be weighted the robot movement velocity of moving average filter processing storage
It is worth number,Represent the filtering output value of robot movement velocity；For the movement velocity of Ge Ci robots
The relation of weight coefficient can be preset, the relation for each weight coefficient that can be represented using expression formula (3)；
As shown in Fig. 2 robot movement velocity S weights comprising the following steps that for moving average filter processing：
Initialize N=5, i=1, C1=1/15, C2=2/15, C3=3/15, C4=4/15, C5=5/15, set up one big
The small array Buf for N；
Step 1202：Obtain the movement velocity of robot and be designated as S'(i), store S'(i) arrive Buf, i=i+1；
Step 1203：Judge whether i is more than or equal to N, if it is, into step 1024, if not
Then return to step 1202；
Step 1204：The filtering output value of robot movement velocity is obtained using formula (2)By Buf
In first velocity amplitude S'(1) remove, S'(1), S'(1), S'(1) ..., S'(N) it is overall move to left, i=N；
Step 1205：Return to step 1202, constantly circulation.
Here it is possible to by the filtering output value of the expression movement velocity calculatedIt is used as the first kinematic parameter.
Further, touch function is had on the pressure sensitive screen of usual terminal, the acquisition module 51 may be used also
To obtain slip gesture information, the determining module 52 can determine the second fortune according to the slip gesture information
Dynamic parameter；
Specifically, the second kinematic parameter can be the direction of motion, and/or angle；Can be according to user in terminal
Glide direction on pressure sensitive screen, and/or slip angle determine the second kinematic parameter；Robot motion's
Action can include four classes：Advance, retreat, turn left and turn right；Shield when user's finger senses in terminal pressure
Upward sliding, can indicate that robot advances；Shield slide downward when user's finger senses in terminal pressure, can
To indicate that robot is retreated；When user's finger is in terminal pressure sensing screen slid clockwise, machine can be indicated
People turns right；When user's finger is slided counterclockwise in terminal pressure sensing screen, it can indicate that robot turns left；With
Family finger senses the angle slided clockwise or counterclockwise of screen in terminal pressure, can indicate robot turn left,
Or angle when turning right.
The sending module 53, for sending first kinematic parameter to outside controlled device；
Here it is possible to send described the to outside controlled device using modes such as bluetooth, wireless and communication networks
One kinematic parameter；
Further, can also send second movement parameter simultaneously, or, two parameters one are risen
Give the outside controlled device.Outside controlled device is moved according to first kinematic parameter, and/or second
Parameter is moved.
In actual applications, the mapping and described first of the pressure information and first kinematic parameter
The determination of kinematic parameter can also be carried out in the outside controlled device；Terminal can believe the pressure of acquisition
Breath is sent to the outside controlled device, and outside controlled device can be by the pressure information and the speed of itself
Mapped etc. parameter, so that it is determined that the first kinematic parameter, and transported according to the setting of the first kinematic parameter
It is dynamic；Further, the outside controlled device can also count each pressure letter received in the specified period
Breath, it is determined that the first kinematic parameter corresponding with the period；The outside controlled device can also receive end
Hold the glide direction of touch-screen, and/or slip angle information, so that it is determined that the second kinematic parameter, and according to the
Two kinematic parameters are moved.
Device provided in an embodiment of the present invention, can be applied in the control of the devices such as telecontrolled aircraft, drone
In, the revolution speed of propeller of the pressure information and telecontrolled aircraft can be mapped, play control rotating speed
Effect.
In actual applications, acquisition module 51, determining module 52 and sending module 53 can be in terminals
Central processor (CPU), microprocessor (MPU), digital signal processor (DSP), field programmable gate
Array (FPGA) or communication module group etc. are realized.
It is described above, it is only the good embodiment of the present invention, is not intended to limit the scope of the present invention,
Any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (13)
1. a kind of control method based on pressure sensitive, it is characterised in that methods described includes：
Obtain the pressure information received；
First kinematic parameter is determined according to the pressure information；
First kinematic parameter is sent to outside controlled device, first kinematic parameter is described for controlling
Outside controlled device is moved.
2. according to the method described in claim 1, it is characterised in that described to be determined according to the pressure information
First kinematic parameter, including：
According to default corresponding relation, corresponding first kinematic parameter of the pressure information is determined；
The default corresponding relation includes：Preset the pressure value scope and described first in the pressure information
The mapping relations of the span of kinematic parameter.
3. according to the method described in claim 1, it is characterised in that described to be determined according to the pressure information
First kinematic parameter, including：
Statistics specifies each pressure information received in the period, it is determined that the first fortune corresponding with the period
Dynamic parameter.
4. method according to claim 3, it is characterised in that the statistics, which was specified in the period, to be received
Each pressure information arrived, it is determined that the first kinematic parameter corresponding with the period, including：
Timesharing obtains the pressure information received；
The corresponding kinematic parameter of timesharing first is determined according to each pressure information；
Moving average filter is weighted to each kinematic parameter of timesharing first, by the weighting moving average
Filtered result is defined as first kinematic parameter；
It is described moving average filter is weighted to each kinematic parameter of timesharing first to include：Preset each timesharing
The weights of first kinematic parameter；The product that each kinematic parameter of timesharing first is multiplied by into correspondence weights is added, will
The sum is defined as first kinematic parameter；
The corresponding weights sum of the kinematic parameter of each timesharing first is 1.
5. method according to claim 4, it is characterised in that methods described also includes：
According to the kinematic parameter of history timesharing first of the current kinematic parameter of timesharing first, and predetermined number, lead to
Cross the weighting moving average filter and determine the first current kinematic parameter.
6. the method according to any one of claim 1 to 5, it is characterised in that described according to the pressure
Force information determines the first kinematic parameter, including：Movement velocity is determined according to the pressure information.
7. the method according to any one of claim 1 to 5, it is characterised in that methods described also includes：
Slip gesture information is obtained, the second kinematic parameter is determined according to the slip gesture information；
Second kinematic parameter is sent to the outside controlled device；
Entered according to first kinematic parameter, and/or second kinematic parameter control outside controlled device
Row motion.
8. method according to claim 7, it is characterised in that
It is described that second kinematic parameter is determined according to the slip gesture information, including：According to the slip gesture
Information determines the direction of motion and/or movement angle；
The slip gesture information includes：Sliding type and/or slip angle.
9. a kind of control device based on pressure sensitive, it is characterised in that described device includes：Acquisition module,
Determining module and sending module；Wherein,
The acquisition module, for obtaining the pressure information received；
The determining module, for determining the first kinematic parameter according to the pressure information；
The sending module, for sending first kinematic parameter to outside controlled device；
First kinematic parameter is used to control the outside controlled device to be moved.
10. device according to claim 9, it is characterised in that the determining module, specifically for：
According to default corresponding relation, corresponding first kinematic parameter of the pressure information is determined；
The default corresponding relation includes：Preset the pressure value scope and described first in the pressure information
The mapping relations of the span of kinematic parameter.
11. device according to claim 9, it is characterised in that
The acquisition module, is additionally operable to count each pressure information received in the specified period,
The determining module, is additionally operable to according to each pressure information received in timing statisticses section, it is determined that
The first kinematic parameter corresponding with the period.
12. device according to claim 11, it is characterised in that
The acquisition module, is additionally operable to timesharing and obtains the pressure information received；
The determining module, is additionally operable to：
The corresponding kinematic parameter of timesharing first is determined according to each pressure information；
Moving average filter is weighted to each kinematic parameter of timesharing first, by the weighting moving average
Filtered result is defined as first kinematic parameter；
It is described moving average filter is weighted to each kinematic parameter of timesharing first to include：Preset each timesharing
The weights of first kinematic parameter；The product that each kinematic parameter of timesharing first is multiplied by into correspondence weights is added, will
The sum is defined as first kinematic parameter；
The corresponding weights sum of the kinematic parameter of each timesharing first is 1；
The determining module, is additionally operable to：According to the current kinematic parameter of timesharing first, and predetermined number is gone through
The kinematic parameter of history timesharing first, the first current kinematic parameter is determined by the weighting moving average filter.
13. the device according to any one of claim 9 to 12, it is characterised in that
The acquisition module, is additionally operable to obtain slip gesture information；
The determining module, is additionally operable to determine the second kinematic parameter according to the slip gesture information；
The sending module, is additionally operable to send second kinematic parameter to the outside controlled device；
Wherein, second kinematic parameter is used to control the outside controlled device to be moved.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610261085.8A CN107305464A (en) | 2016-04-25 | 2016-04-25 | A kind of control method and device based on pressure sensitive |
| PCT/CN2016/087629 WO2017185512A1 (en) | 2016-04-25 | 2016-06-29 | Control method and device based on pressure sensing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610261085.8A CN107305464A (en) | 2016-04-25 | 2016-04-25 | A kind of control method and device based on pressure sensitive |
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| WO (1) | WO2017185512A1 (en) |
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