CN108762509B - Method for operating remote control object and operating system - Google Patents
Method for operating remote control object and operating system Download PDFInfo
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- CN108762509B CN108762509B CN201810574117.9A CN201810574117A CN108762509B CN 108762509 B CN108762509 B CN 108762509B CN 201810574117 A CN201810574117 A CN 201810574117A CN 108762509 B CN108762509 B CN 108762509B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/36—Steering-mechanisms for toy vehicles
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Abstract
The invention provides a method for operating a remote-controlled object, which comprises the following steps: the method comprises the steps that a first orientation sensor acquires the direction of a remote control end in a sensing environment coordinate system to obtain a space rotation equation; converting the space motion value of an operation unit in the remote control end into a space motion value in an environment coordinate system, and sending the space motion value to a remote controlled object; acquiring the direction of the remote-controlled object in a sensing environment coordinate system by a second orientation sensor to obtain a space rotation equation; converting the received space motion value sent by the remote control end into a motion control quantity of a remote controlled object; the object to be remotely controlled moves in the environment coordinate system by the movement control amount. In the operating system for implementing the method, the remote control end comprises an operating unit, a first orientation sensor, a computing module a and a converting module a, and the remote controlled object comprises an electronic compass, a gyroscope, a second orientation sensor, a computing module b and a converting module b. The invention is not influenced by the direction of the remote controller and can improve the convenience of operation.
Description
Technical Field
The present invention relates to an operating method, and more particularly, to a method and an operating system for operating a remote object.
Background
In the prior art, remote control of equipment such as toy vehicles, unmanned planes and the like maps the coordinate system direction of a remote-controlled object and the coordinate system direction of a remote controller. An operator is in an environment (world) coordinate system to control the motion movement and direction of a remote-controlled object, the motion of the remote-controlled object in the environment (world) coordinate system needs to be converted into the motion of the remote-controlled object in the environment (world) coordinate system, and then the remote controller is used for controlling, so that the operation difficulty is increased.
Disclosure of Invention
Aiming at the defects existing in the problems, the invention provides a method and an operating system for operating a remote control object, which are not influenced by the direction of a remote controller and can improve the operation convenience.
In order to achieve the above object, the present invention provides a method for operating a remote controlled object, including a remote control end and the remote controlled object, comprising the steps of:
step 4, converting the received space motion value sent by the remote control end into the motion control quantity of the remote controlled object through a space rotation equation;
and 5, moving the remote-controlled object in the environment coordinate system through the motion control quantity.
The method for operating the remote-controlled object comprises the following sub-steps in step 1:
step 11, calibrating an operation unit in the remote controller through a first orientation sensor in the remote controller;
step 12, establishing an initial coordinate of the remote controller in an environment coordinate system;
and step 13, acquiring a deflection angle of the remote control end in a perception environment coordinate system through the first orientation sensor to obtain a space rotation equation of the remote control end.
The method for operating the remote-controlled object comprises the following sub-steps in step 2:
step 21, obtaining a space rotation axis vector L3 of the remote controller by using the following formula:
L3＝L1×L2，
wherein, L1 is the azimuth initial state of the remote controller, L2 is the azimuth current state of the remote controller;
step 22, obtaining the axis rotation angle around the remote controller space rotation axis vector L3 by using the following formula:
cos(φ)＝L1·L2/(||L1||·||L2||))；
step 23, obtaining the cosine value of the shaft rotation angle phi by using the following formula:
φ＝acos(L1·L2/(||L1||·||L2||))。
the method for operating the remote-controlled object comprises the following sub-steps in step 3:
step 31, calibrating the motion control quantity of the remote controlled object by the orientation value of a second orientation sensor in the remote controlled object;
step 32, establishing an initial coordinate of the remote-controlled object in an environment coordinate system;
and step 33, acquiring a deflection angle of the remote controlled object in the perception environment coordinate system through a second orientation sensor to obtain a space rotation equation of the remote controlled object.
The method for operating the remote-controlled object comprises the following sub-steps in step 4:
step 41, using the following formula to obtain a space rotation axis vector h3 of the remote controlled object:
h3＝h1×h2，
wherein h1 is the initial state of the orientation of the object to be remotely controlled, and h2 is the current state of the orientation of the object to be remotely controlled;
and step 42, obtaining the rotation angle of the space rotation axis vector h3 of the remote control object by using the following formula:
cos(α)＝h1·h2/(||h1||·||h 2||))；
step 43, obtaining the cosine value of the shaft rotation angle phi by using the following formula:
α＝acos(h 1·h 2/(||h 1||·||h 2||))。
step 44, after receiving the spatial motion value sent by the remote control end, converting the spatial motion value into an orientation value q ═ inv (rot) · p' of the remote controlled object,
wherein inv (Rot) is an inverse matrix of the matrix Rot, q is a motion value instruction of the remote controlled object in its own coordinate system, and p' is a motion instruction received by the remote controlled object at the current position.
The invention provides an operating system for operating a remotely controlled object, which comprises the remotely controlled object and a remote control end, wherein the remote control end comprises an operating unit, and the remotely controlled object comprises an electronic compass and a gyroscope;
the first orientation sensor is used for acquiring the orientation of the remote control end in a perception environment coordinate system;
the calculation module a is used for calculating a space rotation equation of the remote control end according to the direction of the remote control end in a perception environment coordinate system;
the conversion module a is used for converting the space motion value of the operation unit in the remote control end into a space motion value in an environment coordinate system through a space rotation equation;
the remote controlled object also comprises a second orientation sensor, a calculation module b and a conversion module b;
the second orientation sensor is used for acquiring the direction of the remotely controlled object in a perception environment coordinate system;
the calculation module b is used for calculating a spatial rotation equation of the remotely controlled object according to the direction of the remotely controlled object in a perception environment coordinate system;
and the conversion module b is used for converting the received space motion value sent by the remote control end into the motion control quantity of the remote controlled object through a space rotation equation.
In the above operating system, the implementation steps of the converting module a are as follows:
the spatial rotation axis vector L3 of the remote controller is obtained by the following equation:
L3＝L1×L2，
wherein, L1 is the azimuth initial state of the remote controller, L2 is the azimuth current state of the remote controller;
the axis rotation angle around the remote controller spatial rotation axis vector L3 is obtained using the following equation:
cos(φ)＝L1·L2/(||L1||·||L2||))；
the cosine of the shaft rotation angle phi is obtained by the following formula:
φ＝acos(L1·L2/(||L1||·||L2||))。
in the above operating system, the implementation steps of the converting module b are as follows:
the spatial rotation axis vector h3 of the remote controlled object is obtained by the following formula:
h3＝h1×h2，
wherein h1 is the initial state of the orientation of the object to be remotely controlled, and h2 is the current state of the orientation of the object to be remotely controlled;
the rotation angle of the remotely controlled object spatial rotation axis vector h3 is obtained by the following equation:
cos(α)＝h1·h2/(||h1||·||h 2||))；
the cosine of the shaft rotation angle phi is obtained by the following formula:
α＝acos(h 1·h 2/(||h 1||·||h 2||))。
after receiving the space motion value sent by the remote control end, converting the space motion value into an orientation value q ═ inv (rot) p' of the remote controlled object,
wherein inv (Rot) is an inverse matrix of the matrix Rot, q is a motion value instruction of the remote controlled object in its own coordinate system, and p' is a motion instruction received by the remote controlled object at the current position.
Compared with the prior art, the invention has the following advantages:
the invention maps the coordinate system directions of the remote controller and the remote controlled object to the environment (world) coordinate system to control the movement, so that the operator can judge the movement direction of the remote controlled object based on the environment (world) coordinate system, and operate the rocker or the key of the remote controller in the same direction without being influenced by the direction of the body of the remote controller;
the invention relates the coordinate system direction of the remote controlled object and the coordinate system direction of the remote controller by knowing the environment (world) coordinate system direction, can eliminate the process that an operator needs to convert the motion of the remote controlled object under the environment (world) coordinate system into the motion of the remote controlled object under the coordinate system in the remote control operation, and improves the convenience of the remote control operation.
The invention can solve the defects that the directions of the rocker or the key of the existing remote controller are mapped into the motion direction of the remote controlled object under the coordinate system, the motion direction does not have any correlation with the direction of an operator under the environment (world) coordinate system, and the control misjudgment of the motion direction is easy to occur.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a schematic diagram of remote control of a remote controller and a remote controlled object according to the present invention;
FIG. 3 illustrates an initial stance of a soccer robot on a court;
fig. 4 shows the defending and attacking positions of the football robot on the court.
Detailed Description
As shown in fig. 1, the present invention provides a method for operating a remote controlled object, including a remote control end and the remote controlled object, comprising the steps of:
In step 1, the following substeps are included:
step 11, calibrating an operation unit in the remote controller through a first orientation sensor in the remote controller;
step 12, establishing an initial coordinate of the remote controller in an environment coordinate system;
and step 13, acquiring a deflection angle of the remote control end in a perception environment coordinate system through the first orientation sensor to obtain a space rotation equation of the remote control end.
And 2, converting the space motion value of the operation unit in the remote control end into a space motion value in an environment coordinate system by a space rotation equation, and transmitting the space motion value to the remote controlled object.
In step 2, the following substeps are included:
step 21, obtaining a space rotation axis vector L3 of the remote controller by using the following formula:
L3＝L1×L2，
wherein, L1 is the azimuth initial state of the remote controller, L2 is the azimuth current state of the remote controller;
step 22, obtaining the axis rotation angle around the remote controller space rotation axis vector L3 by using the following formula:
cos(φ)＝L1·L2/(||L1||·||L2||))；
step 23, obtaining the cosine value of the shaft rotation angle phi by using the following formula:
φ＝acos(L1·L2/(||L1||·||L2||))。
and 3, acquiring the direction of the remote-controlled object in the sensing environment coordinate system through a second orientation sensor to obtain a space rotation equation of the remote-controlled object.
In step 3, the following substeps are included:
step 31, calibrating the motion control quantity of the remote controlled object by the orientation value of a second orientation sensor in the remote controlled object;
step 32, establishing an initial coordinate of the remote-controlled object in an environment coordinate system;
and step 33, acquiring a deflection angle of the remote controlled object in the perception environment coordinate system through a second orientation sensor to obtain a space rotation equation of the remote controlled object.
And 4, converting the received space motion value sent by the remote control end into the motion control quantity of the remote controlled object through a space rotation equation.
In step 4, the following substeps are included:
step 41, using the following formula to obtain a space rotation axis vector h3 of the remote controlled object:
h3＝h1×h2，
wherein h1 is the initial state of the orientation of the object to be remotely controlled, and h2 is the current state of the orientation of the object to be remotely controlled;
and step 42, obtaining the rotation angle of the space rotation axis vector h3 of the remote control object by using the following formula:
cos(α)＝h1·h2/(||h1||·||h 2||))；
step 43, obtaining the cosine value of the shaft rotation angle phi by using the following formula:
α＝acos(h 1·h 2/(||h 1||·||h 2||))。
step 44, after receiving the spatial motion value sent by the remote control end, converting the spatial motion value into an orientation value q ═ inv (rot) · p' of the remote controlled object,
wherein inv (Rot) is an inverse matrix of the matrix Rot, q is a motion value instruction of the remote controlled object in its own coordinate system, and p' is a motion instruction received by the remote controlled object at the current position.
And 5, moving the remote-controlled object in the environment coordinate system through the motion control quantity.
In addition, the invention also provides an operating system for operating the remote-controlled object, which comprises the remote-controlled object and a remote control end, wherein the remote control end comprises an operating unit, a first orientation sensor, a calculating module a and a converting module a.
The operation unit comprises an operation handle and an operation key.
And the first orientation sensor is used for acquiring the orientation of the remote control end in a sensing environment coordinate system.
The first orientation sensor and sensors such as an electronic compass and a gyroscope are solidified in a circuit board of the remote controller.
In addition, set up sensors such as first orientation sensor, electron compass and gyroscope into independent module to with independent module mechanical mounting respectively on the remote controller, with remote controller data connection.
And the calculation module a is used for calculating and obtaining a space rotation equation of the remote control end through the direction of the remote control end in the sensing environment coordinate system.
And the conversion module a is used for converting the space motion value of the operation unit in the remote control end into the space motion value in the environment coordinate system through a space rotation equation.
The implementation steps of the conversion module a are as follows:
the spatial rotation axis vector L3 of the remote controller is obtained by the following equation:
L3＝L1×L2，
wherein, L1 is the azimuth initial state of the remote controller, L2 is the azimuth current state of the remote controller;
the axis rotation angle around the remote controller spatial rotation axis vector L3 is obtained using the following equation:
cos(φ)＝L1·L2/(||L1||·||L2||))；
the cosine of the shaft rotation angle phi is obtained by the following formula:
φ＝acos(L1·L2/(||L1||·||L2||))。
the remote controlled object comprises an electronic compass, a gyroscope, a second orientation sensor, a calculation module b and a conversion module b.
And the second orientation sensor is used for acquiring the direction of the remotely controlled object in the perception environment coordinate system.
The second orientation sensor and sensors such as an electronic compass and a gyroscope are solidified in a circuit board of the remote-controlled object.
In addition, the second orientation sensor, the electronic compass, the gyroscope and other sensors are set as independent modules, and the independent modules are respectively mechanically installed on the remote controlled object and are in data connection with the remote controlled object.
And the calculation module b is used for calculating a spatial rotation equation of the remote-controlled object according to the direction of the remote-controlled object in the perception environment coordinate system.
And the conversion module b is used for converting the received space motion value sent by the remote control end into the motion control quantity of the remote controlled object through a space rotation equation.
The implementation steps of the conversion module b are as follows:
the spatial rotation axis vector h3 of the remote controlled object is obtained by the following formula:
h3＝h1×h2，
wherein h1 is the initial state of the orientation of the object to be remotely controlled, and h2 is the current state of the orientation of the object to be remotely controlled;
the rotation angle of the remotely controlled object spatial rotation axis vector h3 is obtained by the following equation:
cos(α)＝h1·h2/(||h1||·||h 2||))；
the cosine of the shaft rotation angle phi is obtained by the following formula:
α＝acos(h 1·h 2/(||h 1||·||h 2||))。
after receiving the space motion value sent by the remote control end, converting the space motion value into an orientation value q ═ inv (rot) p' of the remote controlled object,
wherein inv (Rot) is an inverse matrix of the matrix Rot, q is a motion value instruction of the remote controlled object in its own coordinate system, and p' is a motion instruction received by the remote controlled object at the current position.
As shown in FIG. 2, the environment (world) coordinate system is O-XYZ, the coordinate system of the object to be remotely controlled is O-XdXYdxZdx, and the coordinate system of the remote controller is O-XykYykZyk.
The remote controller comprises front and back Xyk control variables, transverse motion Yyk, up and down Zyk, roll angle Rryk, pitch angle Ryk and heading angle RZyk, wherein the control variables are space motion Pyk and space rotation Ryk which are incremental values.
The motion amount of the remote-controlled object is Xdx, transverse motion Ydx, up and down Zdx, roll angle Rxdx, pitch angle RYdx and heading angle RZdx, and the motion amount is divided into space motion Pdx and space rotation Rdx which are incremental values.
The rotation matrix of the remote controlled object in the environment (world) coordinate system is Rotdx, and the rotation matrix of the remote controller in the environment (world) coordinate system is Rotyk.
In actual remote control operation, an operator controls a remote-controlled object to reach a target by using a remote controller with the position and direction in an environment (world) coordinate system as the target. The control quantities Pyk and Ryk sent by the remote controller are converted into motion control quantities under an environment (world) coordinate system through a rotation matrix Rotyk: rotyk. Pyk, Rotyk. Ryk.
After receiving the control quantity of the remote controller, the remote control object is converted into the control quantity of the remote control object through a rotation matrix Rotdx inverse matrix Rotdx-1, Pdx is Rotdx-1, Rotyk, Pyk, and Rdx is Rotdx-1, Rotyk, Ryk.
By the method, an operator can intuitively operate the remote controller to control the remote controlled object to move to the target position and the target direction without being concerned with the judgment of the orientation of the remote controller and the remote controlled object in an environment (world) coordinate system.
As shown in fig. 3 and 4, the method can be applied to the remote control operation of the soccer playing robot.
The figure shows a football field, the coordinate system of the football field is O-XYZ, each goal is arranged in the Y direction, 2 football robots are arranged on the field, and the numbers of the 2 football robots are respectively No. 1 and No. 2. The football robot holds the ball and kicks the ball position in the robot dead ahead, and the left and right sides and the rear side of robot are circular arc.
No. 1 of the football robot is provided with a gate, and No. 2 of the football robot is provided with a gate.
A football is arranged on a football field, and the door of the football robot defense home is not used for goal and needs to kick the football to enter the door of the other party.
No. 1 remote controller controls No. 1 football robot, and No. 2 remote controller controls No. 2 football robot.
It can be seen that the motion path of the soccer robot 1 is moving in the X negative direction and the Y negative direction, and rotating counterclockwise around the Z axis. The motion path of the soccer robot No. 2 is to move in the X negative direction and the Y negative direction, and to rotate counterclockwise around the Z axis.
If a conventional remote control is used in the case of the remote control,
indicating the soccer robot moving left, right, forward, backward, and turning right and left, respectively. The operation of the motion of the soccer robot No. 1 on the remote controller is as follows:
the operation of the motion of the football robot No. 2 on the remote controller is as follows:
therefore, the control quantity of the remote controller operation button is different from the motion direction quantity of the robot on the court, and the direction needs to be converted.
By adopting the method, the raw materials are mixed,
respectively representing the movement of Y negative direction, Y positive direction, X negative direction and X positive direction in the coordinate system of the court, and the clockwise rotation and the anticlockwise rotation around the Z axis. The sport for controlling the football robot No. 1 can be expressed as the football field
The operations on the remote controller are:
the sport for controlling the football robot No. 2 can be expressed as the football field
The operations on the remote controller are:
therefore, the traditional method for controlling the football robot to move to the target position needs to be combined with the position of the football robot on the court to convert the movement of the robot on the court into the movement control amount under the robot body coordinate system (mapping the remote controller keys), and the method does not need the space conversion process, is more convenient for the remote control operation of an operator, and improves the user experience.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. Those skilled in the art will appreciate that many variations, modifications, and even equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims, which are to be construed as being limited in the manner set forth in the description.
Claims (6)
1. A method for operating a remote-controlled object, which comprises a remote control terminal and the remote-controlled object, comprises the following steps:
step 1, acquiring the direction of a remote control end in a sensing environment coordinate system through a first orientation sensor, and then obtaining a spatial rotation equation of the remote control end;
step 2, converting the space motion value of the operation unit in the remote control end into a space motion value in an environment coordinate system by a space rotation equation, and sending the space motion value to a remote controlled object;
step 3, acquiring the direction of the remote-controlled object in a sensing environment coordinate system through a second orientation sensor to obtain a space rotation equation of the remote-controlled object;
step 4, converting the received space motion value sent by the remote control end into the motion control quantity of the remote controlled object through a space rotation equation;
step 5, the remote controlled object moves in the environment coordinate system through the motion control quantity;
in step 1, the following substeps are included:
step 11, calibrating an operation unit in the remote controller through a first orientation sensor in the remote controller;
step 12, establishing an initial coordinate of the remote controller in an environment coordinate system;
step 13, acquiring a deflection angle of the remote control end in a perception environment coordinate system through a first orientation sensor to obtain a spatial rotation equation of the remote control end;
in step 2, the following substeps are included:
step 21, obtaining a space rotation axis vector L3 of the remote controller by using the following formula:
L3＝L1×L2，
wherein, L1 is the azimuth initial state of the remote controller, L2 is the azimuth current state of the remote controller;
step 22, obtaining the axis rotation angle around the remote controller space rotation axis vector L3 by using the following formula:
cos(φ)＝L1·L2/(||L1||·||L2||)；
step 23, obtaining the cosine value of the shaft rotation angle phi by using the following formula:
φ＝acos(L1·L2/(||L1||·||L2||))；
and 24, transmitting the cosine values of the space rotation axis vector L3 of the remote controller and the rotation angle phi around the space rotation axis vector L3 axis of the remote controller to the remote control object.
2. A method of operating a remotely controlled object as claimed in claim 1, characterized in that in step 3, the following sub-steps are included:
step 31, calibrating the motion control quantity of the remote controlled object by the orientation value of a second orientation sensor in the remote controlled object;
step 32, establishing an initial coordinate of the remote-controlled object in an environment coordinate system;
and step 33, acquiring a deflection angle of the remote controlled object in the perception environment coordinate system through a second orientation sensor to obtain a space rotation equation of the remote controlled object.
3. A method of operating a remotely controlled object as claimed in claim 1, characterized in that in step 4, the following substeps are included:
step 41, receiving cosine values of a space rotation axis vector L3 of the remote controller and a rotation angle phi around a space rotation axis vector L3 of the remote controller;
step 42, using the following formula to obtain the spatial rotation axis vector h3 of the remote controlled object:
h3＝h1×h2，
wherein h1 is the initial state of the orientation of the object to be remotely controlled, and h2 is the current state of the orientation of the object to be remotely controlled;
and step 43, obtaining the rotation angle of the space rotation axis vector h3 of the remote control object by using the following formula:
cos(α)＝h1·h2/(||h1||·||h2||)；
step 44, obtaining the cosine value of the shaft rotation angle phi by using the following formula:
α＝acos(h1·h2/(||h1||·||h2||))；
step 45, after receiving the spatial motion value transmitted by the remote control end, converting the spatial motion value into an orientation value q ═ inv (rot) · p' of the remote controlled object,
wherein inv (Rot) is an inverse matrix of the matrix Rot, q is a motion value instruction of the remote controlled object in its own coordinate system, and p' is a motion instruction received by the remote controlled object at the current position.
4. An operating system for implementing the method for operating the remote controlled object in claim 1, comprising the remote controlled object and a remote control end, wherein the remote control end comprises an operating unit, the remote controlled object comprises an electronic compass and a gyroscope, and the remote control end further comprises a first orientation sensor, a computing module a and a converting module a;
the first orientation sensor is used for acquiring the orientation of the remote control end in a perception environment coordinate system;
the calculation module a is used for calculating a space rotation equation of the remote control end according to the direction of the remote control end in a perception environment coordinate system;
the conversion module a is used for converting the space motion value of the operation unit in the remote control end into a space motion value in an environment coordinate system through a space rotation equation;
the remote controlled object also comprises a second orientation sensor, a calculation module b and a conversion module b;
the second orientation sensor is used for acquiring the direction of the remotely controlled object in a perception environment coordinate system; the calculation module b is used for calculating a spatial rotation equation of the remotely controlled object according to the direction of the remotely controlled object in a perception environment coordinate system;
and the conversion module b is used for converting the received space motion value sent by the remote control end into the motion control quantity of the remote controlled object through a space rotation equation.
5. The operating system of claim 4, wherein the converting module a is implemented as follows:
the spatial rotation axis vector L3 of the remote controller is obtained by the following equation:
L3＝L1×L2，
wherein, L1 is the azimuth initial state of the remote controller, L2 is the azimuth current state of the remote controller;
the axis rotation angle around the remote controller spatial rotation axis vector L3 is obtained using the following equation:
cos(φ)＝L1·L2/(||L1||·||L2||)；
the cosine of the shaft rotation angle phi is obtained by the following formula:
φ＝acos(L1·L2/(||L1||·||L2||))。
6. the operating system of claim 4, wherein the conversion module b is implemented as follows:
the spatial rotation axis vector h3 of the remote controlled object is obtained by the following formula:
h3＝h1×h2，
wherein h1 is the initial state of the orientation of the object to be remotely controlled, and h2 is the current state of the orientation of the object to be remotely controlled;
the rotation angle of the remotely controlled object spatial rotation axis vector h3 is obtained by the following equation:
cos(α)＝h1·h2/(||h1||·||h2||)；
the cosine of the shaft rotation angle phi is obtained by the following formula:
α＝acos(h1·h2/(||h1||·||h2||))；
after receiving the space motion value sent by the remote control end, converting the space motion value into an orientation value q ═ inv (rot) p' of the remote controlled object,
wherein inv (Rot) is an inverse matrix of the matrix Rot, q is a motion value instruction of the remote controlled object in its own coordinate system, and p' is a motion instruction received by the remote controlled object at the current position.
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| CN103177545A (en) * | 2011-12-26 | 2013-06-26 | 联想(北京)有限公司 | Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller |
| CN105469579A (en) * | 2015-12-31 | 2016-04-06 | 北京臻迪机器人有限公司 | Somatosensory remote control and somatosensory remote control flying system and method |
| CN105867433A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Moving control method, moving electronic device and moving control system |
-
2018
- 2018-06-06 CN CN201810574117.9A patent/CN108762509B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6478790A (en) * | 1987-09-22 | 1989-03-24 | Mitsubishi Electric Corp | Remote control type manipulator device |
| CN103177545A (en) * | 2011-12-26 | 2013-06-26 | 联想(北京)有限公司 | Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller |
| CN105469579A (en) * | 2015-12-31 | 2016-04-06 | 北京臻迪机器人有限公司 | Somatosensory remote control and somatosensory remote control flying system and method |
| CN105867433A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Moving control method, moving electronic device and moving control system |
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| CN108762509A (en) | 2018-11-06 |
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