CN108089463A - A kind of control method and equipment - Google Patents
A kind of control method and equipment Download PDFInfo
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- CN108089463A CN108089463A CN201611048493.1A CN201611048493A CN108089463A CN 108089463 A CN108089463 A CN 108089463A CN 201611048493 A CN201611048493 A CN 201611048493A CN 108089463 A CN108089463 A CN 108089463A
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- equipment
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- control
- athletic posture
- control instruction
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The present invention relates to field of intelligent control, disclose a kind of control method and equipment, to solve to control the technical issues of not enough facilitating to robot in the prior art.This method includes：The first control data of the second equipment transmission are received, the first control data describe data based on the first athletic posture of second equipment by second equipment and determine；Based on the described first control data, the first control instruction controlled under the current operation mode of first equipment first equipment is determined, first equipment includes at least two operating modes；First control instruction is responded, to control first equipment, the control includes at least the control to first equipment moving.Technique effect that can be by the second equipment to the first equipment into accommodating control is reached.
Description
Technical field
The present invention relates to field of intelligent control more particularly to a kind of control methods and equipment.
Background technology
It is continuously improved with the development of the society, people’s lives are horizontal, the requirement to quality of life is higher and higher, robot
Show up prominently in every respect, expedite the emergence of out various robots therewith, robot (Robot) is the machine of automated execution work
Device.It can not only receive mankind commander, but also can run the program of advance layout, can also be according to artificial intelligence technology system
Fixed principle guiding principle action.Its task is to assist or substitute the work of the mankind, such as production industry, construction industry or danger
Work, robot play daily life, social production very big effect.
In the prior art, to there are many controls of robot also meeting, such as：Gesture control, voice control, remote control control
Etc., inventor has found that at least there are the following problems in the prior art：It is 1. not square enough to the detection of human body gesture by robot
Just；2. by voice control, there are the limitations of distance；3. by remote control control, it is necessary to carry remote controler at any time, remote control
It is in the form of a single.It can be seen that the technical issues of not enough facilitating to robot control exists in the prior art.
The content of the invention
The present invention provides a kind of control method and equipment, to solve to control not convenient enough skill to robot in the prior art
Art problem.
In a first aspect, the embodiment of the present invention provides a kind of control method, applied to the first equipment, the described method includes：
The first control data of the second equipment transmission are received, the first control data are based on described by second equipment
First athletic posture of the second equipment describes data and determines；
Based on the described first control data, determine to set to described first under the current operation mode of first equipment
Standby the first control instruction controlled, first equipment include at least two operating modes；
First control instruction is responded, to control first equipment, the control is included at least to described
The control of first equipment moving.
Optionally, it is described based on the described first control data, it determines under the current operation mode of first equipment
To the first control instruction that first equipment is controlled, including：
First control instruction is directly extracted from the described first control data, first control instruction is by described
Second equipment describes data institute really based on the correspondence between athletic posture and control instruction by first athletic posture
It is fixed；Alternatively,
Go out first athletic posture from the described first control extracting data and describe data；Based on athletic posture and control
Correspondence between instruction determines that first athletic posture describes first control instruction corresponding to data.
Optionally, the correspondence based between athletic posture and control instruction determines the first movement appearance
State describes first control instruction corresponding to data, including：
Determine the current operation mode of first equipment；
From the correspondence of the motion state of each operating mode and control instruction, search and obtain and the work at present
The first correspondence corresponding to pattern；
First athletic posture is described data in first correspondence to match, so as to obtain first control
System instruction.
Optionally, the method further includes：
Into the second learning equipment state；
The athletic posture that the user that detection obtains second equipment generates describes data；
Detection obtains the control instruction described based on the athletic posture set by data；
Obtain athletic posture based on detecting and describe data and control instruction, establish the athletic posture and control instruction it
Between correspondence, and set the work of the athletic posture and first equipment corresponding to the correspondence of control instruction
Pattern.
Optionally, before the first control data sent in the second equipment of the reception, the method further includes：
The second control data that second equipment is sent are received, the second control data are based on by second equipment
Second athletic posture of second equipment describes data and determines；
Based on the described second control data second electronic equipment is controlled to enter and describe number with second athletic posture
According to corresponding operating mode.
Optionally, first equipment includes following at least two operating mode：
Follow the mode, under the follow the mode first equipment in the default following range of second equipment with
It is moved with second equipment；
Follow candid photograph pattern, it is described follow candid photograph pattern under first equipment followed in the default of the second equipment
In the range of follow second equipment mobile and gather image；
Ride mode, user rides first equipment under the ride mode, and first equipment is controlled to move；
Remote control mode is moved under the remote control mode by the first equipment described in second equipment remote-control.
Second aspect, the embodiment of the present invention provide a kind of control method, and applied to the second equipment, second equipment has
Athletic posture sensor, the athletic posture sensor are used to detect the athletic posture of second equipment, the described method includes：
The first athletic posture that detection obtains second equipment describes data；
Data acquisition the first control Data Concurrent is described based on first athletic posture to send to the first equipment, for described
First equipment is determined to control the first equipment under the current operation mode of the first equipment based on the described first control data
First control instruction of system, first equipment include at least two operating modes.
Optionally, it is described based on first athletic posture to describe data and obtain the first control Data Concurrent to send to first and set
It is standby, including：
Based on the correspondence between athletic posture and control instruction, determine that first athletic posture describes data institute
Corresponding first control instruction, and using first control instruction as the described first control data sending to described first
Equipment；Alternatively,
First athletic posture is described into data as the described first control data sending to first equipment, for
First equipment determines that first athletic posture describes number based on the correspondence between athletic posture and control instruction
According to corresponding first control instruction.
Optionally, before the first athletic posture for obtaining second equipment in the detection describes data, the method
It further includes：
The second athletic posture that detection obtains second equipment describes data；
Data acquisition the second control Data Concurrent is described based on second athletic posture to send to the first equipment, so that described
Second electronic equipment enters describes the corresponding operating mode of data with second athletic posture.
Optionally, it is described based on first athletic posture describe data obtain first control Data Concurrent send to first
Before equipment, the method further includes：
Establish the database of special exercise attitude description data；
Judge that first athletic posture describes whether data are located at the database；
Wherein, if first athletic posture describes data and is not located at the database, perform described based on described the
One athletic posture describes data and obtains the step of the first control Data Concurrent is sent to the first equipment；
If first athletic posture, which describes data, is located at the database, do not perform described based on the described first movement
Attitude description data obtain the step of the first control Data Concurrent is sent to the first equipment.
The third aspect, the embodiment of the present invention provide a kind of first equipment, including：
First receiving module, for receiving the first control data that the second equipment is sent, the first control data are by institute
It states the second equipment data is described based on the first athletic posture of second equipment and determine；
Determining module for being based on the first control data, determines the current operation mode in first equipment
Under the first control instruction for being controlled first equipment, first equipment includes at least two operating modes；
Respond module, for responding first control instruction, to control first equipment, the control is extremely
Few control included to first equipment moving.
Optionally, the determining module, is used for：
First control instruction is directly extracted from the described first control data, first control instruction is by described
Second equipment describes data institute really based on the correspondence between athletic posture and control instruction by first athletic posture
It is fixed；Alternatively,
Go out first athletic posture from the described first control extracting data and describe data；Based on athletic posture and control
Correspondence between instruction determines that first athletic posture describes first control instruction corresponding to data.
Optionally, the determining module, including：
Determination unit, for determining the current operation mode of first equipment；
Searching unit, for from the correspondence of the motion state of each operating mode and control instruction, searching and obtaining
With the first correspondence corresponding to the current operation mode；
Matching unit matches for first athletic posture to be described data in first correspondence, so as to
Obtain first control instruction.
Optionally, first equipment further includes：
Study module, for entering the second learning equipment state；
First detection module, the athletic posture for detecting the user's generation for obtaining second equipment describe data；
Second detection module, for detecting the control instruction for obtaining and being described based on the athletic posture set by data；
First establishes module, describes data and control instruction for being based on detecting acquisition athletic posture, establishes the fortune
Dynamic correspondence between posture and control instruction, and set corresponding to the athletic posture and the correspondence of control instruction
The operating mode of first equipment.
Optionally, first equipment further includes：
Second receiving module, for receiving the second control data that second equipment is sent, the second control data
Data are described by second equipment based on the second athletic posture of second equipment to determine；
Control module controls second electronic equipment to enter and the described second fortune for being based on the second control data
Move the corresponding operating mode of attitude description data.
Optionally, first equipment includes following at least two operating mode：
Follow the mode, under the follow the mode first equipment in the default following range of second equipment with
It is moved with second equipment；
Follow candid photograph pattern, it is described follow candid photograph pattern under first equipment followed in the default of the second equipment
In the range of follow second equipment mobile and gather image；
Ride mode, user rides first equipment under the ride mode, and first equipment is controlled to move；
Remote control mode is moved under the remote control mode by the first equipment described in second equipment remote-control.
Fourth aspect, the embodiment of the present invention provide a kind of second equipment, and second equipment has athletic posture sensor,
The athletic posture sensor is used to detect the athletic posture of second equipment, and second equipment includes：
3rd detection module, the first athletic posture for detecting acquisition second equipment describe data；
First sending module, for be based on first athletic posture describe data obtain first control Data Concurrent send to
First equipment, so that first equipment is determined based on the described first control data under the current operation mode of the first equipment
To the first control instruction that the first equipment is controlled, first equipment includes at least two operating modes.
Optionally, first sending module, is used for：
Based on the correspondence between athletic posture and control instruction, determine that first athletic posture describes data institute
Corresponding first control instruction, and using first control instruction as the described first control data sending to described first
Equipment；Alternatively,
First athletic posture is described into data as the described first control data sending to first equipment, for
First equipment determines that first athletic posture describes number based on the correspondence between athletic posture and control instruction
According to corresponding first control instruction.
Optionally, second equipment further includes：
4th detection module, the second athletic posture for detecting acquisition second equipment describe data；
Second sending module, for be based on second athletic posture describe data obtain second control Data Concurrent send to
First equipment, so that second electronic equipment enters describes the corresponding operating mode of data with second athletic posture.
Optionally, second equipment further includes：
Second establishes module, for establishing the database of special exercise attitude description data；
Judgment module, for judging that first athletic posture describes whether data are located at the database；
Wherein, if first athletic posture describes data and is not located at the database, control described first sends mould
Block execution is described to describe the step of data acquisition the first control Data Concurrent is sent to the first equipment based on first athletic posture；
If first athletic posture, which describes data, is located at the database, first sending module is not controlled to perform
It is described that the step of data acquisition the first control Data Concurrent is sent to the first equipment is described based on first athletic posture.
The present invention has the beneficial effect that：
The first athletic posture that the second equipment is obtained due to that in embodiments of the present invention, can be detected by the second equipment is retouched
It states data, and will the first control data sending to the first equipment that data are obtained be described based on first athletic posture, with
Determine first equipment is controlled under the current operation mode of first equipment by the first control data
First control instruction, first equipment include at least two operating modes；Finally, first control instruction is responded, with right
First equipment is controlled, and the control includes at least the control to first equipment moving.It can be with so as to reach
By the second equipment to the first equipment into the technique effect of accommodating control, compared to gesture control, machine is not required in the program
People possesses gestures detection function；Compared to voice control, the program is not present distance and limits；Compared to remote control control, the party
Case need not carry remote controler, it is only necessary to which the second equipment is the equipment for possessing posture detection function.
Description of the drawings
Fig. 1 is the flow chart of the control method of first aspect of the embodiment of the present invention；
Fig. 2 is the flow chart of the control method of second aspect of the embodiment of the present invention；
Fig. 3 is the structure chart of the first equipment of the third aspect of the embodiment of the present invention；
Fig. 4 is the structure chart of the second equipment of fourth aspect of the embodiment of the present invention.
Specific embodiment
The present invention provides a kind of control method and equipment, to solve to control not convenient enough skill to robot in the prior art
Art problem.
For technical solution in the embodiment of the present application to solve the technical issues of above-mentioned, general thought is as follows：
The first athletic posture that the second equipment of acquisition is detected by the second equipment describes data, and will be based on the described first fortune
The first control data sending to the first equipment that dynamic attitude description data are obtained, to be determined by the first control data in institute
State the first control instruction controlled under the current operation mode of the first equipment first equipment, the first equipment bag
Containing at least two operating modes；Finally, first control instruction, to control first equipment, the control are responded
System includes at least the control to first equipment moving.It can be by the second equipment to the first equipment progress side so as to reach
Just the technique effect controlled, compared to gesture control, robot gestures detection function is not required in the program；Compared to voice
Control, the program are not present distance and limit；Compared to remote control control, the program need not carry remote controler, it is only necessary to second
Equipment is the equipment for possessing posture detection function.
In order to better understand the above technical scheme, below by attached drawing and specific embodiment to technical solution of the present invention
It is described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the detailed of technical solution of the present invention
Thin explanation rather than the restriction to technical solution of the present invention, in the case where there is no conflict, the embodiment of the present invention and embodiment
In technical characteristic can be mutually combined.
In a first aspect, the embodiment of the present invention provides a kind of control method, applied to the first equipment, please by examining Fig. 1, including：
Step S101：The first control data of the second equipment transmission are received, the first control data are set by described second
Standby the first athletic posture based on second equipment describes data and determines；
Step S102：Based on the described first control data, it is right under the current operation mode of first equipment to determine
The first control instruction that first equipment is controlled, first equipment include at least two operating modes；
Step S103：First control instruction is responded, to control first equipment, the control is at least wrapped
Include the control to first equipment moving.
For example, the first equipment is usually controlled device, such as：Unmanned plane, balance car, robot etc., second sets
Standby usually control device, such as：Mobile phone, tablet computer, smartwatch, other controller forms etc..
In step S101, the first control data can be various control data, be set forth below two kinds therein and be introduced,
Certainly, in specific implementation process, following two situations are not limited to.
The first, first controls data to describe data for the first athletic posture, wherein, movement can be installed in the second equipment
Attitude transducer, the athletic posture sensor are, for example,：Three-axis gyroscope, three axis accelerometer, three axle electronic compass etc..The
The user of two equipment when needing to control the first equipment, can be detected with opening movement attitude transducer (or fortune
Dynamic attitude transducer can detect the athletic posture of the second equipment at any time), then it will detect the first athletic posture description obtained
Data sending is to the first equipment.
Second, first controls data as the first control instruction, wherein, the second equipment is examined by athletic posture sensor
After survey the first athletic posture of acquisition describes data, it can be determined based on the correspondence between athletic posture and control instruction
Go out first athletic posture and describe first control instruction corresponding to data, and the first control instruction is sent to first
Equipment.In this case, the first equipment need not integrate the processing function that athletic posture describes data, that is, need not pair
First equipment is improved, it is possible to be realized and be described the technique effect that data are controlled by athletic posture.
In step S102, the first equipment can include multiple-working mode, be set forth below it is therein it is several be introduced, when
So, in specific implementation process, following several situations are not limited to.
The first, follow the mode, first equipment is in the default tracking of second equipment under the follow the mode
In the range of second equipment is followed to move.
For example, default following range is, for example,：Pre-determined distance scope, predetermined angle scope etc., the pre-determined distance
Scope is, for example,：Within 3m, within 5m, 4m~6m etc., the angle between the first equipment and the second equipment is, for example,：First sets
Standby the first face (such as：Plane where the head of first equipment) with the first face of the second equipment (such as：Control interface) between
Angle, which is, for example,：Within 90 °~120 °, 90 ° etc..The default following range can be set by second
The user of standby (or first equipment) manually sets, can also be by default.
Second, follow candid photograph pattern, it is described follow candid photograph pattern under first equipment in second equipment
It presets and follows second equipment mobile in the range of following and gather image.
For example, image collecting device is installed or is circumscribed in the first equipment, it, can be under the tracking candid photograph pattern
The first equipment is controlled to be moved in the preset range of the second equipment, so as to carry out Image Acquisition, the Image Acquisition to the second equipment
Process can carry out automatically, can also be performed after control instruction caused by the second equipment is received, the embodiment of the present invention
It is not restricted.
The third, ride mode, user rides first equipment under the ride mode, and controls described first to set
It is standby mobile.
For example, the user for the first equipment of riding can carry the second equipment, and pass through the second equipment and carry out mould of riding
The control of the first equipment under formula；The user for first equipment of riding can not also carry the second equipment, and the is carried by other users
One equipment, and pass through control of the first equipment realization to the second equipment.
4th kind, remote control mode is moved under the remote control mode by the first equipment described in second equipment remote-control.
In such a case, it is possible to by the second equipment the first equipment is controlled to perform any operation, such as：Movement, overturning, Image Acquisition
Etc..
In step S102, different based on the first control data, the mode of the first control instruction of acquisition is also different, is set forth below
Two kinds therein are introduced respectively, certainly, in specific implementation process, are not limited to following two situations.
The first, it is described based on the described first control data, it determines under the current operation mode of first equipment
To the first control instruction that first equipment is controlled, including：It is directly extracted from the described first control data described
First control instruction, first control instruction is by second equipment based on the corresponding pass between athletic posture and control instruction
System, describes data by first athletic posture and determines.In this case, the first equipment need not to receive
One control data are handled, it is possible to obtain corresponding first control instruction.
It is second, described based on the described first control data, it determines under the current operation mode of first equipment
To the first control instruction that first equipment is controlled, including：Go out described first from the described first control extracting data
Athletic posture describes data；Based on the correspondence between athletic posture and control instruction, first athletic posture is determined
First control instruction corresponding to data is described.
In specific implementation process, the correspondence based between athletic posture and control instruction is determined described
First athletic posture describes first control instruction corresponding to data, including：Determine that the described of first equipment is worked as
Preceding operating mode；From the correspondence of the motion state of each operating mode and control instruction, search obtain with it is described current
The first correspondence corresponding to operating mode；First athletic posture is described into data in first correspondence
Match somebody with somebody, so as to obtain first control instruction.
For example, before being controlled by the first control data the first equipment, the first equipment can first be controlled
Into any operative pattern, which is current operation mode, can by trigger the first equipment on trigger into
The first equipment of button control for entering each operating mode enters current operation mode, can also control the first equipment by the second equipment
Into current operation mode, such as：Before the first control data sent in the second equipment of the reception, the method is also wrapped
It includes：The second control data that second equipment is sent are received, the second control data are based on described by second equipment
Second athletic posture of the second equipment describes data and determines；Based on the described second control data control second electronic equipment into
Enter and describe the corresponding operating mode of data with second athletic posture.
In specific implementation process, each operating mode pass corresponding with athletic posture mode data can be preset
System, the second equipment are obtained in detection after the second athletic posture describes data, judge whether it is the operating mode and movement appearance
Athletic posture included in the correspondence of state mode data describes data, if it does, can then pass through the second movement
Attitude description data match in the correspondence obtains corresponding second control instruction, and sends it to the first equipment, by
First equipment performs second control instruction, hence into corresponding operating mode；Or second equipment obtain second fortune
After dynamic attitude description data, the first equipment is directly sent it to, the first equipment is by itself and operating mode and athletic posture mould
The correspondence of formula data is matched, and so as to obtain the second control instruction, then performs the second control instruction, to control first
Equipment enters corresponding operating mode.
Wherein, for each operating mode can set respectively athletic posture under the operating mode and control instruction it
Between correspondence, obtaining after the first athletic posture describes data, can first determine to move appearance under current operation mode
Then first correspondence of state and control instruction describes data by the first athletic posture and is carried out in the first correspondence
With corresponding first control instruction of acquisition.In this case, it is right for the different control instructions under different operating modes
The athletic posture answered describes data may be identical, and it is limited that the athletic posture that usually user gets used to, which describes data, therefore
And data can be described by limited athletic posture, more multi-functional control is realized to the first equipment.
In specific implementation process, athletic posture and control instruction under each operating mode can be established by following steps
Correspondence：Into the second learning equipment state；The athletic posture description that the user that detection obtains second equipment generates
Data；Detection obtains the control instruction described based on the athletic posture set by data；Athletic posture is obtained based on detecting
Data and control instruction are described, the correspondence between the athletic posture and control instruction is established, and sets the movement appearance
The operating mode of first equipment corresponding to the correspondence of state and control instruction.
For example, a study button in the first equipment can be set, detecting the operation of the click study button
Afterwards, it is possible into the second learning equipment state, under the second learning equipment state, can be obtained by mode of learning each
Control instruction corresponding to athletic posture, so as to establish the correspondence of athletic posture and control instruction.Such as：First provide one
Prompting interface prompts the second equipment of user's control to generate corresponding athletic posture, after user generates corresponding athletic posture,
The detection of second equipment obtains the athletic posture and describes data and send it to the second equipment；Then the first equipment is in prompting interface
User is prompted to set corresponding control instruction, such as：All control instructions are all exported by the prompting interface, by user from
It is middle to select corresponding control instruction；After user's selection terminates, it is possible to establish the athletic posture set by user and describe number
According to the correspondence with control instruction；Then reresent first that user set corresponding to the correspondence in the prompting interface to set
Standby operating mode, such as：All operating modes are all supplied to user, being based on selection operation by user sets Working mould
Formula, so as to finally establish under each operating mode, the correspondence between athletic posture and control instruction.
Due in said program, be user learn by way of come determine each athletic posture describe data institute it is right
The control instruction answered describes data the first equipment is controlled so its most effective athletic posture may be employed in each user
System, to improve the efficiency controlled the first equipment.
Certainly, in specific implementation process, can also athletic posture be set by system default and describes data and control instruction
Between correspondence, the embodiment of the present invention is not restricted.
In step S103, current operation mode difference can be based on, it can be real to the first equipment by the first control instruction
Existing a variety of different controls, are set forth below two kinds of operating modes therein and are introduced respectively, certainly, in specific implementation process
In, it is not limited to following two situations.
The first, it is assumed that balance car is balance car, and current operation mode is：Follow the mode moves appearance under follow the mode
The correspondence that state is described between data and control instruction is as shown in table 1：
Table 1
| Athletic posture describes data | Control instruction |
| Second device left side rotates | Balance car is controlled to be rotated to the left side |
| Second equipment is rotated to the right | Balance car is controlled to be rotated to the right |
| Second equipment is moved with speed more than preset value | Balance car is controlled to accelerate to advance |
| Second equipment is shaken up and down | Control balance car stop motion |
It is if the first motion state describes data then：Second equipment is rotated to the right, then the first control instruction generated
Balance car is rotated to the right in order to control, so as to by first control instruction balance car be controlled to turn right；If the first motion state
Describing data is：Generated first control instruction is：Balance car stop motion is controlled, so as to pass through the first control instruction control
Balance car processed halts.
The first, it is assumed that unmanned plane is unmanned plane, and current operation mode is：Candid photograph pattern is followed, is following candid photograph pattern
The correspondence that lower athletic posture is described between data and control instruction is as shown in table 2：
Table 2
It is if the first motion state describes data then：Second equipment is rotated to the right, then the first control instruction generated
In order to control unmanned plane to the right rotate 40 ° after take pictures, so as to by first control instruction control unmanned plane first to the right rotate,
After rotating 40 °, the image acquisition device image of unmanned plane is controlled；If the first motion state describes data：The
Two equipment move up and down default time, and generated first control instruction is：Video acquisition is carried out after control unmanned plane stop motion,
Unmanned plane stop motion is then first controlled, the image collecting device of unmanned plane is then controlled to carry out video acquisition.
Second aspect, based on same inventive concept, the embodiment of the present invention provides a kind of control method, is set applied to second
It is standby, it please refers to Fig.2, second equipment has an athletic posture sensor, and the athletic posture sensor is for detecting described the
The athletic posture of two equipment, the described method includes：
Step S201：The first athletic posture that detection obtains second equipment describes data；
Step S202：Data are described based on first athletic posture and obtain the first control Data Concurrent to send to first and set
It is standby, so that first equipment is determined under the current operation mode of the first equipment based on the described first control data to first
The first control instruction that equipment is controlled, first equipment include at least two operating modes.
Optionally, it is described based on first athletic posture to describe data and obtain the first control Data Concurrent to send to first and set
It is standby, including：
Based on the correspondence between athletic posture and control instruction, determine that first athletic posture describes data institute
Corresponding first control instruction, and using first control instruction as the described first control data sending to described first
Equipment；Alternatively,
First athletic posture is described into data as the described first control data sending to first equipment, for
First equipment determines that first athletic posture describes number based on the correspondence between athletic posture and control instruction
According to corresponding first control instruction.
Optionally, before the first athletic posture for obtaining second equipment in the detection describes data, the method
It further includes：
The second athletic posture that detection obtains second equipment describes data；
Data acquisition the second control Data Concurrent is described based on second athletic posture to send to the first equipment, so that described
Second electronic equipment enters describes the corresponding operating mode of data with second athletic posture.
Optionally, it is described based on first athletic posture describe data obtain first control Data Concurrent send to first
Before equipment, the method further includes：Establish the database of special exercise attitude description data；Judge first athletic posture
Describe whether data are located at the database；Wherein, if first athletic posture describes data and is not located at the database,
Data are described based on first athletic posture described in performing and obtain the step of the first control Data Concurrent is sent to the first equipment；Such as
First athletic posture described in fruit describes data and is located at the database, does not perform and described describes number based on first athletic posture
The step of being sent according to acquisition the first control Data Concurrent to the first equipment.
For example, the second equipment is by athletic posture in addition to it can describe data and the first equipment is controlled,
Data can also be described by athletic posture to control itself, will be used to control the second equipment in itself in order to prevent
Athletic posture describe data and be supplied to the first equipment, then can pre-establish special exercise attitude description database, the data
All athletic postures controlled the first equipment are stored in storehouse and describe data, are detecting that the first athletic posture describes number
According to afterwards, it can be determined that first athletic posture describes whether data are located at the database, if located in the database, then illustrates
It is the data controlled the first equipment that first athletic posture, which describes data, then describing data based on the first athletic posture obtains
First control data, and the first equipment is sent it to, if not being located at the database, illustrate that the first athletic posture describes number
According to the data not controlled the first equipment, then the first equipment can not be sent it to, be passed so as to reduce data
Defeated burden.
By the control method that second aspect of the present invention is introduced, controlling party is introduced with first aspect of the embodiment of the present invention
Method is wanted to correspond to, and based on the control method that first aspect of the embodiment of the present invention is introduced, those skilled in the art can understand
The specific embodiment of the control method and deformation, so details are not described herein.
The third aspect, based on same inventive concept, the embodiment of the present invention provides a kind of first equipment, please refers to Fig.3, and wraps
It includes：
First receiving module 30, for receive the second equipment send first control data, it is described first control data by
Second equipment describes data based on the first athletic posture of second equipment and determines；
Determining module 31 for being based on the first control data, determines the work at present mould in first equipment
The first control instruction controlled under formula first equipment, first equipment include at least two operating modes；
Respond module 32, for responding first control instruction, to control first equipment, the control
Including at least the control to first equipment moving.
Optionally, the determining module 31, is used for：
First control instruction is directly extracted from the described first control data, first control instruction is by described
Second equipment describes data institute really based on the correspondence between athletic posture and control instruction by first athletic posture
It is fixed；Alternatively,
Go out first athletic posture from the described first control extracting data and describe data；Based on athletic posture and control
Correspondence between instruction determines that first athletic posture describes first control instruction corresponding to data.
Optionally, the determining module 31, including：
Determination unit, for determining the current operation mode of first equipment；
Searching unit, for from the correspondence of the motion state of each operating mode and control instruction, searching and obtaining
With the first correspondence corresponding to the current operation mode；
Matching unit matches for first athletic posture to be described data in first correspondence, so as to
Obtain first control instruction.
Optionally, first equipment further includes：
Study module, for entering the second learning equipment state；
First detection module, the athletic posture for detecting the user's generation for obtaining second equipment describe data；
Second detection module, for detecting the control instruction for obtaining and being described based on the athletic posture set by data；
First establishes module, describes data and control instruction for being based on detecting acquisition athletic posture, establishes the fortune
Dynamic correspondence between posture and control instruction, and set corresponding to the athletic posture and the correspondence of control instruction
The operating mode of first equipment.
Optionally, first equipment further includes：
Second receiving module, for receiving the second control data that second equipment is sent, the second control data
Data are described by second equipment based on the second athletic posture of second equipment to determine；
Control module controls second electronic equipment to enter and the described second fortune for being based on the second control data
Move the corresponding operating mode of attitude description data.
Optionally, first equipment includes following at least two operating mode：
Follow the mode, under the follow the mode first equipment in the default following range of second equipment with
It is moved with second equipment；
Follow candid photograph pattern, it is described follow candid photograph pattern under first equipment followed in the default of the second equipment
In the range of follow second equipment mobile and gather image；
Ride mode, user rides first equipment under the ride mode, and first equipment is controlled to move；
Remote control mode is moved under the remote control mode by the first equipment described in second equipment remote-control.
By the first equipment that the third aspect of the embodiment of the present invention is introduced, to implement first aspect of the embodiment of the present invention
Equipment used by control method, based on the control method that first aspect of the embodiment of the present invention is introduced, the affiliated technology in this field
Personnel can understand concrete structure and the deformation of first equipment, so details are not described herein, every implementation embodiment of the present invention
Equipment used by the control method that first aspect is introduced belongs to the scope to be protected of the embodiment of the present invention.
Fourth aspect, based on same inventive concept, the embodiment of the present invention provides a kind of second equipment, the second equipment tool
There is athletic posture sensor, the athletic posture sensor is used to detect the athletic posture of second equipment, please refers to Fig.4,
Second equipment includes：
3rd detection module 40, the first athletic posture for detecting acquisition second equipment describe data；
First sending module 41, for be based on first athletic posture describe data obtain first control Data Concurrent give
To the first equipment, so that first equipment controls data to determine the current operation mode in the first equipment based on described first
Under the first control instruction for being controlled the first equipment, first equipment includes at least two operating modes.
Optionally, first sending module 41, is used for：
Based on the correspondence between athletic posture and control instruction, determine that first athletic posture describes data institute
Corresponding first control instruction, and using first control instruction as the described first control data sending to described first
Equipment；Alternatively,
First athletic posture is described into data as the described first control data sending to first equipment, for
First equipment determines that first athletic posture describes number based on the correspondence between athletic posture and control instruction
According to corresponding first control instruction.
Optionally, second equipment further includes：
4th detection module, the second athletic posture for detecting acquisition second equipment describe data；
Second sending module, for be based on second athletic posture describe data obtain second control Data Concurrent send to
First equipment, so that second electronic equipment enters describes the corresponding operating mode of data with second athletic posture.
Optionally, second equipment further includes：
Second establishes module, for establishing the database of special exercise attitude description data；
Judgment module, for judging that first athletic posture describes whether data are located at the database；
Wherein, if first athletic posture describes data and is not located at the database, control described first sends mould
Block execution is described to describe the step of data acquisition the first control Data Concurrent is sent to the first equipment based on first athletic posture；
If first athletic posture, which describes data, is located at the database, first sending module is not controlled to perform
It is described that the step of data acquisition the first control Data Concurrent is sent to the first equipment is described based on first athletic posture.
By the second equipment that fourth aspect of the embodiment of the present invention is introduced, to implement second aspect of the embodiment of the present invention
Equipment used by control method, based on the control method that second aspect of the embodiment of the present invention is introduced, the affiliated technology in this field
Personnel can understand concrete structure and the deformation of second equipment, so details are not described herein, every implementation embodiment of the present invention
Equipment used by the control method that second aspect is introduced belongs to the scope to be protected of the embodiment of the present invention.
One or more embodiment of the invention, at least has the advantages that：
The first athletic posture that the second equipment is obtained due to that in embodiments of the present invention, can be detected by the second equipment is retouched
It states data, and will the first control data sending to the first equipment that data are obtained be described based on first athletic posture, with
Determine first equipment is controlled under the current operation mode of first equipment by the first control data
First control instruction, first equipment include at least two operating modes；Finally, first control instruction is responded, with right
First equipment is controlled, and the control includes at least the control to first equipment moving.It can be with so as to reach
By the second equipment to the first equipment into the technique effect of accommodating control, compared to gesture control, machine is not required in the program
People possesses gestures detection function；Compared to voice control, the program is not present distance and limits；Compared to remote control control, the party
Case need not carry remote controler, it is only necessary to which the second equipment is the equipment for possessing posture detection function.
It should also be noted that, a variety of different methods may be employed in following in the embodiment of the present invention, including but not only
Tracking, the tracking etc. based on carrierfree communication for being limited to view-based access control model, wherein, the tracking based on carrierfree communication
Method includes but not limited to the tracking based on ultra wide band (UWB, Ultra Wideband) communication, and UWB is a kind of and tradition
The communication technology has the communication technology of huge difference, and transmission signal need not be carried out using carrier wave, but is had by sending and receiving
Ultra-narrow pulse below nanosecond or submicrosecond grade transfers data, low with strong anti-interference performance, carrierfree, transmitting power of equipment
The features such as, it can be used for being accurately positioned, range accuracy can reach 10 centimetres or so.
Follower method based on UWB is pacified on the first electronic equipment, it is necessary to install UWB beacons on the target object of tracking
UWB anchor nodes are filled, by UWB anchor nodes to UWB beacon emissions signals, and the return signal of UWB beacons is received, can obtain
Relative distance d and relative angle θ between UWB beacons and UWB anchor nodes are described between UWB beacons and UWB anchor nodes according to this
Relative position relation；According to the relative position relation between the UWB beacons and UWB anchor nodes, and consider default UWB letters
Mark and the position conversion relation between target object, UWB anchor nodes and the first electronic equipment, can obtain the first electronic equipment with
Relative position relation between target object, and for describing the relative position between the first electronic equipment and target object.Its
In, the relative distance d between UWB beacons and UWB anchor nodes may be employed the technology based on (TOF, Time of Flight) and come
Measurement, the time difference that TOF emits and reflects by calculating radio wave (or light, sound wave etc.), to be converted into relative distance d.UWB
The technology based on angle of arrival (AOA, Angle of arrival) may be employed in relative angle θ between beacon and UWB anchor nodes
It measures, AOA is the location algorithm based on direction of arrival degree, passes through the arrival that some hardware devices perceive transmitting node signal
Direction can calculate relative bearing or relative angle between receiving node and anchor node.
When using the follower method based on UWB, the second equipment of UWB beacons and the embodiment of the present invention can be closed and be arranged on
On same electronic equipment, in this way, also simplifying equipment composition and device category convenient for control.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these modification and variations.
Claims (20)
1. a kind of control method, applied to the first equipment, which is characterized in that the described method includes：
The first control data of the second equipment transmission are received, the first control data are based on described second by second equipment
First athletic posture of equipment describes data and determines；
Based on described first control data, determine under the current operation mode of first equipment to first equipment into
First control instruction of row control, first equipment include at least two operating modes；
First control instruction is responded, to control first equipment, the control is included at least to described first
The control of equipment moving.
2. the method as described in claim 1, which is characterized in that it is described based on the described first control data, it determines described
The first control instruction controlled under the current operation mode of first equipment first equipment, including：
First control instruction is directly extracted from the described first control data, first control instruction is by described second
Equipment is described data by first athletic posture and is determined based on the correspondence between athletic posture and control instruction；
Alternatively,
Go out first athletic posture from the described first control extracting data and describe data；Based on athletic posture and control instruction
Between correspondence, determine that first athletic posture describes first control instruction corresponding to data.
3. method as claimed in claim 2, which is characterized in that the corresponding pass based between athletic posture and control instruction
System, determines that first athletic posture describes first control instruction corresponding to data, including：
Determine the current operation mode of first equipment；
From the correspondence of the motion state of each operating mode and control instruction, search and obtain and the current operation mode
The first corresponding correspondence；
First athletic posture is described data in first correspondence to match, is referred to so as to obtain first control
Order.
4. method as claimed in claim 2, which is characterized in that the method further includes：
Into the second learning equipment state；
The athletic posture that the user that detection obtains second equipment generates describes data；
Detection obtains the control instruction described based on the athletic posture set by data；
Data and control instruction are described based on acquisition athletic posture is detected, are established between the athletic posture and control instruction
Correspondence, and set the athletic posture and the Working mould of first equipment corresponding to the correspondence of control instruction
Formula.
5. method as claimed in claim 2, which is characterized in that it is described reception the second equipment send first control data it
Before, the method further includes：
The second control data that second equipment is sent are received, the second control data are based on described by second equipment
Second athletic posture of the second equipment describes data and determines；
Based on the described second control data second electronic equipment is controlled to enter and describe data pair with second athletic posture
The operating mode answered.
6. the method as described in claim 1-5 is any, first equipment includes following at least two operating mode：
Follow the mode, first equipment follows institute in the default following range of second equipment under the follow the mode
State the movement of the second equipment；
Follow candid photograph pattern, it is described follow candid photograph pattern under first equipment follow scope in the default of the second equipment
It inside follows second equipment mobile and gathers image；
Ride mode, user rides first equipment under the ride mode, and first equipment is controlled to move；
Remote control mode is moved under the remote control mode by the first equipment described in second equipment remote-control.
7. a kind of control method, applied to the second equipment, which is characterized in that second equipment has athletic posture sensor,
The athletic posture sensor is used to detect the athletic posture of second equipment, the described method includes：
The first athletic posture that detection obtains second equipment describes data；
Data acquisition the first control Data Concurrent is described based on first athletic posture to send to the first equipment, for described first
Equipment determines the first equipment is controlled under the current operation mode of the first equipment based on the described first control data
First control instruction, first equipment include at least two operating modes.
8. the method for claim 7, which is characterized in that described data are described based on first athletic posture to obtain the
One control Data Concurrent is sent to the first equipment, including：
Based on the correspondence between athletic posture and control instruction, determine that first athletic posture is described corresponding to data
First control instruction, and set using first control instruction as the described first control data sending to described first
It is standby；Alternatively,
Data are described into as the described first control data sending to first equipment for first athletic posture, for described
First equipment determines that first athletic posture describes data institute based on the correspondence between athletic posture and control instruction
Corresponding first control instruction.
9. the method for claim 7, which is characterized in that obtain the first movement appearance of second equipment in the detection
Before state describes data, the method further includes：
The second athletic posture that detection obtains second equipment describes data；
Data acquisition the second control Data Concurrent is described based on second athletic posture to send to the first equipment, so that described second
Electronic equipment enters describes the corresponding operating mode of data with second athletic posture.
10. the method as described in claim 7,8 or 9, which is characterized in that number is described based on first athletic posture described
It is sent according to the first control Data Concurrent is obtained to before the first equipment, the method further includes：
Establish the database of special exercise attitude description data；
Judge that first athletic posture describes whether data are located at the database；
Wherein, if first athletic posture describes data and is not located at the database, perform described based on the described first fortune
Dynamic attitude description data obtain the step of the first control Data Concurrent is sent to the first equipment；
If first athletic posture, which describes data, is located at the database, do not perform described based on first athletic posture
Description data obtain the step of the first control Data Concurrent is sent to the first equipment.
11. a kind of first equipment, which is characterized in that including：
First receiving module, for receiving the first control data that the second equipment is sent, the first control data are by described the
Two equipment describe data based on the first athletic posture of second equipment and determine；
Determining module, for being based on the first control data, it is right under the current operation mode of first equipment to determine
The first control instruction that first equipment is controlled, first equipment include at least two operating modes；
Respond module, for responding first control instruction, to control first equipment, the control is at least wrapped
Include the control to first equipment moving.
12. the first equipment as claimed in claim 11, which is characterized in that the determining module is used for：
First control instruction is directly extracted from the described first control data, first control instruction is by described second
Equipment is described data by first athletic posture and is determined based on the correspondence between athletic posture and control instruction；
Alternatively,
Go out first athletic posture from the described first control extracting data and describe data；Based on athletic posture and control instruction
Between correspondence, determine that first athletic posture describes first control instruction corresponding to data.
13. the first equipment as claimed in claim 12, which is characterized in that the determining module, including：
Determination unit, for determining the current operation mode of first equipment；
Searching unit, for from the correspondence of the motion state of each operating mode and control instruction, searching acquisition and institute
State the first correspondence corresponding to current operation mode；
Matching unit matches for first athletic posture to be described data in first correspondence, so as to obtain
First control instruction.
14. the first equipment as claimed in claim 12, which is characterized in that first equipment further includes：
Study module, for entering the second learning equipment state；
First detection module, the athletic posture for detecting the user's generation for obtaining second equipment describe data；
Second detection module, for detecting the control instruction for obtaining and being described based on the athletic posture set by data；
First establishes module, describes data and control instruction for being based on detecting acquisition athletic posture, establishes the movement appearance
Correspondence between state and control instruction, and set the athletic posture and described corresponding to the correspondence of control instruction
The operating mode of first equipment.
15. the first equipment as claimed in claim 12, which is characterized in that first equipment further includes：
Second receiving module, for receiving the second control data that second equipment is sent, the second control data are by institute
It states the second equipment data is described based on the second athletic posture of second equipment and determine；
Control module controls second electronic equipment to enter and the described second movement appearance for being based on the second control data
State describes the corresponding operating mode of data.
16. the first equipment as described in claim 11-15 is any, first equipment includes following at least two Working mould
Formula：
Follow the mode, first equipment follows institute in the default following range of second equipment under the follow the mode
State the movement of the second equipment；
Follow candid photograph pattern, it is described follow candid photograph pattern under first equipment follow scope in the default of the second equipment
It inside follows second equipment mobile and gathers image；
Ride mode, user rides first equipment under the ride mode, and first equipment is controlled to move；
Remote control mode is moved under the remote control mode by the first equipment described in second equipment remote-control.
17. a kind of second equipment, which is characterized in that second equipment has athletic posture sensor, and the athletic posture passes
Sensor is used to detect the athletic posture of second equipment, and second equipment includes：
3rd detection module, the first athletic posture for detecting acquisition second equipment describe data；
First sending module, for be based on first athletic posture describe data obtain first control Data Concurrent send to first
Equipment, so that first equipment is determined under the current operation mode of the first equipment based on the described first control data to the
The first control instruction that one equipment is controlled, first equipment include at least two operating modes.
18. the second equipment as claimed in claim 17, which is characterized in that first sending module is used for：
Based on the correspondence between athletic posture and control instruction, determine that first athletic posture is described corresponding to data
First control instruction, and set using first control instruction as the described first control data sending to described first
It is standby；Alternatively,
Data are described into as the described first control data sending to first equipment for first athletic posture, for described
First equipment determines that first athletic posture describes data institute based on the correspondence between athletic posture and control instruction
Corresponding first control instruction.
19. the second equipment as claimed in claim 17, which is characterized in that second equipment further includes：
4th detection module, the second athletic posture for detecting acquisition second equipment describe data；
Second sending module, for be based on second athletic posture describe data obtain second control Data Concurrent send to first
Equipment, so that second electronic equipment enters describes the corresponding operating mode of data with second athletic posture.
20. the second equipment as described in claim 17,18 or 19, which is characterized in that second equipment further includes：
Second establishes module, for establishing the database of special exercise attitude description data；
Judgment module, for judging that first athletic posture describes whether data are located at the database；
Wherein, if first athletic posture describes data and is not located at the database, first sending module is controlled to hold
Row is described to describe the step of data acquisition the first control Data Concurrent is sent to the first equipment based on first athletic posture；
If first athletic posture, which describes data, is located at the database, do not control described in the first sending module execution
Data are described based on first athletic posture and obtain the step of the first control Data Concurrent is sent to the first equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611048493.1A CN108089463A (en) | 2016-11-22 | 2016-11-22 | A kind of control method and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611048493.1A CN108089463A (en) | 2016-11-22 | 2016-11-22 | A kind of control method and equipment |
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| CN108089463A true CN108089463A (en) | 2018-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611048493.1A Pending CN108089463A (en) | 2016-11-22 | 2016-11-22 | A kind of control method and equipment |
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Cited By (1)
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| WO2020124623A1 (en) * | 2018-12-20 | 2020-06-25 | 钟胤舜 | Intelligent motion system and method |
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Application publication date: 20180529 |