CN107322594A - One kind is paddled robot control method and the robot that paddles - Google Patents
One kind is paddled robot control method and the robot that paddles Download PDFInfo
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- CN107322594A CN107322594A CN201710494161.4A CN201710494161A CN107322594A CN 107322594 A CN107322594 A CN 107322594A CN 201710494161 A CN201710494161 A CN 201710494161A CN 107322594 A CN107322594 A CN 107322594A
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- paddles
- paddled
- return voyage
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 47
- 230000009189 diving Effects 0.000 claims description 30
- 230000008859 change Effects 0.000 claims description 5
- 230000011664 signaling Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 10
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000005183 dynamical system Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005587 bubbling Effects 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000012736 aqueous medium Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Paddled robot control method the invention discloses one kind, the described robot that paddles is communicated to connect with intelligent terminal, it is characterized in that, described method includes, the described communication signal strength paddled between robot and intelligent terminal of monitoring, and judge whether the communication signal strength monitored is less than given threshold, if the determination result is YES, then control the described robot that paddles to make a return voyage.By when the signal intensity for detecting paddle robot and intelligent terminal is weak in the present invention, the control robot that paddles actively makes a return voyage or is back to the stronger position of signal, so as to avoid because maloperation causes robot lost contact of paddling, the appearance of problem out of control, it is ensured that robot safety work under the control of intelligent terminal of paddling.
Description
Technical field
The present invention relates to robot field, more particularly to one kind is paddled robot control method and the robot that paddles.
Background technology
Paddle the appearance of robot, allow people to carry out underwater visualization fishing and take pictures under water to wait movable, with skill
The development of art level, the application field for the robot that paddles also will be more and more wider.Therefore how to position and navigation paddled robot,
An important technology as robot research field of paddling.
At present, sonar navigation and ranging, are a kind of using the underwater propagation characteristic of sound wave, pass through electroacoustic conversion and information
Processing, carries out the technology of Underwater Target Detection, positioning and tracking.And GPS is global positioning system, it is one and is defended by 24 communications
Star composition, can be with the communication system of positioning and navigation covering the whole world.It can collect the longitude and latitude and height of observation station,
To realize the functions such as navigation, positioning, time service.This technology can be for guiding ship, vehicle and individual, safely and accurately
Maked a return voyage along selected route.
Paddle robot field prior art shortcoming it is as follows：
It is waterborne and under water that (1) two kind of location and navigation technology is that sonar navigation and GPS can not be applied to simultaneously, and sonar is positioned
Technology can only be used for detecting landform under water, form image, and GPS technology can only be positioned and navigated to object waterborne.
(2) paddle robot in water with control device waterborne broken string, lose Control on Communication in the case of, paddle robot
The position of people waterborne or control device can not be known, it is impossible to make a return voyage.
In view of this, it is special to propose the present invention.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art to be paddled robot controlling party there is provided one kind
Method and system, by when the signal intensity for detecting paddle robot and intelligent terminal is weak, the control robot that paddles actively is returned
The stronger position of signal is navigated or is back to, so as to avoid because maloperation causes robot lost contact of paddling, problem out of control goes out
It is existing, it is ensured that robot safety work under the control of intelligent terminal of paddling.
In order to solve the above technical problems, the basic conception of the technical solution adopted by the present invention is：
One kind is paddled robot control method, and the described robot that paddles is communicated to connect with intelligent terminal, described method
Including, the communication signal strength paddled between robot and intelligent terminal described in the control unit monitoring for the robot that paddles, and
Judge whether the communication signal strength monitored is less than given threshold, if the determination result is YES, then control described machine of paddling
People is maked a return voyage.
It is preferred that, the described robot that paddles according to the initial position message gathered before the setting out of current location and storage,
The return route that described initial position is marched to by current location is generated, the described robot that paddles is returned according to the return route
Boat.
Or described position of the robot according to where current location and intelligent terminal of paddling, generate and advanced by current location
To the return route of intelligent terminal position, the described robot that paddles makes a return voyage according to the return route.
It is preferred that, the first locating module is provided with the described robot that paddles,
Described robot first described locating module of its control unit control before setting out of paddling obtains initial position
Information, when making a return voyage, described control unit controls the first locating module to obtain current location information, so as to obtain road of making a return voyage
Line, the robot that paddles makes a return voyage according to the return route.
It is preferred that, the first locating module is provided with the described robot that paddles, described intelligent terminal is provided with second
Locating module, when the described robot that paddles makes a return voyage, the present bit that its control unit is gathered according to the first described locating module
Positional information generation return route where the intelligent terminal that confidence is ceased and the second locating module is gathered, the described robot that paddles
Maked a return voyage according to the return route.
It is preferred that, the described robot that paddles is connected with intelligent terminal by cable, and the first described locating module is GPS
Module, the described control unit robot that controls to paddle first bubbles through the water column, and then controls described GPS module to open to obtain
Described current location information；
In such scheme, because the robot that paddles can be by tele-control system remote control, but work as machine of paddling
When people dives beneath the water, GPS module can not obtain current location, it is necessary to which the GPS module can after the robot that paddles bubbles through the water column
Get current location information.
Or the described robot that paddles includes diving main body and bubbling through the water column and connected with described diving main body by cable
The operating office connect, described operating office and intelligent terminal wireless connection, the first described locating module are arranged on operating office.
, then need not when obtaining current location when the first locating module is arranged on operating office in such scheme
The control robot that paddles bubbles through the water column.
Certain, the first described locating module can also be arranged in diving main body, the control unit for the robot that paddles
Control diving main body is bubbled through the water column first, then controls described the first locating module (GPS module) to open described to obtain
Current location information.
In such scheme, because GPS module is arranged in diving main body, then main body is dived under water when pulling the plug, it is impossible to
The positional information of diving main body is got, therefore, now when the robot that paddles needs to make a return voyage, its control unit controls to relate to first
The dynamical system action control diving main body of water robot is bubbled through the water column, and GPS module is surfaced, current so as to get
Positional information.
It is preferred that, the described robot that paddles includes underwater video acquisition module, for gathering underwater video letter in real time
Cease and send to intelligent terminal to be shown to user in real time by intelligent terminal, described given threshold is that can ensure intelligent terminal
The minimum of corresponding communication signal strength value during the underwater video that smooth playing is gathered in real time.
In such scheme, paddle robot apart from intelligent terminal farther out when, both communication signal strengths are not high, when
The signal of communication can not meet the underwater video for ensureing that intelligent terminal smooth playing is gathered in real time, then robot diving operation of paddling
Big meaning is substantially lost, the robot that now paddles actively makes a return voyage or marches to communication signal strength value in normal model
In enclosing, so as to enhance the intelligent level of the robot that paddles, Consumer's Experience is good.
It is preferred that, described paddles robot during making a return voyage, and monitors that signal of communication is higher than described given threshold
Afterwards, prompting message is sent to intelligent terminal, asks the user whether that selection cancellation is maked a return voyage, and after user's selection confirms, cancellation is returned
Boat, receives user's control instruction, and perform corresponding action.
In such scheme, the user robot that may be not intended to paddle when the signal for the robot that paddles is not good is directly returned
Boat, but in way of making a return voyage, is higher than described given threshold, then when the robot that paddles is detected with the signal of communication of intelligent terminal
User is pointed out, is maked a return voyage to prevent the standby user robot that is not intended to paddle.
It is preferred that, described method comprises the following steps：
S1, robot diving operation of paddling, and the communication signal strength between intelligent terminal is monitored, if monitoring described
Communication signal strength be less than given threshold, then into step S2, otherwise into step S1；
Whether the signalling channel that S2, judgement are paddled between robot and intelligent terminal disconnects, and if the determination result is YES, then enters
Enter step S3, otherwise into step S4；
S3, the robot that paddles bubble through the water column, control the first locating module collection current location information, and according to initial position
Information marches to described initial position, and control terminates；
S4, the robot that paddles are bubbled through the water column, and the first locating module of control collection current location information is simultaneously being received by second
After the positional information of the intelligent terminal of locating module collection, advanced towards intelligent terminal position, until communication signal strength
After described given threshold, prompt message is sent to intelligent terminal, asks the user whether that selection cancellation is maked a return voyage, if detecting
User's selection confirms that the robot that otherwise paddles continues to make a return voyage to intelligent terminal position, and control terminates then into step S1.
It is preferred that, in step sl, in addition to the robot that paddles control unit described in monitoring paddle robot with
When communication signal strength between intelligent terminal is close to described given threshold, prompt message is sent to intelligent terminal, intelligence is eventually
Termination is received points out user to change robot direct of travel of paddling after the prompt message.
In such scheme, by remind user paddle robot signal close to described given threshold, user can be
Actively changed course after prompting by the intelligent terminal control robot that paddles, to avoid paddling, robot makes a return voyage automatically.
The present invention also provides a kind of robot that paddles using described robot control method of paddling simultaneously.
By when the signal intensity for detecting paddle robot and intelligent terminal is weak, controlling the robot that paddles in the present invention
Actively make a return voyage or be back to the stronger position of signal, robot lost contact of paddling is caused because of maloperation so as to avoid, it is out of control to ask
The appearance of topic, it is ensured that robot safety work under the control of intelligent terminal of paddling.
The embodiment to the present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Accompanying drawing is as the part of the present invention, and for providing further understanding of the invention, of the invention is schematic
Embodiment and its illustrate to be used to explain the present invention, but do not constitute inappropriate limitation of the present invention.Obviously, drawings in the following description
Only some embodiments, to those skilled in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.In the accompanying drawings：
Fig. 1 is robot control method flow chart of paddling in embodiment three；
Fig. 2 is a kind of communication implementation figure of robot of paddling；
Fig. 3 is another communication implementation figure of robot of paddling.
In figure：1st, paddle robot；11st, diving main body；12nd, operating office；2nd, intelligent terminal；3rd, sonar contact module；4、
Operating office.
It should be noted that these accompanying drawings and word description are not intended as the design model for limiting the present invention in any way
Enclose, but be that those skilled in the art illustrate idea of the invention by reference to specific embodiment.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in embodiment is clearly and completely described, following examples be used for illustrate the present invention, but
It is not limited to the scope of the present invention.
It is term " on ", " under ", "front", "rear", "left", "right", " perpendicular in the description of the invention, it is necessary to explanation
Directly ", the orientation or position relationship of the instruction such as " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment one
There is provided one kind in the present embodiment to paddle robot control method, described paddle robot and intelligent terminal communication link
Connect, described method includes, the control unit monitoring for the robot that paddles is described to paddle leading between robot and intelligent terminal
Believe signal intensity, and judge whether the communication signal strength monitored is less than given threshold, if the determination result is YES, then control institute
The robot that paddles stated makes a return voyage.
It is preferred that, the described robot that paddles according to the initial position message gathered before the setting out of current location and storage,
The return route that described initial position is marched to by current location is generated, the described robot that paddles is returned according to the return route
Boat.
Or described position of the robot according to where current location and intelligent terminal of paddling, generate and advanced by current location
To the return route of intelligent terminal position, the described robot that paddles makes a return voyage according to the return route.
It is preferred that, the first locating module is provided with the described robot that paddles,
Described robot first described locating module of its control unit control before setting out of paddling obtains initial position
Information, when making a return voyage, described control unit controls the first locating module to obtain current location information, so as to obtain road of making a return voyage
Line, the robot that paddles makes a return voyage according to the return route.
In such scheme, it is that the robot that can be achieved to paddle makes a return voyage only to set a locating module, it is preferred that described determines
Position module is GPS module, in the present embodiment, only sets a GPS module to get initial position when the robot that paddles sets out
Information, and when to be maked a return voyage, current location information is got, so that return route can be obtained by two position coordinateses.
Embodiment two
The difference of embodiment two and embodiment one is, two locating modules are included altogether, shown in Figure 2, described
Paddle and be provided with the first locating module in robot 1, described intelligent terminal 2 is provided with the second locating module, and described paddles
When robot 1 makes a return voyage, current location information and the second positioning mould that its control unit is gathered according to the first described locating module
Positional information generation return route where the intelligent terminal of block collection, the described robot 1 that paddles is returned according to the return route
Boat.
In the present embodiment, by setting the second locating module on intelligent terminal, then the robot that paddles can make a return voyage to intelligence
Position where terminal, so that intelligent higher.User may walk about on the coast when robot is paddled in operation, change ground
Position is managed, now then when the robot that paddles will make a return voyage, intelligent terminal sends its positional information to the robot that paddles, machine of paddling
People is obtained behind the position and current location of intelligent terminal, can generate return route, the robot that paddles makes a return voyage according to the return route
Position to where initial intelligent terminal.
Embodiment three
It is shown in Figure 2, further disclosed in embodiment three on the basis of embodiment one and embodiment two described
The robot 1 that paddles is connected with intelligent terminal 2 by cable, and the first described locating module is GPS module, described control unit
The control robot that paddles bubbles through the water column first, then controls described GPS module to open to obtain described current location information；
In such scheme, because the robot that paddles can be by tele-control system remote control, but work as machine of paddling
When people dives beneath the water, GPS module can not obtain current location, it is necessary to which the GPS module can after the robot that paddles bubbles through the water column
Get current location information.The described robot that paddles controls the first locating module to obtain present bit confidence after bubbling through the water column
Breath, and maked a return voyage according to the initial position message of the storage control robot that paddles, or, the second positioning mould is provided with intelligent terminal
Block (being also GPS module), the second locating module sends the positional information where the intelligent terminal of collection to paddling by cable
Robotic end, so that control unit can produce return route according to the positional information of two locating modules, so as to control the machine of paddling
Device people is maked a return voyage.
On the other hand, the described robot that paddles can also include following structure：
Shown in Figure 3, the described robot 1 that paddles includes diving main body 11 and bubbled through the water column and described diving master
The operating office 12 that body 11 is connected by cable, described operating office 12 and the wireless connection of intelligent terminal 2, the first described positioning mould
Block is arranged on operating office 12.
In such scheme, when the first locating module is arranged on operating office 12, then it is not required to when obtaining current location
The robot that controls to paddle bubbles through the water column.
Wherein, intelligent terminal sends wireless control signal to operating office, and operating office receives after signal, wireless signal is changed
For wire signal by cable transmission to diving under water in main body, the signal of diving main body collection is extremely communicated by cable transmission first
Stand, then wireless signal is converted to by operating office and send to intelligent terminal.
Certain, the first locating module can also be not arranged on operating office, and is arranged in diving main body, as diving master
When body is dived beneath the water, it is impossible to radio communication is directly realized with the intelligent terminal outside aqueous medium, therefore floats on water described in setting
The operating office in face, diving main body be connected with operating office by cable, the operating office include wireless module with intelligent terminal without
Line is connected.
Because GPS module is arranged in diving main body, then main body is dived under water when pulling the plug, it is impossible to get diving main body
Positional information, therefore, now when the robot that paddles needs to make a return voyage, its control unit controls to paddle first the power of robot
System acting control diving main body is bubbled through the water column, and GPS module is surfaced, so as to get current positional information.
It is preferred that, the described robot that paddles includes underwater video acquisition module, for gathering underwater video letter in real time
Cease and send to intelligent terminal to be shown to user in real time by intelligent terminal, described given threshold is that can ensure intelligent terminal
The minimum of corresponding communication signal strength value during the underwater video that smooth playing is gathered in real time.
In such scheme, paddle robot apart from intelligent terminal farther out when, both communication signal strengths are not high, when
The signal of communication can not meet the underwater video for ensureing that intelligent terminal smooth playing is gathered in real time, then robot diving operation of paddling
Big meaning is substantially lost, the robot that now paddles actively makes a return voyage or marches to communication signal strength value in normal model
In enclosing, so as to enhance the intelligent level of the robot that paddles, Consumer's Experience is good.
Wherein, described control unit marches to communication signal strength value by the control robot that paddles along return route
During higher than described given threshold, control paddle robot stop make a return voyage, wait user assign control instruction.
On the other hand, it is described to paddle robot during making a return voyage, monitor that signal of communication is higher than described setting threshold
After value, prompting message is sent to intelligent terminal, asks the user whether that selection cancellation is maked a return voyage, and after user's selection confirms, cancel
Make a return voyage, receive user's control instruction, and perform corresponding action.
In such scheme, the user robot that may be not intended to paddle when the signal for the robot that paddles is not good is directly returned
Boat, but in way of making a return voyage, is higher than described given threshold, then when the robot that paddles is detected with the signal of communication of intelligent terminal
User is pointed out, is maked a return voyage to prevent the standby user robot that is not intended to paddle.
It is preferred that, shown in Figure 1, described control method comprises the following steps：
S1, robot diving operation of paddling, and the communication signal strength between intelligent terminal is monitored, if monitoring described
Communication signal strength be less than given threshold, then into step S2, otherwise into step S1；
Whether the signalling channel that S2, judgement are paddled between robot and intelligent terminal disconnects, and if the determination result is YES, then enters
Enter step S3, otherwise into step S4；
S3, the robot that paddles bubble through the water column, control the first locating module collection current location information, and according to initial position
Information marches to described initial position, and control terminates；
S4, the robot that paddles are bubbled through the water column, and the first locating module of control collection current location information is simultaneously being received by second
After the positional information of the intelligent terminal of locating module collection, advanced towards intelligent terminal position, until communication signal strength
After described given threshold, prompt message is sent to intelligent terminal, asks the user whether that selection cancellation is maked a return voyage, if detecting
User's selection confirms that the robot that otherwise paddles continues to make a return voyage to intelligent terminal position, and control terminates then into step S1.
It should be noted that when machine of paddling includes diving main body and during operating office, and the first locating module be arranged on it is latent
In water main body, then in above-mentioned rate-determining steps, the robot that paddles refers to main body of diving under water.
It is preferred that, in step sl, in addition to the robot that paddles control unit described in monitoring paddle robot with
When communication signal strength between intelligent terminal is close to described given threshold, prompt message is sent to intelligent terminal, intelligence is eventually
Termination is received points out user to change robot direct of travel of paddling after the prompt message.
In such scheme, by remind user paddle robot signal close to described given threshold, user can be
Actively changed course after prompting by the intelligent terminal control robot that paddles, to avoid paddling, robot makes a return voyage automatically.
It is preferred that, the control unit for the robot that paddles detects the robot that paddles and dived beneath the water, then controls GPS module to close
Close, control unit detect the robot that paddles bubble through the water column then control GPS module be opening, so as to save electric energy.
Further, described control unit also can detect the information about power of the battery module for the robot that paddles, and in inspection
When the electricity for measuring the battery module is less than electricity given threshold, the control robot that paddles directly makes a return voyage.
Example IV
Difference in example IV with the various embodiments described above is, sonar is additionally provided with the described robot that paddles
Detecting module, for when main body of diving under water is dived beneath the water, detecting environmental information under water, then now, in robot detection of paddling
To when being less than described given threshold with the signal of communication of intelligent terminal, the user's control robot that paddles is pointed out to make a return voyage, then user
The underwater environment that can be detected by sonar contact module realizes the positioning to the robot that paddles, so that the robot that controls to paddle is returned
Boat.Simultaneously as the robot that paddles is additionally provided with underwater video acquisition module, then further combined with sonar contact module and under water
Environmental information around the robot that paddles of video acquisition module collection can determine that the positional information for the robot that paddles, so that user
It can be maked a return voyage by the intelligent terminal control robot that paddle, without paddling, robot makes a return voyage automatically.
Embodiment five
In embodiment five, disclose the robot that paddles and employ the positioning and make a return voyage that sonar contact and GPS navigation be combined
Technology.Wherein, the robot that paddles can be connected with intelligent terminal wireless telecommunications on the bank, can also connect logical by cable
Letter.
When such as under water, sonar detection module transmitting sound wave beam, wave beam reflects by barrier, and sonar capsule receives anti-
The voice signal penetrated, is translated into electric signal.The information that the control module of sonar detection module scans sonar capsule is to scheme
The form of picture is transferred on intelligent terminal waterborne.Intelligent terminal carrys out wired or wireless control according to the obstacle information detected
Robot dynamical system of paddling is made, robot is advanced or is maked a return voyage.
When there is subsurface communication open circuit or the weak situation of signal, the robot that paddles can send finger to its own dynamical system
Order, makes on it climbs up on top of the water automatically.Now the GPS in robot starts working, and receives satellite positioning information.And obtain intelligence on the bank
The GPS position information of energy terminal, makes a return voyage to the position of intelligent terminal.
It is certain, communicate under water it is normal in the case of, this mode may also be used for the key of control machine people one make a return voyage or
Automatically make a return voyage, i.e., control device sends an instruction of making a return voyage, the robot that paddles climbs up on top of the water, maked a return voyage by GPS navigation automatically.This
Scheme is especially suitable for the situation by cable connection communication between intelligent terminal and the robot that paddles.
Embodiment six
The present embodiment provides a kind of robot that paddles of the robot control method of paddling in use the various embodiments described above.
The described robot 1 that paddles includes housing, and be arranged in housing control unit, dynamical system, communication
Module etc., described paddle between robot and intelligent terminal is connected by cable, and first is additionally provided with described housing and is determined
Position module, first locating module is GPS module, and described control unit is in the time control brake force system acting that makes a return voyage so that shell
Body is bubbled through the water column, and is being detected after housing bubbles through the water column, and control GPS module gets the present bit where the robot that paddles
Put；
On the other hand, described intelligent terminal is provided with the second locating module, and described intelligent terminal is by the second positioning mould
The positional information of block collection is sent to the robot that paddles by cable, and control unit is according to the first locating module and the second positioning mould
The positional information generation return route of block collection, so that the robot that controls to paddle makes a return voyage.
It is preferred that, sonar contact module 3 is additionally provided with the housing, for detecting underwater environment information, and passes through line
Cable is sent to intelligent terminal 2, and described underwater environment information is illustrated in intelligence by described intelligent terminal 2 by the form of image
On the display screen of terminal, the control robot that paddles is returned manually for underwater environment information that user directly can detect according to detecting module
Boat.
It is preferred that, a key is provided with intelligent terminal and is maked a return voyage button, the robot that paddles detects a key and maked a return voyage button quilt
After triggering, the control robot that paddles is performed and maked a return voyage program, and program of making a return voyage is the method for making a return voyage in the various embodiments described above.
Certain, shown in Figure 3, the robot 1 that paddles can also include diving main body 11 and operating office 12, and described the
One locating module be arranged on diving main body 11 on or operating office 12 on, its specific control process in the various embodiments described above
Description, will not be repeated here.
By when the signal intensity for detecting paddle robot and intelligent terminal is weak, controlling the robot that paddles in the present invention
Actively make a return voyage or be back to the stronger position of signal, robot lost contact of paddling is caused because of maloperation so as to avoid, it is out of control to ask
The appearance of topic, it is ensured that robot safety work under the control of intelligent terminal of paddling.
Described above is only presently preferred embodiments of the present invention, not makees any formal limitation to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people for being familiar with this patent
Member without departing from the scope of the present invention, when the technology contents using above-mentioned prompting make it is a little change or be modified to
The equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modification made for any of the above embodiments, equivalent variations and modification, in the range of still falling within the present invention program.
Claims (10)
- The robot control method 1. one kind is paddled, the described robot that paddles is communicated to connect with intelligent terminal, it is characterised in that institute The method stated includes, the signal of communication paddled between robot and intelligent terminal described in the control unit monitoring for the robot that paddles Intensity, and judge whether the communication signal strength monitored is less than given threshold, if the determination result is YES, then control described relate to Water robot makes a return voyage.
- The robot control method 2. one kind according to claim 1 is paddled, it is characterised in that described robot root of paddling According to the initial position message that gathers before the setting out of current location and storage, generate and described initial position is marched to by current location Return route, the described robot that paddles makes a return voyage according to the return route；Or described position of the robot according to where current location and intelligent terminal of paddling, generate and intelligence is marched to by current location The return route of energy terminal position, the described robot that paddles makes a return voyage according to the return route.
- The robot control method 3. one kind according to claim 1 or 2 is paddled, it is characterised in that described machine of paddling The first locating module is provided with people；Described robot first described locating module of its control unit control before setting out of paddling obtains initial position message, When making a return voyage, described control unit controls the first locating module to obtain current location information, so as to obtain return route, paddles Robot makes a return voyage according to the return route.
- The robot control method 4. one kind according to claim 1 or 2 is paddled, it is characterised in that described machine of paddling The first locating module is provided with people, described intelligent terminal is provided with the second locating module, and the described robot that paddles makes a return voyage When, the intelligence that the current location information and the second locating module that its control unit is gathered according to the first described locating module are gathered Positional information generation return route where terminal, the described robot that paddles makes a return voyage according to the return route.
- The robot control method 5. one kind according to claim 1-4 is any is paddled, it is characterised in that described first is determined Position module is GPS module, and the described control unit robot that controls to paddle first bubbles through the water column, and then controls described GPS moulds Block is opened to obtain described current location information；Or the described robot that paddles includes diving main body and bubbles through the water column what is be connected with described diving main body by cable Operating office, described operating office and intelligent terminal wireless connection, the first described locating module are arranged on operating office.
- The robot control method 6. one kind according to claim 5 is paddled, it is characterised in that described robot bag of paddling Underwater video acquisition module is included, for gathering underwater video information in real time and sending to intelligent terminal with real by intelligent terminal When be shown to user, described given threshold is corresponding when can ensure underwater video that intelligent terminal smooth playing gathers in real time Communication signal strength value minimum.
- 7. robot control method of being paddled according to any described one kind of claim 1-6, it is characterised in that described machine of paddling Device people monitors that signal of communication is higher than after described given threshold during making a return voyage, and sends prompting message to intelligent terminal, askes Ask whether user selects cancellation to make a return voyage, and after user's selection confirms, cancellation is maked a return voyage, and receives user's control instruction, and perform phase The action answered.
- 8. robot control method of being paddled according to any described one kind of claim 1-7, it is characterised in that described method bag Include following steps：Communication signal strength between S1, robot diving operation of paddling, and monitoring and intelligent terminal, if monitoring described lead to Believe that signal intensity is less than given threshold, then into step S2, otherwise into step S1；Whether the signalling channel that S2, judgement are paddled between robot and intelligent terminal disconnects, if the determination result is YES, then enters step Rapid S3, otherwise into step S4；S3, the robot that paddles bubble through the water column, control the first locating module collection current location information, and according to initial position message Described initial position is marched to, control terminates；S4, the robot that paddles are bubbled through the water column, and the first locating module of control collection current location information is simultaneously being received by the second positioning After the positional information of the intelligent terminal of module collection, advanced towards intelligent terminal position, until communication signal strength is higher than After described given threshold, prompt message is sent to intelligent terminal, asks the user whether that selection cancellation is maked a return voyage, if detecting user Selection confirms that the robot that otherwise paddles continues to make a return voyage to intelligent terminal position, and control terminates then into step S1.
- The robot control method 9. one kind according to claim 8 is paddled, it is characterised in that in step sl, in addition to Paddle robot control unit in the communication signal strength paddled between robot and intelligent terminal described in monitoring close to institute During the given threshold stated, prompt message is sent to intelligent terminal, prompting user change after intelligent terminal for reception to the prompt message Paddle robot direct of travel.
- 10. a kind of a kind of robot that paddles of any described robot control methods of paddling of use claim 1-9.
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| CN201710494161.4A CN107322594B (en) | 2017-06-26 | 2017-06-26 | Wading robot control method and wading robot |
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| CN201710494161.4A CN107322594B (en) | 2017-06-26 | 2017-06-26 | Wading robot control method and wading robot |
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| CN118025455A (en) * | 2024-01-31 | 2024-05-14 | 昆明理工大学 | Underwater ROV detection power device and control method thereof |
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| CN107322594B (en) | 2020-05-15 |
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