CN112731936A - Method, device, medium and intelligent terminal for scanning remote-controlled robot - Google Patents
Method, device, medium and intelligent terminal for scanning remote-controlled robot Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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Abstract
The invention discloses a method, a device, a medium and an intelligent terminal for scanning a remote-controlled robot, wherein the method comprises the following steps: establishing a wireless connection with a target robot; receiving movement speed information input by a user, generating a first robot movement instruction and sending the first robot movement instruction to a target robot; responding to the user operation, generating a second robot motion instruction and sending the second robot motion instruction to the target robot; and receiving and displaying the real-time map image, the real-time position information and the real-time angle information which are generated and transmitted by the target robot in the moving process. According to the intelligent robot scanning system, the intelligent terminal is used for remotely controlling the target robot, and the target robot is driven to scan in the target building and the target floor at a certain speed and a certain angle, so that manpower is saved, the operation is simple and flexible, the scanning result of the target robot can be received and displayed in real time, the scanning efficiency is high, and the user can conveniently check the scanning result.
Description
Technical Field
The invention relates to the field of robots, in particular to a method, a device, a medium and an intelligent terminal for scanning a remote control robot.
Background
With the rapid development of the robot industry, various service robots emerge endlessly, and the robots are widely applied in life and work. Before a robot operates and enters a field, a map model of an operating building needs to be established, a previous generation technology uses a manual pushing robot scanning method, after the map is scanned, the robot enters a robot system to copy and upload, and the problems that the current pushed imaging map cannot be checked in real time, the manual copying error, the scanning missing points, the error uploading, the re-scanning efficiency and the like frequently occur in the process of scanning the carpet operating building.
Disclosure of Invention
The invention provides a method, a device, a medium and an intelligent terminal for scanning by a remote control robot, which solve the technical problems of low efficiency, more errors and high labor cost in the prior art that the robot is manually pushed to scan.
The technical scheme for solving the technical problems is as follows: the invention provides a method for scanning a picture by a remote-controlled robot, which is applied to an intelligent terminal and comprises the following steps:
s1, establishing wireless connection with the target robot;
s2, receiving movement speed information input by a user, generating a first robot movement instruction containing the movement speed information and sending the first robot movement instruction to a target robot;
s3, displaying a scanning control interface, responding to the user operation of a rocker control on the scanning control interface, and at least generating a motion angle corresponding to the user operation and a second robot motion instruction containing the motion angle;
s4, sending the second robot motion instruction to a target robot to drive the target robot to move according to the motion angle;
and S5, receiving the real-time map image, the real-time position information and the real-time angle information generated and sent by the target robot in the moving process, displaying the real-time map image on the map scanning control interface, and displaying the real-time position information and the real-time angle information on the real-time map image.
In a preferred embodiment, the establishing of the wireless connection with the target robot specifically comprises the following steps:
s101, acquiring a target position input by a user, wherein the target position comprises a target building and a target floor;
s102, inquiring positioning information and task information of all robots in an area where a target position is located, and determining a target robot for scanning from all robots according to the positioning information and the task information;
s103, establishing wireless connection with the target robot, and establishing a first communication link based on a UDP transmission protocol and a second communication link based on a websocket transmission protocol between the intelligent terminal and the target robot, wherein the wireless connection comprises any one or more of WIFI connection and 4G connection.
In a preferred embodiment, a UDP transmission protocol is used to transmit the first robot motion command and the second robot motion command to the target robot, and to receive the real-time map image, the real-time position information, and the real-time angle information transmitted by the target robot through the websocket transmission protocol.
In a preferred embodiment, the generating at least a motion angle corresponding to a user operation in response to the user operation on the rocker control on the scan control interface further comprises the following steps:
when new motion speed information input by a user is received, acquiring the distance between a central dot and a circular edge of a virtual rocker on the scanning control interface according to the user operation aiming at the rocker control, acquiring the motion acceleration of a target robot according to the distance, and generating a second robot motion instruction containing the motion acceleration; the smaller the distance, the faster the corresponding acceleration of the movement.
In a preferred embodiment, the method further comprises the steps of:
and when the user operation aiming at the rocker control is not detected within the preset time, controlling the virtual rocker to return to the central circular point on the map scanning control interface, generating a motion stop instruction and continuously sending the motion stop instruction to the target robot until the wireless connection between the intelligent terminal and the target robot is interrupted.
In a preferred embodiment, the method further includes a map saving step, specifically:
receiving the scanning end information sent by the target robot, and storing all map files;
and generating a map uploading instruction and sending the map uploading instruction to the target robot so as to drive the target robot to automatically pack the map file and upload the packed map file to the cloud server.
A second aspect of the embodiments of the present invention provides an apparatus for scanning a map for a remote-controlled robot, including a connection module, a first instruction generation module, a second instruction generation module, an instruction sending module, an information receiving module, and a display module,
the connection module is used for establishing wireless connection between the intelligent terminal and the target robot;
the first instruction generation module is used for receiving movement speed information input by a user and generating a first robot movement instruction containing the movement speed information;
the second instruction generation module is used for displaying a scanning control interface, responding to user operation of a rocker control on the scanning control interface, and at least generating a motion angle corresponding to the user operation and a second robot motion instruction containing the motion angle;
the instruction sending module is used for sending the first robot motion instruction and the second robot motion instruction to a target robot;
the information receiving module is used for receiving a real-time map image, real-time position information and real-time angle information which are generated and sent by the target robot in the moving process;
the display module is used for displaying the real-time map image on the map scanning control interface and displaying the real-time position information and the real-time angle information on the real-time map image.
In a preferred embodiment, the second instruction generating module is further specifically configured to, when new motion speed information input by a user is received, obtain a distance between a center dot and a circle edge of a virtual rocker on the scanogram control interface according to a user operation for the rocker control, obtain a motion acceleration of a target robot according to the distance, and generate a second robot motion instruction including the motion acceleration, where the smaller the distance is, the faster the corresponding motion acceleration is.
A third aspect of the embodiments of the present invention provides an intelligent terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the steps of the method for scanning by the remote control robot.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method for scanning by a remote-controlled robot.
The invention provides a method, a device, a medium and an intelligent terminal for scanning a remote control robot, which are used for remotely controlling a target robot through the intelligent terminal and driving the target robot to scan in a target building and a target floor at a certain speed and a certain angle, so that the manpower is saved, the operation is simple and flexible, the scanning result of the target robot can be received and displayed in real time, the scanning efficiency is high, and the user can conveniently check the scanning result.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a method for scanning a remote-controlled robot according to embodiment 1;
fig. 2 is a schematic structural diagram of an apparatus for scanning a teleoperated robot provided in embodiment 2;
fig. 3 is a schematic structural diagram of an intelligent terminal provided in embodiment 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
The robot of embodiments of the present invention may be configured in any suitable shape to perform a particular business function operation, for example, the robot of embodiments of the present invention may be a delivery robot, a transfer robot, a care robot, and the like.
The robot generally includes a housing, a sensor unit, a drive wheel assembly, a memory assembly, and a controller. The housing may be substantially circular in shape, and in some embodiments, the housing may be substantially oval, triangular, D-shaped, cylindrical, or otherwise shaped.
The sensor unit is used for collecting some motion parameters of the robot and various data of the environment space. In some embodiments, the sensor unit comprises a lidar mounted above the housing at a mounting height above a top deck height of the housing, the lidar being for detecting an obstacle distance between the robot and an obstacle. In some embodiments, the sensor unit may also include an Inertial Measurement Unit (IMU), a gyroscope, a magnetic field meter, an accelerometer or velocimeter, an optical camera, and so forth.
The driving wheel component is arranged on the shell and drives the robot to move on various spaces, and in some embodiments, the driving wheel component comprises a left driving wheel, a right driving wheel and an omnidirectional wheel, and the left driving wheel and the right driving wheel are respectively arranged on two opposite sides of the shell. The left and right drive wheels are configured to be at least partially extendable and retractable into the bottom of the housing. The omni-directional wheel is arranged at the position, close to the front, of the bottom of the shell and is a movable caster wheel which can rotate 360 degrees horizontally, so that the robot can flexibly steer. The left driving wheel, the right driving wheel and the omnidirectional wheel are arranged to form a triangle, so that the walking stability of the robot is improved. Of course, in some embodiments, the driving wheel component may also adopt other structures, for example, the omni wheel may be omitted, and only the left driving wheel and the right driving wheel may be left to drive the robot to normally walk.
In some embodiments, the robot is further configured with a storage component that is mounted within the receiving slot to accomplish a delivery task or the like.
The controller is respectively and electrically connected with the left driving wheel, the right driving wheel, the omnidirectional wheel and the laser radar. The controller is used as a control core of the robot and is used for controlling the robot to walk, retreat and some business logic processing.
In some embodiments, the controller may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, ar (aconris cmachine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the controller may be any conventional processor, controller, microcontroller, or state machine. A controller may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP, and/or any other such configuration.
In some embodiments, during the movement of the robot, the controller employs SLAM (simultaneous localization and mapping) technology to construct a map and a position according to the environmental data, so as to move to a target location to complete a delivery task, a cleaning task, and the like. The controller instructs the robot to completely traverse an environmental space through a full coverage path planning algorithm based on the established map and the position of the robot. For example, during the robot traversal, the sensor unit acquires an image of a traversal region, wherein the image of the traversal region may be an image of the entire traversal region or an image of a local traversal region in the entire traversal region. The controller generates a map from the image of the traversal area, the map having indicated an area that the robot needs to traverse and coordinate locations at which obstacles located in the traversal area are located. After each location or area traversed by the robot, the robot marks that the location or area has been traversed based on the map. In addition, as the obstacle is marked in a coordinate mode in the map, when the robot passes, the distance between the robot and the obstacle can be judged according to the coordinate point corresponding to the current position and the coordinate point related to the obstacle, and therefore the robot can pass around the obstacle. Similarly, after the position or the area is traversed and marked, when the next position of the robot moves to the position or the area, the robot makes a strategy of turning around or stopping traversing based on the map and the mark of the position or the area.
It will be appreciated that the controller may also identify traversed locations or areas, or identify obstacles, in a variety of ways to develop a control strategy that meets product needs.
Referring to fig. 1, a schematic flow chart of a method for scanning a remote-controlled robot according to embodiment 1 of the present invention is provided, and the method is applied to an intelligent terminal, and as shown in fig. 1, the method includes the following steps:
and S1, establishing a wireless connection with the target robot. In a preferred embodiment, the method specifically comprises the following steps:
s101, acquiring a target position input by a user, wherein the target position comprises a target building and a target floor. The user can select a target building and a target floor in the APP application of the intelligent terminal.
S102, inquiring positioning information and task information of all robots in an area where a target position is located, and determining a target robot for scanning from all robots according to the positioning information and the task information. Generally, the target robot is an idle robot that does not need to perform a task at the current time and for a preset time period.
S103, the intelligent terminal establishes wireless connection with the target robot, and establishes a first communication link based on a UDP transmission protocol and a second communication link based on a websocket transmission protocol between the intelligent terminal and the target robot, wherein the wireless connection comprises any one or more of WIFI connection and 4G connection.
And executing S2, wherein the intelligent terminal receives the movement speed information input by the user, generates a first robot movement instruction containing the movement speed information, and sends the first robot movement instruction to the target robot through a UDP transmission protocol.
And S3, displaying a scanning control interface, responding to the user operation of a rocker control on the scanning control interface, and at least generating a motion angle corresponding to the user operation and a second robot motion instruction containing the motion angle. In a preferred embodiment, the method further comprises the following steps:
when new movement speed information input by a user is received, the distance between a center dot and a circular edge of a virtual rocker on the scanning control interface is obtained according to the user operation aiming at the rocker control, the movement acceleration of the target robot is obtained according to the distance, and a second robot movement instruction containing the movement acceleration is generated, for example, the movement acceleration corresponding to the distance is obtained through a table look-up or a preset calculation formula. The smaller the distance, the faster the corresponding acceleration of the movement. And when the user operation aiming at the rocker control is not detected within the preset time, controlling the virtual rocker to return to the central circular point on the map scanning control interface, generating a motion stop instruction and continuously sending the motion stop instruction to the target robot until the wireless connection between the intelligent terminal and the target robot is interrupted.
In other words, the virtual rocker of the APP on the intelligent terminal can be used for operating the robot to move forward, backward, rotate, turn and the like, the rocker controls the direction of the robot in a 360-degree free mode, and the closer the distance that the center dot of the rocker is pushed to the edge of the circle, the faster the acceleration is, namely, the faster the moving speed of the target robot is. When the hand releases the rocker, the rocker automatically returns to the central round point and sends a robot stop instruction until the App is quitted, and the communication is interrupted.
In another preferred embodiment, an action group key can be further arranged on the simulation rocker interface, and an action group corresponding to the action group key is stored in the robot in advance in a built-in or downloading mode, so that the operation of a user is simpler, the efficiency of scanning the image is improved,
And S4, the intelligent terminal sends the second robot motion instruction to the target robot through the UDP transmission protocol so as to drive the target robot to move according to the motion angle.
And S5, intelligently receiving the real-time map image, the real-time position information and the real-time angle information which are generated and sent by the target robot in the moving process, displaying the real-time map image on the map scanning control interface, and displaying the real-time position information and the real-time angle information on the real-time map image.
Two scanning modes are set on the target robot, one mode is a manual mode, namely the target robot is manually pushed, the target robot generates a real-time map image, real-time position information and real-time angle information according to a laser scanning result, and the real-time map image, the real-time position information and the real-time angle information are sent to the intelligent terminal through a websocket transmission protocol to be displayed.
The other mode is a remote control mode, at the moment, the target robot receives a first robot motion instruction and/or a second robot motion instruction through a UDP transmission protocol, moves and scans laser under the first robot motion instruction and/or the second robot motion instruction, then generates a real-time map image, real-time position information and real-time angle information according to a laser scanning result, and sends the real-time map image, the real-time position information and the real-time angle information to the intelligent terminal through a websocket transmission protocol for display.
Specifically, when the target robot performs mapping, a black line or a black point represents a solid wall or an obstacle, a white area represents an open area, and a gray area represents an inaccessible area of the robot. Estimating the position of the obstacle according to the characteristic that the optical ray sensor reflects when irradiating the obstacle, and if the ray does not irradiate the area, indicating an inaccessible area (gray area); ray not returning indicates no obstacle (white area); if the ray returns, the obstacle (the position of the black line or the black point) is present, and the distance of the obstacle is calculated according to the emission time and the return time of the ray, so that the position of the obstacle is calibrated according to the distance.
Meanwhile, in the process of scanning the map, the target robot refracts laser sensing data through the current position and angle by using a laser sensor to calculate the real-time position and the real-time angle in the real-time map image, and pushes the real-time position and the real-time angle to the intelligent terminal for showing through WebSocket in real time.
The embodiment provides a method for scanning a remote control robot, which is characterized in that a target robot is remotely controlled through an intelligent terminal, the target robot is driven to scan a target building and a target floor at a certain speed and a certain angle, manpower is saved, operation is simple and flexible, a scanning result of the target robot can be received and displayed in real time, and the scanning efficiency is high, so that a user can conveniently check the scanning result.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present invention that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiments of the present invention, an embodiment of the present invention further provides an apparatus for scanning a map by a remote-controlled robot. The device for scanning the remote-controlled robot may be a software module, where the software module includes a plurality of instructions, and the instructions are stored in a memory, and the processor may access the memory and call the instructions to execute the instructions, so as to complete the method for scanning the remote-controlled robot described in the above embodiments.
In some embodiments, the apparatus for scanning by a remote-controlled robot may also be built by hardware devices, for example, the apparatus for scanning by a remote-controlled robot may be built by one or more than two chips, and each chip may work in coordination with each other to complete the method for scanning by a remote-controlled robot as described in the above embodiments. For another example, the device for scanning by a remote-controlled robot may also be constructed by various logic devices, such as a general processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, an arm (aconris cmachine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.
Fig. 2 is a schematic structural diagram of an apparatus for scanning a remote-controlled robot according to embodiment 2 of the present invention, which includes a connection module 100, a first instruction generation module 200, a second instruction generation module 300, an instruction transmission module 400, an information reception module 500, and a display module 600,
the connection module 100 is used for establishing wireless connection between the intelligent terminal and the target robot;
the first instruction generating module 200 is configured to receive motion speed information input by a user, and generate a first robot motion instruction including the motion speed information;
the second instruction generating module 300 is configured to display a scan control interface, and in response to a user operation on a rocker control on the scan control interface, at least generate a motion angle corresponding to the user operation and a second robot motion instruction including the motion angle;
the instruction sending module 400 is configured to send the first robot motion instruction and the second robot motion instruction to a target robot;
the information receiving module 500 is configured to receive a real-time map image, real-time position information, and real-time angle information generated and transmitted by the target robot in the moving process;
the display module 600 is configured to display the real-time map image on the map scanning control interface, and display the real-time position information and the real-time angle information on the real-time map image.
In a preferred embodiment, the second instruction generating module 300 is further specifically configured to, when new motion speed information input by a user is received, obtain a distance between a center dot and a circle edge of a virtual rocker on the scanogram control interface according to a user operation for the rocker control, obtain a motion acceleration of a target robot according to the distance, and generate a second robot motion instruction including the motion acceleration, where the smaller the distance is, the faster the corresponding motion acceleration is.
It should be noted that the device for scanning a diagram of a remote-controlled robot can execute the method for scanning a diagram of a remote-controlled robot provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in the embodiment of the apparatus for scanning a remote-controlled robot, reference may be made to the method for scanning a remote-controlled robot provided in the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an intelligent terminal according to an embodiment of the present invention. As shown in fig. 3, the smart terminal 600 includes one or more processors 61 and a memory 62. In fig. 3, one processor 61 is taken as an example.
The processor 61 and the memory 62 may be connected by a bus or other means, such as the bus connection in fig. 3.
The memory 62 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the method for scanning by a remote control robot in the embodiment of the present invention. The processor 61 executes various functional applications and data processing of the device for scanning by a remote-controlled robot by running a non-volatile software program, instructions and modules stored in the memory 62, that is, the method for scanning by a remote-controlled robot provided by the above method embodiment and the functions of each module or unit of the above device embodiment are realized.
The memory 62 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 62 may optionally include memory located remotely from the processor 61, and these remote memories may be connected to the processor 61 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 62 and when executed by the one or more processors 61 perform the method of telerobotic rendering in any of the method embodiments described above.
Embodiments of the present invention also provide a non-transitory computer storage medium storing computer-executable instructions, which are executed by one or more processors, such as the processor 61 in fig. 3, to enable the one or more processors to perform the method for scanning by a remote control robot in any of the above method embodiments.
An embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions, and when the program instructions are executed by an electronic device, the electronic device is caused to execute any one of the methods for scanning by a remote-controlled robot.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for scanning a remote-controlled robot is applied to an intelligent terminal and is characterized by comprising the following steps:
s1, establishing wireless connection with the target robot;
s2, receiving movement speed information input by a user, generating a first robot movement instruction containing the movement speed information and sending the first robot movement instruction to a target robot;
s3, displaying a scanning control interface, responding to the user operation of a rocker control on the scanning control interface, and at least generating a motion angle corresponding to the user operation and a second robot motion instruction containing the motion angle;
s4, sending the second robot motion instruction to a target robot to drive the target robot to move according to the motion angle;
and S5, receiving the real-time map image, the real-time position information and the real-time angle information generated and sent by the target robot in the moving process, displaying the real-time map image on the map scanning control interface, and displaying the real-time position information and the real-time angle information on the real-time map image.
2. Method for a robot scan according to claim 1, wherein said establishing a wireless connection with a target robot comprises the following steps:
s101, acquiring a target position input by a user, wherein the target position comprises a target building and a target floor;
s102, inquiring positioning information and task information of all robots in an area where a target position is located, and determining a target robot for scanning from all robots according to the positioning information and the task information;
s103, establishing wireless connection with the target robot, and establishing a first communication link based on a UDP transmission protocol and a second communication link based on a websocket transmission protocol between the intelligent terminal and the target robot, wherein the wireless connection comprises any one or more of WIFI connection and 4G connection.
3. The method for the remote-controlled robot to scan according to claim 2, wherein the UDP transmission protocol is used to transmit the first robot motion command and the second robot motion command to the target robot, and to receive the real-time map image, the real-time position information and the real-time angle information transmitted by the target robot through the websocket transmission protocol.
4. A method for a remote-controlled robot to scan according to any one of claims 1-3, wherein at least a motion angle corresponding to a user operation is generated in response to the user operation of a rocker control on a scan control interface, further comprising the steps of:
when new motion speed information input by a user is received, acquiring the distance between a central dot and a circular edge of a virtual rocker on the scanning control interface according to the user operation aiming at the rocker control, acquiring the motion acceleration of a target robot according to the distance, and generating a second robot motion instruction containing the motion acceleration; the smaller the distance, the faster the corresponding acceleration of the movement.
5. The method for a teleoperated robot to scan according to claim 4, further comprising the steps of:
and when the user operation aiming at the rocker control is not detected within the preset time, controlling the virtual rocker to return to the central circular point on the map scanning control interface, generating a motion stop instruction and continuously sending the motion stop instruction to the target robot until the wireless connection between the intelligent terminal and the target robot is interrupted.
6. The method for the telerobot to scan according to claim 5, further comprising a map saving step, specifically:
receiving the scanning end information sent by the target robot, and storing all map files;
and generating a map uploading instruction and sending the map uploading instruction to the target robot so as to drive the target robot to automatically pack the map file and upload the packed map file to the cloud server.
7. A device for scanning pictures by a remote-controlled robot is characterized by comprising a connecting module, a first instruction generating module, a second instruction generating module, an instruction sending module, an information receiving module and a display module,
the connection module is used for establishing wireless connection between the intelligent terminal and the target robot;
the first instruction generation module is used for receiving movement speed information input by a user and generating a first robot movement instruction containing the movement speed information;
the second instruction generation module is used for displaying a scanning control interface, responding to user operation of a rocker control on the scanning control interface, and at least generating a motion angle corresponding to the user operation and a second robot motion instruction containing the motion angle;
the instruction sending module is used for sending the first robot motion instruction and the second robot motion instruction to a target robot;
the information receiving module is used for receiving a real-time map image, real-time position information and real-time angle information which are generated and sent by the target robot in the moving process;
the display module is used for displaying the real-time map image on the map scanning control interface and displaying the real-time position information and the real-time angle information on the real-time map image.
8. The device for the remote-controlled robot to scan according to claim 7, wherein the second instruction generating module is further configured to, when new motion speed information input by a user is received, obtain a distance between a center dot and a circular edge of a virtual rocker on the scan control interface according to a user operation for the rocker control, obtain a motion acceleration of the target robot according to the distance, and generate the second robot motion instruction including the motion acceleration, where the smaller the distance, the faster the corresponding motion acceleration.
9. An intelligent terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 6 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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