CN110580843A - robot control method, device, equipment and readable medium - Google Patents
robot control method, device, equipment and readable medium Download PDFInfo
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- CN110580843A CN110580843A CN201910832280.5A CN201910832280A CN110580843A CN 110580843 A CN110580843 A CN 110580843A CN 201910832280 A CN201910832280 A CN 201910832280A CN 110580843 A CN110580843 A CN 110580843A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/183—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits
- G09B23/185—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits for building block systems
Abstract
the embodiment of the invention discloses a robot control method, which is based on a controller, wherein the controller is used for controlling a robot, and the method comprises the following steps: monitoring whether a Bluetooth connection request from a mobile terminal exists or not; under the condition that a Bluetooth connection request exists, determining a target mobile terminal corresponding to the Bluetooth connection request, and establishing communication connection with the target mobile terminal; receiving control data sent by the target mobile terminal, and determining a target instruction according to the control data; and controlling the robot to execute the target instruction so as to control the robot. The invention improves the control efficiency of the robot and reduces the control cost of the robot.
Description
Technical Field
the invention relates to the technical field of computer control, in particular to a control method, a control device, control equipment and a readable medium of a robot.
Background
with the development of the economic and civilian culture level, the consciousness of scientific enlightenment education of the society for teenagers is gradually enhanced, and meanwhile, due to the rapid development of the technology in the related field of robots, more and more types of teaching aid robots are applied and popularized, wherein the teaching aid robots comprise a programmable control robot.
in the conventional control method of a programmable robot teaching aid, after a user writes a program on a robot controller or a computer or other equipment, the robot is controlled by an additionally configured infrared remote controller or other devices, so that the robot executes a corresponding control instruction and runs the programmed program to perform movement and the like. However, the method for controlling the robot by using the remote controller which needs to be additionally configured increases the cost of the robot teaching aid on one hand and is difficult to benefit more adolescents of suitable ages, and on the other hand, as most types of robot controllers can only be adapted to one remote controller, when the robot is controlled, a user needs to manually add labels to the robot controller and the remote controller to enable the robot controller and the remote controller to be paired for use, which causes the problems that the control cost of the teaching type programming robot is high and the robot is difficult to popularize.
Disclosure of Invention
in view of the above, it is necessary to provide a robot control method, apparatus, computer device and readable medium.
A method for controlling a robot, the method being based on a controller for controlling the robot, the method comprising:
monitoring whether a Bluetooth connection request from a mobile terminal exists or not;
Under the condition that a Bluetooth connection request exists, determining a target mobile terminal corresponding to the Bluetooth connection request, and establishing communication connection with the target mobile terminal;
receiving control data sent by the target mobile terminal, and determining a target instruction according to the control data;
and controlling the robot to execute the target instruction so as to control the robot.
A robot control apparatus, characterized in that the apparatus comprises:
A monitoring unit: the system comprises a Bluetooth module, a Bluetooth module and a Bluetooth module, wherein the Bluetooth module is used for monitoring whether a Bluetooth connection request from a mobile terminal exists;
a connection unit: the method comprises the steps that under the condition that a Bluetooth connection request exists, a target mobile terminal corresponding to the Bluetooth connection request is determined, and communication connection is established between the target mobile terminal and the target mobile terminal;
An analysis unit: the system comprises a target mobile terminal, a target instruction and a control data processing unit, wherein the control data is used for receiving control data sent by the target mobile terminal and determining the target instruction according to the control data;
A control unit: the target instructions are used for controlling the robot to execute so as to control the robot.
a computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:
Monitoring whether a Bluetooth connection request from a mobile terminal exists or not;
under the condition that a Bluetooth connection request exists, determining a target mobile terminal corresponding to the Bluetooth connection request, and establishing communication connection with the target mobile terminal;
Receiving control data sent by the target mobile terminal, and determining a target instruction according to the control data;
and controlling the robot to execute the target instruction so as to control the robot.
a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
monitoring whether a Bluetooth connection request from a mobile terminal exists or not;
Under the condition that a Bluetooth connection request exists, determining a target mobile terminal corresponding to the Bluetooth connection request, and establishing communication connection with the target mobile terminal;
Receiving control data sent by the target mobile terminal, and determining a target instruction according to the control data;
And controlling the robot to execute the target instruction so as to control the robot.
in the embodiment of the invention, whether a Bluetooth connection request from a mobile terminal exists is monitored, and under the condition that the Bluetooth connection request exists, a target mobile terminal corresponding to the Bluetooth connection request is determined, and communication connection is established between a controller and the target mobile terminal. And then receiving control data sent by the connected target mobile terminal, determining a target instruction according to the control data, and finally controlling the robot to execute the target instruction so as to realize the control of the robot.
Therefore, compared with the problems that in the prior art, each robot needs to be additionally provided with a remote controller for control, and the control cost of the robot is high and the control efficiency is low, the robot control system has the advantages that the communication connection is established between the built-in controller of the robot and the external mobile terminal, and the control data is transmitted through the communication connection, so that the robot is controlled through the mobile terminal, the control cost of the robot is reduced, and the control efficiency of the robot is improved.
drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
wherein:
FIG. 1 shows a flow diagram of a control method of a robot in one embodiment;
FIG. 2 shows a flow diagram for initializing a controller in another embodiment;
FIG. 3 illustrates a flow diagram for generating target instructions from the control data in one embodiment;
FIG. 4 illustrates a flow diagram for determining target control information in a simple control mode in one embodiment;
FIG. 5 illustrates a flow diagram for determining target instructions in a programmed control mode in one embodiment;
FIG. 6 illustrates a flow diagram that generates a sequence of execution of a target instruction in one embodiment;
FIG. 7 shows a flowchart of an exemplary embodiment of the present invention in an application scenario of "control of a robot by a cell phone";
Fig. 8 is a block diagram showing a configuration of a control apparatus of the robot in one embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device in one embodiment.
Detailed Description
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention proposes a robot control method, and in one embodiment, the present invention may be based on a controller for controlling various robot devices (e.g., a dolly or a small animal robot, etc.).
Referring to fig. 1, an embodiment of the present invention provides a control method for a robot.
In an alternative embodiment, the controller may be a control module or device contained within the robot that establishes communication connections with other modules of the robot (e.g., motion module, communication module), based on a controller. Meanwhile, the controller is connected with a mobile terminal (such as a mobile phone) of the peripheral equipment according to a preset communication protocol (such as a Bluetooth protocol), so that the robot is controlled through the controller according to the received related data sent by the terminal.
Fig. 1 shows a flow chart of a control method of a robot in one embodiment. The control method of the robot in the invention at least includes steps S1022 to S1028 shown in fig. 1, which are described in detail as follows:
In step S1022, it is monitored whether there is a bluetooth connection request from the mobile terminal.
First, the controller device may be a microcontroller based on a minimum embedded system, in which a minimum system circuit is integrated with a display driving circuit, a motor driving circuit, a wireless communication circuit, a sensor driving circuit, and a power supply circuit.
in addition, the wireless communication circuit included in the controller may implement a bluetooth communication function, and in an optional embodiment, the controller is further provided with a touch display area, and a user may perform a touch operation on a preset interface (e.g., a bluetooth connection interface entered after clicking a bluetooth icon on the touch display screen) displayed on the touch display area to start a bluetooth transmission function of the controller.
After the bluetooth function of the controller is turned on, that is, whether a bluetooth connection request from the mobile terminal exists is monitored through a preset serial communication interface, in an alternative embodiment, the type of the terminal capable of performing bluetooth connection with the controller may be a mobile phone, a tablet computer, a PC, or the like.
optionally, before the process of monitoring whether there is a bluetooth connection request from the mobile terminal, the controller may be initialized, and a specific initialization process may include steps S1032-S1034 as shown in fig. 2. Fig. 2 shows a flow chart for initializing the controller in another embodiment.
In step S1032, system related data of the controller is acquired as target initialization data, where the system related data includes at least two items of operating system data, interface system data, and file system data.
Specifically, the operating system data may be control data of an environment configuration related to the minimum embedded system included in the controller, the interface system data may be graphic and motion data related to touch sensing of an image display in the touch display area, and the file system data may include a database of the control system, a pre-stored instruction code, and the like.
in step S1034, loading is performed according to the target initialization data.
after the relevant data of the system is loaded, a preset interface can be correspondingly displayed on the touch display area of the controller, so that a user can perform touch operation related to Bluetooth connection.
In step S1024, in the presence of a bluetooth connection request, a target mobile terminal corresponding to the bluetooth connection request is determined, and a communication connection is established with the target mobile terminal.
in a specific embodiment, after the bluetooth communication function of the controller is turned on, the bluetooth communication function is detected by a device (such as a user's mobile phone, PC, etc., which can be identified by different device names) which is also turned on in the connection range, and the user's mobile phone sends a bluetooth connection request to the controller. Optionally, there may be a plurality of terminals sending bluetooth connection requests to the controller, and the user may select one device (e.g., a mobile phone of the user) on a bluetooth connection list interface (or other optional device matching interface) of the touch display screen of the controller, so that the controller establishes a bluetooth communication connection with the device, and the mobile phone of the user here is a target mobile terminal corresponding to the bluetooth communication connection.
In step S1026, control data sent by the target mobile terminal is received, and a target instruction is determined according to the control data.
First, it should be noted that the control data sent by the target mobile terminal is generated by the target mobile terminal detecting a touch operation input by a user through the target mobile terminal.
Optionally, a preset application program may be installed on the target mobile terminal, and is used for remotely controlling the controller through the bluetooth communication connection established in the foregoing process.
Therefore, the step of sending the control data by the user through the terminal can be that the preset application program is opened on the mobile phone, and touch operation is carried out on a corresponding interface in the program to input a control instruction. For example, icons corresponding to the functional modules, such as "remote controller", "programming", "sports", "training", "sun works", "mall", "my information", "related information", may be displayed in the initial interface after the preset application program is opened. After the user clicks the icon corresponding to the corresponding functional module, a control interface corresponding to the module appears on the mobile phone of the user, and the user can perform corresponding types of remote control operation in various functional interfaces.
if the user clicks the icon of the 'remote controller' module, the input mode of the remote-controlled robot is entered. Specifically, under this input mode, there may be different ways for remotely commanding the robot, such as controlling the robot by running a target code written by a user (which may be completed on the controller) and editing an execution sequence of the target code on a corresponding interface, or controlling the motion of the robot by touching a motion direction, an action icon, and the like on a control interface on a mobile phone.
meaning that there is also a difference between the way in which the corresponding robot can be controlled and the actions that can be achieved under the different control modes, the control data thus also includes control mode selection information, whereby the process of generating target instructions from said control data may include steps S1042-S1046 shown in fig. 3. FIG. 3 illustrates a flow diagram for generating target instructions from the control data in one embodiment.
in step S1042, a target control mode corresponding to the control mode selection information is determined, where the target control mode includes a simple control mode, a two-wheel control mode, and/or a programmed control mode.
The manner of determining the control mode selection information may be to determine which control mode the user has selected according to an area corresponding to a touch operation of the user on the terminal.
Continuing with the description of the different control modes, in an alternative embodiment, the simple control mode may be to display a preset image area containing direction icons of the up, down, left, right, and middle control rockers on the control interface of the terminal.
The two-wheel control mode is that an image area containing each preset direction icon in the simple control mode is respectively arranged in different directions (such as left and right or up and down) of a control interface, and a corresponding robot control instruction is determined by receiving touch operations of a user on the two image areas.
Finally, the programming control mode can be that the target control instruction is determined according to the touch selection of the user by displaying the selectable control instruction on the control interface. Optionally, in this control mode, parameters related to instruction execution may also be presented for user selection and setting.
In step S1044, a target instruction generating method corresponding to the target control mode is determined.
In an optional embodiment, the target control information further includes direction control information and speed control information.
In connection with the description in step S1042, when the target control mode is determined to be the simple control mode, the process of determining the target control information may include at least steps S1052-S1054 shown in fig. 4. FIG. 4 illustrates a flow diagram for determining target control information in a simple control mode in one embodiment.
In step S1052, a preset motion control interface is displayed through the target mobile terminal, where the interface includes a selectable motion direction, and a control touch operation input by a user on the motion control interface is obtained.
As mentioned above, in an alternative embodiment, an image area containing up, down, left and right direction icons and a central control joystick is displayed on the motion control interface.
the control touch operation input by the user on the motion control interface can be that the middle control rocker is controlled to deflect for 30 seconds leftwards, then the middle control rocker is controlled to deflect for 15 seconds rightwards, and finally the middle control rocker is controlled to deflect upwards for 1 minute and the like through touch and long press.
in step S1054, the direction control information and the speed control information are determined according to the control touch operation.
firstly, the direction control information corresponding to the control touch operation is inquired in a preset library.
By combining the example in the previous step, the motion control instruction (including forward, backward, left turn, right turn, stop and other instructions) corresponding to the robot can be determined according to the angle information of the user touching the middle control rocker.
for example, the motion control command corresponding to the user controlling the middle control rocker to shift left for 30 seconds may be that the robot deflects left (determination of deflection speed will be described below, the same applies below), while the motion control command corresponding to the user controlling the middle control rocker to shift right for 15 seconds may be that the robot deflects right, and alternatively, the motion control command corresponding to the user controlling the middle control rocker to shift up for 1 minute may be that the robot keeps the current speed forward.
Further, the process of determining the speed control information according to the control touch operation may be as follows:
Firstly, the distance from a touch point corresponding to the touch operation of a user on a control interface to the center of the middle control rocker is obtained, and the speed control information is determined according to the touch distance on the terminal aiming at the center of the middle control rocker (determined in a mode of inquiring in a preset mapping relation library of the touch distance and the speed control information).
For example, when the user touches the motion control interface at a position farther from the center of the middle control rocker, the corresponding robot speed is smaller. Optionally, the faster the touch finger of the user moves, the faster the control speed of the corresponding robot changes.
similarly, in the two-wheel control mode, a touch operation on a preset area (including two middle control rockers respectively corresponding to left and right motors of the control robot and direction indication icons distributed around the two middle control rockers) on the motion control interface is first detected.
the specific double-wheel control touch operation may be that the user controls the middle control rocker on the left of the motion control interface to shift to the left, and controls the middle on the right to shift upwards, so that the motion control instruction of the robot is correspondingly determined as follows: the left turn is made while proceeding. Therefore, compared with a simple control mode, the control precision of the double-wheel control mode is higher, so that the effect of turning with different turning radiuses can be achieved by realizing the differential control of the robot, and the accuracy and the interestingness of the robot control are improved.
in step S1046, a target command corresponding to the control data is generated according to the target command generation method.
Specifically, after the target control mode is determined as the program control mode by performing step S1042, the process of determining the target instruction may include steps S1062-S1064 shown in fig. 5. FIG. 5 illustrates a flow diagram for determining target instructions in a programmed control mode in one embodiment.
In step S1062, a preset selection interface is displayed through the target mobile terminal, where the interface includes a selectable instruction, and a selection touch operation input by a user on the selection interface is obtained.
First, the above-mentioned optional instructions may be program codes edited and saved on the controller by the user according to preset grammar rules. After running, the optional codes can realize various computing functions including variable operation, logic judgment, flow control and the like.
In step S1064, the target instruction is determined according to the selection touch operation.
In a specific embodiment, the target instructions may include seven instructions of output control, cart control, port judgment, variable operation, flow control, application instruction, drawing instruction. The sub-instructions contained in the partial instructions or the functions implemented correspondingly are described next.
The output control instruction comprises a control instruction of an output driving device contained in the robot such as a motor, a steering engine and an LED. The user can click the corresponding output device on the selection interface, and then the digital identifier corresponding to the output device and the control parameter corresponding to the device are input on the appearance edit box interface to complete the control of the output device with the specified number, for example, when the motor is controlled, the digital identifier fills in numbers 1-2, and the speed value in the control parameter can fill in a numerical value from 0 to 100.
The trolley control command is a control command for the moving direction and speed of the trolley, such as forward movement, backward movement, left rotation, right rotation, stop, acceleration, deceleration and the like.
The port judgment instruction is an if statement or while statement, and is used for judging whether the operation is preset or not based on the current value of the port. (e.g., no signal is detected at the port, or an obstacle is detected around the robot by a signal (acquired by a sensor) at the port).
The variable operation instruction comprises a sub-operation instruction which defines a variable in a program according to the input of a user, completes the operations of self-adding, self-subtracting, judging and the like on the variable, or assigns the current value of the corresponding port to the variable so as to realize the operation of the variable to replace the operation of the port and the like.
the application instructions comprise control instructions such as setting time delay, setting music sent by a buzzer, displaying ultrasonic distance, drawing pictures and the like.
The flow control instructions form the basis of the whole program and comprise a loop instruction, a conditional instruction, a calling subprogram instruction, a FOR loop instruction and a program ending instruction.
Due to the particularity of the programming control mode, after the target instruction is determined according to the selection touch operation, a corresponding instruction execution sequence may be generated, and the specific process includes steps S1072 to S1074 as shown in fig. 6. FIG. 6 illustrates a flow diagram that generates a sequence of execution of a target instruction in one embodiment.
In step S1072, the target mobile terminal detects a touch operation input by a user through the target mobile terminal to determine a target instruction execution interval.
Optionally, after the user selects the target instruction from the selectable instruction, the default delay time between each instruction may be 100ms, the user may select and modify the default delay time on the terminal, so as to implement different delay durations between the instructions, and finally, the whole instruction queue is packed and sent to the controller through the unified communication protocol for compiling and executing, so as to implement an effect that the robot implements a series of actions according to the specified command, thereby further making the motion of the robot more vivid and complex.
In step S1074, a target instruction sequence is determined from the target instruction at the target instruction execution interval, and the target instruction sequence is executed by the controller.
Specifically, the user can adjust the target instruction execution interval from the default 100ms to 50ms on the control interface of the terminal, so that the frequency of the robot executing the control instruction is correspondingly accelerated, and the corresponding movement is more consistent.
In step S1028, the robot is controlled to execute the target instruction so as to control the robot.
Fig. 7 shows a flowchart of an exemplary embodiment of the present invention in an application scenario of "control of a robot by a mobile phone". Specifically, in this application scenario, the controller may control the robot based on one controller, and this scenario may specifically include steps S1082-S1086 shown in fig. 7.
In step S1082, whether a bluetooth connection request from the mobile terminal exists is monitored, and in the case that the bluetooth connection request exists, a target mobile phone corresponding to the bluetooth connection request is determined, and a communication connection is established with the target mobile phone.
In step S1084, control data sent by the target mobile phone is received, and a target instruction is determined according to the control data.
in the application scenario, a user can perform touch operation on a corresponding control interface of the application program by opening a preset application installed on the mobile phone, for example, first selecting a control mode as a "simple control mode" and then moving an intermediate control rocker in a preset touch area on a motion control interface corresponding to the control mode to move upward.
Therefore, the determined target instruction corresponding to the touch operation should be that the robot (which may be a cart device in this application scenario) moves forward.
In step S1086, the robot is controlled to execute the target command so as to control the robot.
After a target instruction is determined according to control data generated by a user on a terminal, the robot (trolley) advances according to the control of the user by compiling and running on a controller according to a preset format.
fig. 8 is a block diagram showing a control apparatus of a robot in one embodiment.
Referring to fig. 8, a control device 1090 for a robot according to an embodiment of the present invention includes: a monitoring unit 1092, a connection unit 1094, an analysis unit 1096, and a control unit 1098.
Wherein, the listening unit 1092: for listening whether there is a bluetooth connection request from the mobile terminal.
The connection unit 1094: the method is used for determining a target mobile terminal corresponding to the Bluetooth connection request and establishing communication connection with the target mobile terminal under the condition that the Bluetooth connection request exists.
An analysis unit 1096: and the system is used for receiving the control data sent by the target mobile terminal and determining a target instruction according to the control data.
The control unit 1098: the target instructions are used for controlling the robot to execute so as to control the robot.
FIG. 9 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be a terminal, and may also be a server. As shown in fig. 9, the computer device includes a processor, a memory, and a communication module, a control module, which are connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement the control method of the robot. The internal memory may also store a computer program, and the computer program, when executed by the processor, may cause the processor to execute the control method of the robot. Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is proposed, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
Monitoring whether a Bluetooth connection request from a mobile terminal exists or not;
Under the condition that a Bluetooth connection request exists, determining a target mobile terminal corresponding to the Bluetooth connection request, and establishing communication connection with the target mobile terminal;
Receiving control data sent by the target mobile terminal, and determining a target instruction according to the control data;
and controlling the robot to execute the target instruction so as to control the robot.
in one embodiment, a computer-readable storage medium is proposed, in which a computer program is stored which, when executed by a processor, causes the processor to carry out the steps of:
Monitoring whether a Bluetooth connection request from a mobile terminal exists or not;
under the condition that a Bluetooth connection request exists, determining a target mobile terminal corresponding to the Bluetooth connection request, and establishing communication connection with the target mobile terminal;
receiving control data sent by the target mobile terminal, and determining a target instruction according to the control data;
And controlling the robot to execute the target instruction so as to control the robot.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
the technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. a method for controlling a robot, the method being based on a controller for controlling the robot, the method comprising:
Monitoring whether a Bluetooth connection request from a mobile terminal exists or not;
under the condition that a Bluetooth connection request exists, determining a target mobile terminal corresponding to the Bluetooth connection request, and establishing communication connection with the target mobile terminal;
Receiving control data sent by the target mobile terminal, and determining a target instruction according to the control data;
and controlling the robot to execute the target instruction so as to control the robot.
2. the method of claim 1, wherein prior to the step of listening whether there is a bluetooth connection request from the mobile terminal, comprising:
Initializing the controller;
The initialization process includes:
Acquiring system related data of the controller as target initialization data, wherein the system related data comprises at least two items of operating system data, interface system data and file system data;
And loading according to the target initialization data.
3. the method according to claim 1, wherein the control data sent by the target mobile terminal is generated by the target mobile terminal detecting a touch operation input by a user through the target mobile terminal.
4. The method of claim 1, wherein the control data comprises control mode selection information;
the generating of the target instruction according to the control data includes:
Determining a target control mode corresponding to the control mode selection information, wherein the target control mode comprises a simple control mode, a double-wheel control mode and/or a programming control mode;
determining a target instruction generation method corresponding to the target control mode;
and generating a target instruction corresponding to the control data according to the target instruction generation method.
5. The method of claim 4, wherein the target control information further comprises direction control information, speed control information, and after the target control mode is determined to be a simple control mode, the method further comprises:
displaying a preset motion control interface through the target mobile terminal, wherein the interface comprises a selectable motion direction, and acquiring a control touch operation input on the motion control interface by a user;
and determining the direction control information and the speed control information according to the control touch operation.
6. The method of claim 4, after the target control mode is determined to be a programmed control mode, comprising:
Displaying a preset selection interface through the target mobile terminal, wherein the interface comprises a selectable instruction, and acquiring a selection touch operation input on the selection interface by a user;
And determining the target instruction according to the selection touch operation.
7. the method of claim 6, after determining the target instruction according to the select touch operation, comprising:
The target mobile terminal detects a touch operation input by a user through the target mobile terminal to determine a target instruction execution interval;
and determining a target instruction sequence according to the target instruction execution interval, and executing the target instruction sequence through the controller.
8. A robot control apparatus, characterized in that the apparatus comprises:
a monitoring unit: the system comprises a Bluetooth module, a Bluetooth module and a Bluetooth module, wherein the Bluetooth module is used for monitoring whether a Bluetooth connection request from a mobile terminal exists;
A connection unit: the method comprises the steps that under the condition that a Bluetooth connection request exists, a target mobile terminal corresponding to the Bluetooth connection request is determined, and communication connection is established between the target mobile terminal and the target mobile terminal;
An analysis unit: the system comprises a target mobile terminal, a target instruction and a control data processing unit, wherein the control data is used for receiving control data sent by the target mobile terminal and determining the target instruction according to the control data;
A control unit: the target instructions are used for controlling the robot to execute so as to control the robot.
9. A readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 7.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018110293793 | 2018-09-05 | ||
| CN201811029379.3A CN109036046A (en) | 2018-09-05 | 2018-09-05 | A kind of STEM touch screen programmable electronic building blocks controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110580843A true CN110580843A (en) | 2019-12-17 |
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Also Published As
| Publication number | Publication date |
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| CN110599875A (en) | 2019-12-20 |
| CN110580842A (en) | 2019-12-17 |
| CN110599874A (en) | 2019-12-20 |
| CN110533999A (en) | 2019-12-03 |
| CN110580844A (en) | 2019-12-17 |
| CN110533999B (en) | 2021-11-19 |
| CN109036046A (en) | 2018-12-18 |
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