CN113359716A - Remote control method and device for Internet of things equipment, robot and storage medium - Google Patents
Remote control method and device for Internet of things equipment, robot and storage medium Download PDFInfo
- Publication number
- CN113359716A CN113359716A CN202110574801.9A CN202110574801A CN113359716A CN 113359716 A CN113359716 A CN 113359716A CN 202110574801 A CN202110574801 A CN 202110574801A CN 113359716 A CN113359716 A CN 113359716A
- Authority
- CN
- China
- Prior art keywords
- internet
- mobile robot
- things
- things equipment
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 84
- 238000003860 storage Methods 0.000 title claims abstract description 13
- 230000006854 communication Effects 0.000 claims description 99
- 238000004891 communication Methods 0.000 claims description 96
- 238000009434 installation Methods 0.000 claims description 26
- 230000006855 networking Effects 0.000 abstract description 18
- 230000003993 interaction Effects 0.000 abstract description 11
- 238000010295 mobile communication Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 17
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000001960 triggered effect Effects 0.000 description 6
- 238000013507 mapping Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Telephonic Communication Services (AREA)
- Selective Calling Equipment (AREA)
Abstract
The application discloses a remote control method and device of Internet of things equipment, a mobile robot and a computer readable storage medium. The method comprises the following steps: receiving control information for controlling the Internet of things equipment, which is sent by a user terminal; determining target Internet of things equipment according to the control information; and controlling the target Internet of things equipment to execute corresponding operation. This application regards mobile robot as mobile communication relay station for realize the interaction between user terminal and the thing networking device, that is to say, through the interaction between user terminal, mobile robot and the thing networking device three, realized through user terminal remote control thing networking device, thereby can avoid the user to get into on-the-spot areas such as danger area, remote area and remote area, and then improve the efficiency of controlling of thing networking device, and improve user's use and experience.
Description
Technical Field
The application relates to the technical field of mobile robots, in particular to a remote control method and device for Internet of things equipment, a mobile robot and a computer readable storage medium.
Background
With the rapid development of the technology and social economy of the internet of things, the deployment range and application scenes of the internet of things equipment are more and more extensive. At present, when the internet of things equipment is controlled, people are often required to go to the site for control. However, for dangerous areas, remote areas and remote areas, the field operation of the internet of things equipment is time-consuming and labor-consuming, and the use experience of users is reduced.
Disclosure of Invention
The application mainly aims to provide a remote control method and device for Internet of things equipment, a mobile robot and a computer readable storage medium, and aims to solve the problems that time and labor are wasted when the Internet of things equipment is controlled, and user experience is reduced.
In order to achieve the above object, the present application provides a remote control method for an internet of things device, which is applied to a mobile robot, and the method includes:
receiving control information for controlling the Internet of things equipment, which is sent by a user terminal;
determining target Internet of things equipment according to the control information;
and controlling the target Internet of things equipment to execute corresponding operation.
Optionally, before the receiving the control information for controlling the internet of things device sent by the user terminal, the method further includes:
receiving a movement control instruction sent by a user terminal, and determining a target position based on the movement control instruction so as to enable the mobile robot to go to the target position;
and feeding back the real-time position information of the mobile robot to the user terminal so that the user terminal can send the control information to the mobile robot based on the real-time position information.
Optionally, after the determining the target internet of things device according to the control information, the method further includes:
and sending a communication connection request to the target Internet of things equipment so that the target Internet of things equipment can respond to the communication connection request and complete communication connection with the mobile robot.
Optionally, the communication connection request includes an identity of the mobile robot;
after the sending of the communication connection request to the target internet of things device, the method further comprises:
receiving a connection failure prompt sent by the target Internet of things device, wherein the target Internet of things device detects whether the identity identifier exists in a preset identity table after receiving the communication connection request, and if not, the connection failure prompt is sent to the mobile robot;
and sending user information to the target Internet of things equipment so that the target Internet of things equipment can be in communication connection with the mobile robot after the user information is detected.
Optionally, after the determining the target internet of things device according to the control information, the method further includes:
inquiring the installation address of the target Internet of things equipment in a preset Internet of things equipment address table;
determining a travel route based on the installation address, and moving to the installation address based on the travel route.
Optionally, after the controlling the target internet of things device to perform the corresponding operation, the method further includes:
and when detecting that the distance between the mobile robot and the target Internet of things equipment is greater than a preset distance, disconnecting the communication connection with the target Internet of things equipment.
Optionally, after the controlling the target internet of things device to perform the corresponding operation, the method further includes:
receiving an operation result fed back by the target Internet of things equipment;
and sending the operation result to the user terminal.
In addition, in order to achieve the above object, the present application further provides a remote control device for an internet of things device, where the remote control device is deployed in a mobile robot, and the remote control device includes:
the receiving module is used for receiving control information which is sent by the user terminal and used for controlling the Internet of things equipment;
the determining module is used for determining target Internet of things equipment according to the control information;
and the control module is used for controlling the target Internet of things equipment to execute corresponding operation.
Further, to achieve the above object, the present application also provides a mobile robot including: the remote control method comprises a memory, a processor and a remote control program of the internet of things equipment, wherein the remote control program of the internet of things equipment is stored in the memory and can run on the processor, and when being executed by the processor, the remote control program of the internet of things equipment realizes the steps of the remote control method of the internet of things equipment.
In addition, to achieve the above object, the present application also provides a computer-readable storage medium, on which a remote control program of an internet of things device is stored, and when the remote control program of the internet of things device is executed by a processor, the steps of the remote control method of the internet of things device are implemented as described above.
The application provides a remote control method and device for Internet of things equipment, a mobile robot and a computer readable storage medium. In this application, regard as mobile communication relay station with mobile robot for realize the interaction between user terminal and the thing networking device, that is to say, through the interaction between user terminal, mobile robot and the thing networking device three, realized through user terminal remote control thing networking device, thereby can avoid the user to get into on-the-spot areas such as danger area, remote area and remote area, and then improve the efficiency of controlling of thing networking device, and improve user's use and experience.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a remote control method for an internet of things device according to a first embodiment of the present application;
fig. 3 is a schematic diagram of a communication process according to an embodiment of the present application;
fig. 4 is a schematic functional module diagram of a remote control device of an internet of things device according to a first embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
The terminal is remote control equipment of the Internet of things equipment, and the remote control equipment of the Internet of things equipment can be terminal equipment with a communication function, such as a mobile robot.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU (Central Processing Unit), a communication bus 1002, and a memory 1003. Wherein a communication bus 1002 is used to enable connective communication between these components. The memory 1003 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1003 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1003 as a computer storage medium may include a remote control program of the internet of things device.
In the terminal shown in fig. 1, the processor 1001 may be configured to call a remote control program of the internet of things device stored in the memory 1003, and perform the following operations:
receiving control information for controlling the Internet of things equipment, which is sent by a user terminal;
determining target Internet of things equipment according to the control information;
and controlling the target Internet of things equipment to execute corresponding operation.
Further, the processor 1001 may be configured to invoke a remote control program of the internet of things device stored in the memory 1003, and further perform the following operations:
receiving a movement control instruction sent by a user terminal, and determining a target position based on the movement control instruction so as to enable the mobile robot to go to the target position;
and feeding back the real-time position information of the mobile robot to the user terminal so that the user terminal can send the control information to the mobile robot based on the real-time position information.
Further, the processor 1001 may be configured to invoke a remote control program of the internet of things device stored in the memory 1003, and further perform the following operations:
and sending a communication connection request to the target Internet of things equipment so that the target Internet of things equipment can respond to the communication connection request and complete communication connection with the mobile robot.
Further, the communication connection request includes an identity of the mobile robot, and the processor 1001 may be configured to invoke a remote control program of the internet of things device stored in the memory 1003, and further perform the following operations:
receiving a connection failure prompt sent by the target Internet of things device, wherein the target Internet of things device detects whether the identity identifier exists in a preset identity table after receiving the communication connection request, and if not, the connection failure prompt is sent to the mobile robot;
and sending user information to the target Internet of things equipment so that the target Internet of things equipment can be in communication connection with the mobile robot after the user information is detected.
Further, the processor 1001 may be configured to invoke a remote control program of the internet of things device stored in the memory 1003, and further perform the following operations:
inquiring the installation address of the target Internet of things equipment in a preset Internet of things equipment address table;
determining a travel route based on the installation address, and moving to the installation address based on the travel route.
Further, the processor 1001 may be configured to invoke a remote control program of the internet of things device stored in the memory 1003, and further perform the following operations:
and when detecting that the distance between the mobile robot and the target Internet of things equipment is greater than a preset distance, disconnecting the communication connection with the target Internet of things equipment.
Further, the processor 1001 may be configured to invoke a remote control program of the internet of things device stored in the memory 1003, and further perform the following operations:
receiving an operation result fed back by the target Internet of things equipment;
and sending the operation result to the user terminal.
Based on the hardware structure, the remote control method of the Internet of things equipment comprises various embodiments.
The application provides a remote control method of Internet of things equipment.
Referring to fig. 2, fig. 2 is a schematic flowchart of a remote control method for an internet of things device according to a first embodiment of the present application.
In the embodiments of the present application, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that here. The execution main body of each embodiment of the remote control method of the Internet of things equipment is the mobile robot, the mobile robot can move autonomously, manual operation can be completely or partially replaced, and the remote control method has the characteristic of intelligence. The types of mobile robots and the details of implementation are not limited in the embodiments.
In this embodiment, the remote control method for the internet of things device is applied to a mobile robot, and includes the following steps S10-S30:
step S10, receiving control information for controlling the Internet of things equipment sent by the user terminal;
in this embodiment, when the user terminal sends control information for controlling the internet of things device, the mobile robot receives the control information for controlling the internet of things device sent by the user terminal, so that a target internet of things device is determined based on the control information in the following process, and the target internet of things device is controlled. The user terminal may be a terminal device with a communication function, such as a mobile phone, a tablet computer, a desktop computer, a microcomputer, a notebook computer, or a server, and is not particularly limited in this embodiment.
It should be noted that a user may communicate with the mobile robot by operating the user terminal, specifically, the user terminal accesses the internet through a local area network and a wireless network (e.g., WIFI), or the user terminal accesses the internet based on a mobile network (e.g., 2G, 3G, 4G, 5G, etc.) and communicates with the mobile robot through the internet, and of course, the mobile robot may also communicate with the internet through the local area network, the wireless network, the mobile network, etc., so as to complete sending and receiving of control information for controlling the internet of things device. When the user terminal is close to the mobile robot, the user terminal can also communicate with the mobile robot through the local area network, that is, the user terminal is connected with the mobile robot to communicate with the same router, or the user terminal communicates with the mobile robot through a radio frequency device such as Bluetooth. The user terminal may include an APP (Application program) for performing remote control, where the APP may enable a user to send a control instruction, view a real-time location of the mobile robot, view a control result of the internet of things device, view an environment image around the mobile robot or the internet of things device, and the like, and is not limited herein.
The internet of things device can be a camera, a temperature sensor, a humidity sensor and the like, and is not particularly limited in this embodiment. The camera can be used for feeding back video data, the temperature sensor can be used for feeding back temperature information, and the humidity sensor can be used for feeding back humidity information.
In one embodiment, the user terminal may transmit a movement control instruction to the mobile robot, so that the mobile robot receives the movement control instruction transmitted by the user terminal, the movement control instruction including a target position, so that the mobile robot determines the target position based on the movement control instruction, and then, the mobile robot goes to the target position. The mobile robot feeds back real-time position information of the current mobile robot to the user terminal in the process of moving to the target position in the forward direction, so that the user terminal can determine corresponding Internet of things equipment through the real-time position information, the corresponding Internet of things equipment is displayed to a user, the user can select the corresponding Internet of things equipment to control, and control information for controlling the Internet of things equipment is sent to the mobile robot. Of course, after the real-time position information of the current mobile robot is fed back to the user terminal, the user can also directly check the real-time position information, and then directly select to control certain internet of things equipment so as to send control information for controlling the internet of things equipment to the mobile robot. For example, when a user sends a mobile control instruction to a mobile robot through a mobile phone, so that the mobile robot goes to a target position a, and when the mobile robot reaches a point B in the process of going to the target position a, the user wants to know environment information where the mobile robot is located, or based on real-time position information fed back by the mobile robot, the user can know and obtain internet of things equipment beside the mobile robot, and at this time, the user sends control information for controlling the internet of things equipment to the mobile robot. For a specific implementation process, reference may be made to the following second embodiment, which is not described in detail herein.
In another embodiment, the mobile robot may autonomously navigate to plan a travel route and move along the travel route. The mobile robot feeds back real-time position information of the current mobile robot to the user terminal in the moving process, so that the user terminal can determine corresponding Internet of things equipment through the real-time position information, the corresponding Internet of things equipment is displayed to a user, the user can select the corresponding Internet of things equipment to control, and control information for controlling the Internet of things equipment is sent to the mobile robot. Of course, after the real-time position information of the current mobile robot is fed back to the user terminal, the user can also directly check the real-time position information, and then directly select to control certain internet of things equipment so as to send control information for controlling the internet of things equipment to the mobile robot.
Step S20, determining target Internet of things equipment according to the control information;
after receiving control information for controlling the internet of things equipment, the mobile robot determines target internet of things equipment according to the control information so as to determine a control object of the mobile robot, and specifically determines an object in communication connection with the mobile robot.
It should be noted that the control information for controlling the internet of things device includes an identity of the target internet of things device, and the identity of the target internet of things device is used for determining the target internet of things device, so that the subsequent mobile robot is in communication connection with the target internet of things device, and the control of the target internet of things device is completed. Generally, one control information for controlling the internet of things device corresponds to one target internet of things device. Certainly, when a plurality of target internet of things devices need to be controlled simultaneously to complete a complete operation, the mobile robot can receive control information of the plurality of control internet of things devices sent by the user terminal simultaneously so as to control the plurality of target internet of things devices simultaneously, and finally, the mobile robot fuses control results of all the target internet of things devices to obtain a complete control result and returns the complete control result to the user terminal; or, the mobile robot receives control information for controlling the internet of things equipment sent by the user terminal, the control information for controlling the internet of things equipment at the moment comprises the identity marks of the target internet of things equipment, the mobile robot can analyze the control information for controlling the internet of things equipment to decompose and obtain control instructions corresponding to the target internet of things equipment, so that the target internet of things equipment can be controlled respectively in the following process, and finally, the mobile robot fuses control results fed back by all the target internet of things equipment to obtain a complete control result and returns the complete control result to the user terminal.
In some embodiments, if the control information for controlling the internet of things device sent by the user terminal is an instruction triggered by the user in advance, that is, when the mobile robot is not within the preset distance of the target internet of things device and then triggers the instruction, the installation address of the target internet of things device is queried in the preset internet of things device address table, then a travel route is determined based on the installation address, and the mobile robot moves to the installation address based on the travel route, so that when the mobile robot moves to the vicinity of the target internet of things device, for example, when the mobile robot moves to a distance smaller than or equal to 5 meters from the target internet of things device, the target internet of things device is controlled to execute corresponding operation based on the control information for controlling the internet of things device. It can be understood that, after the mobile robot is close to the target internet of things device, the mobile robot can control the target internet of things device to prevent the mobile robot from being too far away from the target internet of things device and being unable to realize communication connection. For a specific implementation process, reference may be made to the following fourth embodiment, which is not described in detail herein. In other embodiments, if the control information for controlling the internet of things device sent by the user terminal is triggered based on the real-time location information of the mobile robot, that is, the mobile robot is close to the target internet of things device at this time, the moving route does not need to be planned, and the mobile robot can pause to move or only needs to move near the target internet of things device.
In specific implementation, before the mobile robot controls the target internet of things device to execute corresponding operation, the mobile robot sends a communication connection request to the target internet of things device, so that the target internet of things device responds to the communication connection request and completes communication connection with the mobile robot. The communication connection request can include an identity of the mobile robot, the identity of the robot allowed to pass can be stored in the auditing end in advance, after the communication connection request is sent to the target Internet of things device, the identity in the communication connection request can be compared with the identity stored in advance one by one, whether the identity is stored in advance is determined, if yes, the communication connection between the target Internet of things device and the mobile robot can be completed, if not, the identity detection failure is determined, and a connection failure prompt is sent to the mobile robot, so that the mobile robot can carry out the communication connection request again. For a specific implementation process, reference may be made to the following third embodiment, which is not described in detail herein.
And step S30, controlling the target Internet of things equipment to execute corresponding operation.
And after the target Internet of things equipment is determined, controlling the target Internet of things equipment to execute corresponding operation. Specifically, the mobile robot controls the target internet of things device to execute corresponding operation based on the control information for controlling the internet of things device.
It should be noted that, after the target internet of things device is controlled to execute the corresponding operation, the target internet of things device may execute the corresponding operation based on the function of the target internet of things device. For example, the target internet of things device is a camera, and when the control information for controlling the internet of things device is that the camera is opened, the camera takes a picture and generates video data, and then the video data can be returned to the mobile robot, so that the mobile robot forwards the video data to the user terminal for the user to check.
In an embodiment, the mobile robot sends control information for controlling the internet of things device to the target internet of things device, so that the target internet of things device executes an operation corresponding to the control information. That is to say, mobile robot is as mobile communication relay station to make the control information of user terminal's control thing networking equipment can convey for target thing networking equipment, thereby realize thing networking equipment's remote control. The target Internet of things equipment receives control information for controlling the Internet of things equipment sent by the mobile robot, the control information for controlling the Internet of things equipment is analyzed and processed, control operation corresponding to the control information for controlling the Internet of things equipment is obtained, and then the target Internet of things equipment executes the control operation.
In another embodiment, the mobile robot analyzes the control information for controlling the internet of things device to obtain the control operation corresponding to the control information for controlling the internet of things device, and then the mobile robot controls the target internet of things device to execute the control operation. The mobile robot controls the target internet of things device to execute the control operation, and can send a control instruction to the target internet of things device to realize the control operation, or can operate an operation platform of the target internet of things device to realize the control operation.
For ease of understanding, referring to fig. 3, fig. 3 is a schematic diagram of a communication process according to an embodiment of the present application. It should be noted that the communication process in the figures may include more or less, and is not limited herein.
The embodiment of the application provides a remote control method of Internet of things equipment, which is applied to a mobile robot, wherein the mobile robot receives control information for controlling the Internet of things equipment sent by a user terminal, then determines target Internet of things equipment according to the control information, and then controls the target Internet of things equipment to execute corresponding operation. In the embodiment of the application, the mobile robot is used as a mobile communication relay station for realizing interaction between a user terminal and Internet of things equipment, namely, through interaction among the user terminal, the mobile robot and the Internet of things equipment, remote control of the Internet of things equipment through the user terminal is realized, so that a user can be prevented from entering in-situ areas such as a dangerous area, a remote area and a remote area, the control efficiency of the Internet of things equipment is improved, and the use experience of the user is improved.
Further, based on the first embodiment, a second embodiment of a remote control method of the internet of things device is provided.
In this embodiment, before the step S10, before receiving the control information for controlling the internet of things device sent by the user terminal, the remote control method for the internet of things device further includes the following steps S40-S50:
step S40, receiving a movement control instruction sent by a user terminal, and determining a target position based on the movement control instruction so as to enable the mobile robot to go to the target position;
in this embodiment, the user terminal sends a movement control instruction to the mobile robot so that the mobile robot receives the movement control instruction sent by the user terminal, where the movement control instruction includes the target position, and therefore, the mobile robot determines the target position based on the movement control instruction so that the mobile robot goes to the target position. And after the mobile robot moves to the target position, if a new movement control instruction is not received, the mobile robot stops moving.
It should be noted that, after determining the target position, a travel route may be determined based on the target position, and then the mobile robot moves to move to the target position based on the travel route. The mobile robot may autonomously navigate to plan a travel route and move according to the travel route, so details are not described here.
Step S50, feeding back the real-time location information of the mobile robot to the user terminal, so that the user terminal sends the control information to the mobile robot based on the real-time location information.
In this embodiment, the real-time position information of the mobile robot is fed back to the user terminal, so that the user terminal sends control information for controlling the internet of things device to the mobile robot based on the real-time position information. The mobile robot is provided with a positioning navigation system, and can detect real-time position information of the mobile robot in real time, so that the mobile robot can feed back the real-time position information to the user terminal.
In one embodiment, in the process that the mobile robot goes to the target position, the real-time position information of the mobile robot is fed back to the user terminal, so that the user terminal sends control information to the mobile robot based on the real-time position information. In another embodiment, when the mobile robot works, that is, when the mobile robot performs a task, the real-time position information of the mobile robot is fed back to the user terminal, so that the user terminal sends control information to the mobile robot based on the real-time position information.
For the user terminal, in an embodiment, after the user terminal receives the real-time location information, the internet of things device corresponding to the real-time location information is queried through a preset internet of things device mapping table, so that the internet of things devices are displayed for a user to select at the user terminal, control information for correspondingly controlling the internet of things devices is triggered, the control information is transmitted to the mobile robot, and the purpose of remotely controlling the internet of things devices is achieved. The preset Internet of things equipment mapping table is used for pre-storing the mapping relation between real-time position information and Internet of things equipment, and one piece of real-time position information can correspond to one or more pieces of Internet of things equipment; the preset Internet of things equipment mapping table is also used for inquiring the Internet of things equipment corresponding to the real-time position information through the preset Internet of things equipment mapping table.
For the user terminal, in another embodiment, after receiving the real-time location information, the user terminal may directly display the real-time location information, so that the user directly selects to control a certain internet of things device after viewing the real-time location information, that is, the control information for controlling the internet of things device is triggered, so as to transmit the control information to the mobile robot, and the purpose of remotely controlling the internet of things device is achieved. Certainly, the mobile robot can deploy the camera to obtain the environmental information (video data) of mobile robot in real time, so that the mobile robot simultaneously feeds back real-time position information and environmental information to the user terminal, and after checking the real-time position information and the environmental information, the user selects to control a certain internet of things device, namely, the control information for correspondingly controlling the internet of things device is triggered, so that the control information is transmitted to the mobile robot, and the purpose of remotely controlling the internet of things device is achieved.
In this embodiment, can remove through user terminal remote control mobile robot to at mobile robot removal in-process, but real time remote monitoring mobile robot, and can send the control information of controlling thing networking device to mobile robot, thereby realize remote control thing networking device through mobile robot, in order to further improve thing networking device's the efficiency of controlling.
Further, based on the first embodiment, a third embodiment of a remote control method of the internet of things device is provided.
In this embodiment, after the step S20 is executed, after determining the target internet of things device according to the control information, the remote control method for the internet of things device further includes the following step S60:
step S60, a communication connection request is sent to the target Internet of things device, so that the target Internet of things device can respond to the communication connection request and complete communication connection with the mobile robot.
In this embodiment, the mobile robot sends a communication connection request to the target internet of things device, so that the target internet of things device responds to the communication connection request, and completes communication connection with the mobile robot. After the target internet of things equipment receives the communication connection request, the target internet of things equipment can respond to the communication connection request, and the communication configuration between the target internet of things equipment and the mobile robot is carried out, so that the communication connection between the target internet of things equipment and the mobile robot is completed, and after the communication connection is completed, the interaction between the mobile robot and the target internet of things equipment is realized based on an information transmission channel of the communication connection, so that the mobile robot can control the target internet of things equipment to execute corresponding operation.
In an embodiment, the mobile robot may detect a distance between the mobile robot and the target internet of things device, so as to send a communication connection request to the target internet of things device when the distance between the mobile robot and the target internet of things device is less than a preset distance. Specifically, the mobile robot travels towards the target internet of things device according to a preset traveling route, the mobile robot detects the distance between the mobile robot and the target internet of things device in the traveling process of the mobile robot, the distance between the mobile robot and the target internet of things device is continuously reduced along with the continuous traveling of the mobile robot, and when the distance is reduced to be smaller than the preset distance, the mobile robot sends a communication connection request to the target internet of things device. The preset distance can be the maximum communication distance between the target Internet of things equipment and the mobile robot; the preset distance may also be a distance that is set in advance as needed, for example, in practical applications, an optimal distance obtained by performing a plurality of tests.
In another embodiment, the mobile robot may evaluate a travel time for the mobile robot to reach the target internet of things device from the current location to send a communication connection request to the target internet of things device when the travel time is less than a preset time. Specifically, the mobile robot travels towards the target internet of things device according to a preset travel route, during the travel process of the mobile robot, the travel time of the mobile robot reaching the target internet of things device is evaluated, the travel time between the mobile robot and the target internet of things device is continuously reduced along with the continuous travel of the mobile robot, and when the travel time is reduced to be less than the preset time, the mobile robot sends a communication connection request to the target internet of things device. The preset duration can be a travel duration corresponding to the maximum communication distance between the target internet of things equipment and the mobile robot, specifically, the normal moving speed of the mobile robot is obtained, and then the travel duration is obtained through calculation of the communication distance and the normal moving speed; the preset time length may also be a time length preset according to needs, for example, in practical applications, an optimal time length obtained by performing a plurality of tests is obtained.
Further, in the step S60, after the communication connection request is sent to the target internet of things device, the remote control method for the internet of things device further includes the following steps a-B:
step A, receiving a connection failure prompt sent by the target Internet of things equipment, wherein the target Internet of things equipment detects whether the identity identifier exists in a preset identity table after receiving the communication connection request, and if the identity identifier does not exist, the connection failure prompt is sent to the mobile robot;
in this embodiment, the communication connection request includes an identity of the mobile robot, where the identity of each mobile robot is unique, and the identity is configured in advance for the mobile robot by a configuration person. Specifically, the target internet of things device may preset a preset identity table to store the identity of each mobile robot in advance, so that after the target internet of things device receives the communication connection request, whether the identity in the communication connection request exists in the preset identity table is detected, if not, a connection failure prompt is sent to the mobile robot, and if so, the target internet of things device responds to the communication connection request and completes the communication connection between the target internet of things device and the mobile robot.
The connection failure prompt is used to prompt the mobile robot to perform communication connection again, and may be set according to actual needs, which is not specifically limited herein.
And B, sending user information to the target Internet of things equipment so that the target Internet of things equipment can be in communication connection with the mobile robot after the user information is detected.
And after receiving the connection failure prompt, the mobile robot sends user information to the target Internet of things equipment so that the target Internet of things equipment can be in communication connection with the mobile robot after the user information is detected.
In an embodiment, the user information is user information of a user terminal, specifically, the mobile robot sends the connection failure prompt to the user terminal, so that the user terminal sends the user information of the user terminal to the mobile robot after receiving the connection failure prompt, then receives the user information, and forwards the user information to the target internet of things device, so that the target internet of things device detects whether the user information exists in the preset identity table after receiving the user information, if so, the target internet of things device is in communication connection with the mobile robot, and if not, the step B can be returned to re-perform the communication connection request until the mobile robot and the target internet of things device complete the communication connection. Of course, the communication connection request may be stopped after a certain number of requests, or the user may decide whether to stop the communication connection request through the user terminal. If the previously sent user information still cannot complete communication connection, the user information is replaced so as to send new user information to the target Internet of things equipment.
In another embodiment, the mobile robot presets user information, or the mobile robot receives the user information of the user terminal in advance, so that after the mobile robot receives the connection failure prompt, the user information is directly sent to the target internet of things device, so that the target internet of things device detects whether the user information exists in the preset identity table after receiving the user information, if so, the target internet of things device is in communication connection with the mobile robot, and if not, another user information in the mobile robot can be sent to the target internet of things device to make a communication connection request again until the mobile robot and the target internet of things device complete communication connection. Of course, the communication connection request may be stopped after a certain number of requests, or the user may determine whether to stop the communication connection request through the user terminal, or the communication connection request may be stopped when the target internet of things device still fails to detect the passing after all user information of the mobile robot is sent. The user information may include a plurality of user information, so that the user information is replaced after the previously sent user information fails to complete the communication connection, and new user information is sent to the target internet of things device. Further, the plurality of user information may set a sending order, so as to send new user information to the target internet of things device after each detection failure in sequence based on the sending order.
In this embodiment, the mobile robot is in communication connection with the target internet of things device, so as to ensure successful interaction between the mobile robot and the target internet of things device. Meanwhile, the target Internet of things equipment authenticates the mobile robot to ensure that the mobile robot or the user terminal conforming to the legality controls the target Internet of things equipment, so that the remote control safety of the Internet of things equipment is improved.
Further, based on the first embodiment, a fourth embodiment of a remote control method of the internet of things device is provided.
In this embodiment, after the target internet of things device is determined according to the control information in step S20, the remote control method for the internet of things device further includes steps S70-S80:
step S70, inquiring the installation address of the target Internet of things equipment in a preset Internet of things equipment address table;
and step S80, determining a travel route based on the installation address, and moving to the installation address based on the travel route.
In this embodiment, if the control information for controlling the internet of things device sent by the user terminal is an instruction triggered by the user in advance, that is, when the mobile robot is not within the preset distance of the target internet of things device and then triggers the instruction, the installation address of the target internet of things device is queried in the preset internet of things device address table, then the travel route is determined based on the installation address, and the mobile robot moves to the installation address based on the travel route, so that when the mobile robot moves to the vicinity of the target internet of things device, for example, when the mobile robot moves to a distance less than or equal to 5 meters from the target internet of things device, the target internet of things device is controlled to execute corresponding operation based on the control information for controlling the internet of things device.
The preset Internet of things equipment address table is an address table which is preset according to the installation address of each piece of Internet of things equipment, and the installation address is the deployment address of the Internet of things equipment.
It should be noted that the mobile robot may autonomously navigate and plan a travel route, and move according to the travel route. The path planning method of the mobile robot is not particularly limited herein.
In this embodiment, the installation address of the target internet of things device is queried in a preset internet of things device address table, then, the traveling route is determined based on the installation address, and the traveling route is moved to the installation address, so that after the mobile robot is close to the target internet of things device, the target internet of things device is controlled by the mobile robot, and therefore the situation that the mobile robot is too far away from the target internet of things device and cannot realize communication connection is prevented, and successful interaction between the mobile robot and the target internet of things device is further ensured.
Further, based on the first embodiment, a fifth embodiment of a remote control method of the internet of things device is provided.
In this embodiment, after the step S30, controlling the target internet of things device to perform the corresponding operation, the remote control method for the internet of things device further includes the following step S90:
and step S90, when the fact that the distance between the mobile robot and the target Internet of things equipment is larger than a preset distance is detected, disconnecting the communication connection with the target Internet of things equipment.
In this embodiment, after the target internet of things device has been controlled to perform the corresponding operation, the mobile robot may move autonomously or continue to advance according to the planned travel route to enter the next area. After the mobile robot is gradually far away from the target Internet of things equipment, when the mobile robot detects that the distance between the mobile robot and the target Internet of things equipment is greater than a preset distance, the communication connection with the target Internet of things equipment is disconnected.
The preset distance may be set according to actual needs, and is not specifically limited herein.
In this embodiment, when detecting that the distance between the mobile robot and the target internet of things device is greater than the preset distance, the communication connection between the mobile robot and the target internet of things device is disconnected, so as to reduce the occupation of communication resources of the mobile robot, so that the mobile robot can better communicate with other target internet of things devices, thereby improving the execution efficiency of the mobile robot, and correspondingly, the communication resources of the target internet of things device are also saved, so that the target internet of things device can better interact with other mobile robots.
Further, based on the first embodiment, a sixth embodiment of a remote control method of the internet of things device is provided.
In this embodiment, after the step S30, the target internet of things device is controlled to perform the corresponding operation, the remote control method for the internet of things device further includes the following steps S100 to S110:
step S100, receiving an operation result fed back by the target Internet of things equipment;
and step S110, sending the operation result to the user terminal.
In this embodiment, after the target internet of things device is controlled to execute the corresponding operation, the target internet of things device may execute the corresponding operation based on the function of the target internet of things device. At this time, the target internet of things device can send the operation result to the mobile robot, the mobile robot receives the operation result fed back by the target internet of things device, and then the mobile robot sends the operation result to the user terminal so that the user can check the operation result through the user terminal, or the user terminal can further process the operation result to obtain the required information.
For example, the target internet of things device is a camera, and when the control information for controlling the internet of things device is that the camera is opened, the camera takes a picture and generates video data, and then the video data can be returned to the mobile robot, so that the mobile robot forwards the video data to the user terminal for the user to check. Or, the target internet of things device is a temperature sensor, the control information for controlling the internet of things device is to start the temperature sensor, the temperature sensor performs temperature detection and generates temperature data, and then the temperature data can be returned to the mobile robot, so that the mobile robot forwards the temperature data to the user terminal.
In this embodiment, regard as mobile communication relay station with mobile robot for realize the interaction between user terminal and the thing networking device, that is to say, through the interaction between user terminal, mobile robot and the thing networking device three, realized looking over the operation result of thing networking device through user terminal is long-range, thereby can avoid the user to get into the on-the-spot areas such as danger area, remote area and look over the operation result, can further improve the efficiency of controlling of thing networking device, and further improve user's use and experience.
The application also provides a remote control device of the Internet of things equipment.
Referring to fig. 4, fig. 4 is a functional module schematic diagram of a remote control device of an internet of things device according to a first embodiment of the present application.
In this embodiment, the remote control device of the internet of things device is deployed in a mobile robot, and the remote control device of the internet of things device includes:
the receiving module 10 is configured to receive control information for controlling the internet of things device, which is sent by the user terminal;
the determining module 20 is configured to determine a target internet of things device according to the control information;
and the control module 30 is configured to control the target internet of things device to execute corresponding operations.
Each virtual function module of the remote control device of the internet of things equipment is stored in the memory 1003 of the remote control equipment of the internet of things equipment shown in fig. 1, and is used for implementing all functions of a remote control program of the internet of things equipment; when the modules are executed by the processor 1001, the remote control function of the internet of things device can be realized.
Further, the remote control device of the internet of things equipment further comprises:
the position determining module is used for receiving a movement control instruction sent by a user terminal and determining a target position based on the movement control instruction so that the mobile robot can move to the target position;
and the position feedback module is used for feeding back the real-time position information of the mobile robot to the user terminal so that the user terminal can send the control information to the mobile robot based on the real-time position information.
Further, the remote control device of the internet of things equipment further comprises:
and the request sending module is used for sending a communication connection request to the target Internet of things equipment so that the target Internet of things equipment can respond to the communication connection request and complete communication connection with the mobile robot.
Further, the communication connection request includes an identification of the mobile robot, and the remote control device of the internet of things device further includes:
the prompt receiving module is used for receiving a connection failure prompt sent by the target internet of things device, wherein the target internet of things device detects whether the identity identifier exists in a preset identity table after receiving the communication connection request, and if the identity identifier does not exist, the connection failure prompt is sent to the mobile robot;
and the information sending module is used for sending user information to the target Internet of things equipment so that the target Internet of things equipment can be in communication connection with the mobile robot after the user information is detected.
Further, the remote control device of the internet of things equipment further comprises:
the address query module is used for querying the installation address of the target Internet of things equipment in a preset Internet of things equipment address table;
and the route determining module is used for determining a travel route based on the installation address and moving to the installation address based on the travel route.
Further, the remote control device of the internet of things equipment further comprises:
and the communication disconnection module is used for disconnecting the communication connection with the target Internet of things equipment when detecting that the distance between the mobile robot and the target Internet of things equipment is greater than a preset distance.
Further, the remote control device of the internet of things equipment further comprises:
the result receiving module is used for receiving the operation result fed back by the target Internet of things equipment;
and the result sending module is used for sending the operation result to the user terminal.
The function implementation of each module in the remote control device of the internet of things equipment corresponds to each step in the remote control method embodiment of the internet of things equipment, and the functions and implementation processes are not described in detail herein.
The present application also provides a mobile robot, including: the remote control method of the internet of things equipment comprises a memory, a processor and a remote control program of the internet of things equipment, wherein the remote control program of the internet of things equipment is stored in the memory and can run on the processor, and when being executed by the processor, the remote control program of the internet of things equipment realizes the steps of the remote control method of the internet of things equipment according to any one of the embodiments.
The specific embodiment of the mobile robot is basically the same as each embodiment of the remote control method of the internet of things device, and is not described herein again.
The present application further provides a computer-readable storage medium, in which a remote control program of an internet of things device is stored, and when being executed by a processor, the remote control program of the internet of things device implements the steps of the remote control method of the internet of things device according to any one of the above embodiments.
The specific embodiment of the computer-readable storage medium of the present application is substantially the same as the embodiments of the remote control method for the internet of things device, and is not described herein again.
The present application also provides a computer program product comprising a computer program, which when executed by a processor implements the steps of the method for remote control of an internet of things device as described in any of the above embodiments.
The specific embodiment of the computer program product of the present application is basically the same as each embodiment of the remote control method for the internet of things device, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present application may be substantially or partially embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A remote control method of Internet of things equipment is applied to a mobile robot, and comprises the following steps:
receiving control information for controlling the Internet of things equipment, which is sent by a user terminal;
determining target Internet of things equipment according to the control information;
and controlling the target Internet of things equipment to execute corresponding operation.
2. The remote control method for the internet of things device as claimed in claim 1, wherein before receiving the control information for controlling the internet of things device sent by the user terminal, the method further comprises:
receiving a movement control instruction sent by a user terminal, and determining a target position based on the movement control instruction so as to enable the mobile robot to go to the target position;
and feeding back the real-time position information of the mobile robot to the user terminal so that the user terminal can send the control information to the mobile robot based on the real-time position information.
3. The remote control method of the internet of things device as claimed in claim 1, wherein after the determining a target internet of things device according to the control information, the method further comprises:
and sending a communication connection request to the target Internet of things equipment so that the target Internet of things equipment can respond to the communication connection request and complete communication connection with the mobile robot.
4. The remote control method for the internet of things device according to claim 3, wherein the communication connection request includes an identity of the mobile robot;
after the sending of the communication connection request to the target internet of things device, the method further comprises:
receiving a connection failure prompt sent by the target Internet of things device, wherein the target Internet of things device detects whether the identity identifier exists in a preset identity table after receiving the communication connection request, and if not, the connection failure prompt is sent to the mobile robot;
and sending user information to the target Internet of things equipment so that the target Internet of things equipment can be in communication connection with the mobile robot after the user information is detected.
5. The remote control method of the internet of things device as claimed in claim 1, wherein after the determining a target internet of things device according to the control information, the method further comprises:
inquiring the installation address of the target Internet of things equipment in a preset Internet of things equipment address table;
determining a travel route based on the installation address, and moving to the installation address based on the travel route.
6. The remote control method of the internet of things device as claimed in claim 1, wherein after the controlling the target internet of things device to perform the corresponding operation, the method further comprises:
and when detecting that the distance between the mobile robot and the target Internet of things equipment is greater than a preset distance, disconnecting the communication connection with the target Internet of things equipment.
7. The remote control method of the internet-of-things device as claimed in any one of claims 1 to 6, wherein after the controlling the target internet-of-things device to perform the corresponding operation, the method further comprises:
receiving an operation result fed back by the target Internet of things equipment;
and sending the operation result to the user terminal.
8. A remote control device of Internet of things equipment is characterized in that the device is deployed in a mobile robot and comprises:
the receiving module is used for receiving control information which is sent by the user terminal and used for controlling the Internet of things equipment;
the determining module is used for determining target Internet of things equipment according to the control information;
and the control module is used for controlling the target Internet of things equipment to execute corresponding operation.
9. A mobile robot, characterized in that the mobile robot comprises: a memory, a processor and a remote control program of an internet of things device stored on the memory and executable on the processor, the remote control program of the internet of things device implementing the steps of the remote control method of the internet of things device according to any one of claims 1 to 7 when executed by the processor.
10. A computer-readable storage medium, on which a remote manipulation program of an internet of things device is stored, which when executed by a processor, implements the steps of the remote manipulation method of an internet of things device according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574801.9A CN113359716B (en) | 2021-05-25 | 2021-05-25 | Remote control method and device of Internet of things equipment, robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574801.9A CN113359716B (en) | 2021-05-25 | 2021-05-25 | Remote control method and device of Internet of things equipment, robot and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113359716A true CN113359716A (en) | 2021-09-07 |
| CN113359716B CN113359716B (en) | 2024-05-31 |
Family
ID=77527701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110574801.9A Active CN113359716B (en) | 2021-05-25 | 2021-05-25 | Remote control method and device of Internet of things equipment, robot and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113359716B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799135A (en) * | 2021-09-29 | 2021-12-17 | 深圳市越疆科技有限公司 | Robot control method, system, server, storage medium and mechanical arm |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202145279U (en) * | 2011-07-08 | 2012-02-15 | 上海合时智能科技有限公司 | Household mobile safety protection robot based on object identification technology |
| CN202821312U (en) * | 2012-08-09 | 2013-03-27 | 滨州学院 | Domestic robot for intelligent internet of things |
| US20140207282A1 (en) * | 2013-01-18 | 2014-07-24 | Irobot Corporation | Mobile Robot Providing Environmental Mapping for Household Environmental Control |
| CN104111655A (en) * | 2014-08-06 | 2014-10-22 | 深圳乐智机器人有限公司 | Remote control based smart home service robot system |
| CN104615028A (en) * | 2014-09-22 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Internet of Things system for ground cleaning robot |
| CN109688370A (en) * | 2017-10-18 | 2019-04-26 | 中兴通讯股份有限公司 | Internet of things equipment control method, equipment and readable storage medium storing program for executing |
| CN110149353A (en) * | 2018-02-11 | 2019-08-20 | 陕西爱尚物联科技有限公司 | A kind of Internet of Things network method and its system |
| CN111711520A (en) * | 2015-04-23 | 2020-09-25 | 崔云虎 | Authentication in ubiquitous environments |
| CN112637264A (en) * | 2020-11-23 | 2021-04-09 | 北京百度网讯科技有限公司 | Information interaction method and device, electronic equipment and storage medium |
-
2021
- 2021-05-25 CN CN202110574801.9A patent/CN113359716B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202145279U (en) * | 2011-07-08 | 2012-02-15 | 上海合时智能科技有限公司 | Household mobile safety protection robot based on object identification technology |
| CN202821312U (en) * | 2012-08-09 | 2013-03-27 | 滨州学院 | Domestic robot for intelligent internet of things |
| US20140207282A1 (en) * | 2013-01-18 | 2014-07-24 | Irobot Corporation | Mobile Robot Providing Environmental Mapping for Household Environmental Control |
| CN104111655A (en) * | 2014-08-06 | 2014-10-22 | 深圳乐智机器人有限公司 | Remote control based smart home service robot system |
| CN104615028A (en) * | 2014-09-22 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Internet of Things system for ground cleaning robot |
| CN111711520A (en) * | 2015-04-23 | 2020-09-25 | 崔云虎 | Authentication in ubiquitous environments |
| CN109688370A (en) * | 2017-10-18 | 2019-04-26 | 中兴通讯股份有限公司 | Internet of things equipment control method, equipment and readable storage medium storing program for executing |
| CN110149353A (en) * | 2018-02-11 | 2019-08-20 | 陕西爱尚物联科技有限公司 | A kind of Internet of Things network method and its system |
| CN112637264A (en) * | 2020-11-23 | 2021-04-09 | 北京百度网讯科技有限公司 | Information interaction method and device, electronic equipment and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799135A (en) * | 2021-09-29 | 2021-12-17 | 深圳市越疆科技有限公司 | Robot control method, system, server, storage medium and mechanical arm |
| CN113799135B (en) * | 2021-09-29 | 2024-01-23 | 深圳市越疆科技有限公司 | Robot control method, system, server, storage medium and mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113359716B (en) | 2024-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101321601B1 (en) | Controller for multiple robot using wireless teaching pendant and method for controlling thereof | |
| CN107578200B (en) | AGV-based control method and device and computer-readable storage medium | |
| CN110202569B (en) | Robot recharging method, device, system, electronic equipment and storage medium | |
| JP5966718B2 (en) | Near field communication system and near field communication terminal | |
| US11363508B2 (en) | Unmanned aerial vehicle, controller, and management device | |
| CN108592920B (en) | Path planning method and system for robot | |
| US20200324816A1 (en) | Method for Controlling a Parking Operation of a Motor Vehicle | |
| US10906784B2 (en) | Method for crane assembly | |
| US10959143B2 (en) | Communication connection control method, and device | |
| US20150077332A1 (en) | Display information collecting device and hmi system | |
| WO2019196145A1 (en) | Unmanned aerial vehicle control system and unmanned aerial vehicle control method | |
| CN106993264B (en) | Navigation device and method | |
| CN113156951A (en) | Task transmission method, device, equipment and storage medium | |
| CN112040534B (en) | Robot rescue method, device and system based on unmanned aerial vehicle and storage medium | |
| US20240069550A1 (en) | Method for processing abnormality of material pushing robot, device, server, and storage medium | |
| CN113359716A (en) | Remote control method and device for Internet of things equipment, robot and storage medium | |
| CN111752289B (en) | Unmanned aerial vehicle control method and related device | |
| CN110823227B (en) | Path navigation method, device and computer readable storage medium | |
| US11639002B2 (en) | Control system, control method, and program | |
| CN112119648A (en) | Control method, remote server, control station, and storage medium | |
| CN112566076B (en) | Robot request assistance method, device, robot and storage medium | |
| CN114326721B (en) | Picture construction method and device, cloud server and robot | |
| CN108199886B (en) | Network fault detection method and device and computer readable storage medium | |
| KR20150009740A (en) | Method and appratus for returning moving body | |
| US20150002395A1 (en) | Method of Interaction Between a Digital Object Representing at Least One Real or Virtual Object Located in a Distant Geographic Perimeter and a Local Pointing Device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Unit 7-11, 6th Floor, Building B2, No. 999-8 Gaolang East Road, Wuxi Economic Development Zone, Wuxi City, Jiangsu Province, China 214000 Patentee after: Youdi Robot (Wuxi) Co.,Ltd. Country or region after: China Address before: 5D, Building 1, Tingwei Industrial Park, No. 6 Liufang Road, Xingdong Community, Xin'an Street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: UDITECH Co.,Ltd. Country or region before: China |
|
| CP03 | Change of name, title or address |