WO2021046682A1

WO2021046682A1 - Mobile robot remote control method and device as well as remote control terminal

Info

Publication number: WO2021046682A1
Application number: PCT/CN2019/104934
Authority: WO
Inventors: 张立新; 许仕哲; 周毕兴
Original assignee: 深圳市无限动力发展有限公司
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2021-03-18

Abstract

A mobile robot remote control method and device as well as a remote control terminal, wherein the method comprises: acquiring geomagnetic direction information of a current use environment, and displaying a remote control icon with the indicating direction consistent with the geomagnetic direction according to the geomagnetic direction information, wherein the geomagnetic direction information is used for determining a geomagnetic direction (S11); receiving a target direction instruction triggered by a user for the remote control icon, and sending the target direction instruction to the mobile robot, so that the mobile robot moves in the target direction according to the target direction instruction (S12). The mobile robot remote control method can solve the problem that the mobile robot does not follow the instruction.

Description

Mobile robot remote control method, device and remote control terminal

Technical field

This application relates to the field of remote control technology, in particular to a remote control method, device and remote control terminal for a mobile robot.

Background technique

Sweeping robots have gradually entered thousands of households, bringing great convenience to users' lives. Although the current sweeping robot can clean automatically, it also has the problems of unreasonable path planning, low efficiency, and inability to clean targeted. Such problems may be more obvious when cleaning more complex spaces. At this time, manually Remote cleaning may be more efficient than automatic cleaning.

At present, when the sweeping robot is manually remotely controlled, because the remote controller is not on the sweeping robot, and the relative position of the remote controller and the sweeping robot is uncertain, this causes the direction indication on the remote control to be inconsistent with the sweeping robot's traveling direction, and the sweeping robot The head of the robot is not obvious, so the current manual control of rotation and travel will feel very awkward, and when using the APP to remote control on the smart terminal, the problem that the sweeping robot does not listen to the call often occurs, resulting in the user's manual control experience very bad.

technical problem

The main purpose of this application is to provide a remote control method, device and remote control terminal for a mobile robot, aiming to solve the problem of inconvenient control and prone to unwillingness of the mobile robot when manually remotely controlling the mobile robot in the prior art.

Technical solutions

This application proposes a remote control method for a mobile robot, which is applied to a remote control terminal. The mobile robot has the function of recognizing the geomagnetic direction of the current use environment. The method includes:

Obtain the geomagnetic direction information of the current use environment, and display the remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information, where the geomagnetic direction information is used to determine the geomagnetic direction;

Receive the target direction command triggered by the user for the remote control icon, and send the target direction command to the mobile robot, so that the mobile robot moves in the target direction according to the target direction command.

This application also proposes a mobile robot working method, which has the function of recognizing the geomagnetic direction of the current use environment, and the method includes:

Use the built-in geomagnetic sensor to collect the geomagnetic direction information of the current use environment, and send the geomagnetic direction information to the remote control terminal, where the geomagnetic direction information is used to determine the geomagnetic direction;

Receive the target direction command returned by the remote control terminal in response to the geomagnetic direction information, and move along the target direction according to the target direction command.

This application also proposes a mobile robot remote control device, which is applied to a remote control terminal. The mobile robot has the function of recognizing the geomagnetic direction of the current use environment. The device includes:

The acquisition module is used to acquire the geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, display a remote control icon indicating that the direction is consistent with the geomagnetic direction, where the geomagnetic direction information is used to determine the geomagnetic direction;

The receiving module is used to receive the target direction command triggered by the user for the remote control icon, and send the target direction command to the mobile robot, so that the mobile robot moves in the target direction according to the target direction command.

This application also proposes a remote control terminal, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor implements the aforementioned mobile robot remote control method when the processor executes the computer program.

Beneficial effect

Compared with the prior art, the present application has the beneficial effect that the mobile robot remote control method proposed in the present application obtains the geomagnetic information of the current environment, so that the remote control terminal can recognize the geomagnetic direction of the current use environment, and the remote control terminal can be based on the obtained geomagnetism. The information displays the remote control icon indicating the direction consistent with the geomagnetic direction for the user to manually remote control, so that the mobile robot that can also recognize the geomagnetic direction of the current use environment can accurately follow the target direction command triggered by the user for the remote control icon The user needs to move in the target direction. Therefore, when the user remotely controls the mobile robot through the remote control terminal, the user does not need to consider various complex factors such as the relative position between himself and the vacuum cleaner, the rotation angle of the vacuum cleaner, and so on. Use demand to control the moving direction of the sweeping robot, which is very convenient to control, and realizes the effect of "what you see is what you get" on the remote control terminal, thereby effectively avoiding the unwillingness of the sweeping robot when manually remotely controlling the sweeping robot. Problem, greatly improving the user experience.

Description of the drawings

FIG. 1 is a schematic flowchart of a method for remote control of a mobile robot in an embodiment of the present application;

FIG. 2 is a schematic flowchart of a working method of a mobile robot in an embodiment of the present application;

Fig. 3 is a schematic diagram of the structure of a remote control icon in an embodiment of the present application;

4 is a schematic diagram of the structure of a remote control icon in another embodiment of the present application;

Fig. 5 is a schematic structural diagram of a mobile robot remote control device in an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a mobile robot working device in an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a remote control terminal in an embodiment of the present application.

The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

The best implementation of this application

It should be understood that the specific embodiments described here are only used to explain the application, and not used to limit the application.

1, an embodiment of the present application proposes a remote control method for a mobile robot, which is applied to a remote control terminal. The mobile robot has the function of recognizing the geomagnetic direction of the current use environment. In some specific embodiments, it can be added to the mobile robot. The geomagnetic sensor makes the mobile robot have the function of identifying the direction of the geomagnetism. Among them, the remote control terminal and the mobile robot realize the communication connection through WIFI, Bluetooth, etc. The remote control terminal is installed with a specific application program (APP), and the user can use it on the remote control terminal The APP performs remote control and other operations on the mobile robot. The remote control terminal can be a smart terminal device such as a smart phone or a tablet computer. A mobile robot is an intelligent electronic device with a mobile function and a remote control function, such as a sweeping robot, a medical transportation robot, etc. There is no specific limitation. For ease of understanding, this application uses a sweeping robot as an example for illustration. The mobile robot remote control method includes:

S11: Acquire geomagnetic direction information of the current use environment, and display a remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information, where the geomagnetic direction information is used to determine the geomagnetic direction;

S12: Receive a target direction instruction triggered by the user for the remote control icon, and send the target direction instruction to the mobile robot, so that the mobile robot moves in the target direction according to the target direction instruction.

In the above S11, in some specific embodiments, the geomagnetic sensor built into the sweeping robot can be used to collect the geomagnetic direction information of the current use environment, and the geomagnetic direction information of the current use environment can be obtained through the geomagnetic direction information (for example, which direction is southward). Which direction is the direction to the north, etc.), specifically, in some embodiments, when the user remotely controls the cleaning robot through the remote control terminal (the user is facing the direction of the cleaning robot, that is, the user is facing If the sweeping robot performs remote control operations), the remote control terminal can send an acquisition instruction to the sweeping robot (for example, the acquisition instruction is triggered by a user operation). When the sweeping robot receives the acquisition instruction, the sweeping robot will collect the geomagnetic direction information in real time and send it to On the remote control terminal, the remote control terminal can obtain the geomagnetic direction information of the current use environment; in other embodiments, when the remote control terminal establishes a communication connection with the sweeping robot, the remote control terminal can send an acquisition instruction to the sweeping robot. When the sweeping robot receives the acquisition instruction, the sweeping robot can send the collected geomagnetic direction information to the remote control terminal in real time or at intervals of a preset time period, so that the remote control terminal can obtain the geomagnetic direction information of the current use environment; In an embodiment, the remote control terminal can also obtain the geomagnetic direction information of the current use environment through the built-in geomagnetic sensor (for example, the built-in geomagnetic sensor is triggered by a user operation, and then the geomagnetic direction information of the current use environment is collected through the built-in geomagnetic sensor); In some specific embodiments, referring to Figure 3, when the user manually remotely controls the sweeping robot through the remote control terminal, a remote control icon for the user to remotely control is generally displayed on the application interface of the remote control terminal by default. The remote control icon has a The circle and four arrows. The circle in the middle represents the sweeping robot. The four arrows are set in the way of "up, north, down, south, left, west, right, east", which represent the four moving directions of southeast, northwest, and the user presses the middle with a finger The circle of dragging to different directions means that the remote control sweeping robot is moving in different directions. For example, if it is dragged in the direction of the "north" arrow, it means the sweeping robot is moving in the north direction (assuming the user is in the "south" direction, which is equivalent The sweeping robot moves directly in front of the user), another example: If you drag to the direction between the two arrows "North" and "East", it means the sweeping robot moves in the northeast direction (assuming the user is in the "south" direction, that is, It is equivalent to the sweeping robot moving along the right front of the user); therefore, in some specific embodiments, after obtaining the geomagnetic direction information of the current use environment, the remote control terminal can change the remote control icon on the remote control terminal according to the geomagnetic direction information. The indication direction is adjusted to be consistent with the geomagnetic direction. For example, referring to Figures 3 and 4, assuming that the obtained geomagnetic direction information is "Up, East, Down, West, Left North, Right South", the remote control terminal can reverse the direction indicated by the remote control icon accordingly. Rotate the clockwise by 90° or clockwise by 270°, so that the indication direction of the remote control icon is consistent with the actual geomagnetic direction.

In the above S12, the above target direction is determined by the user's own use requirements. After the remote control icon indicating the direction consistent with the geomagnetic direction is displayed on the remote control terminal, the user only needs to control the moving direction of the sweeping robot according to actual use requirements. There is no need to consider various complicated factors such as the relative position between itself and the sweeping robot, the rotation angle of the sweeping robot, and so on. In some specific embodiments, referring to Figures 3 and 4, assuming that the remote control icon is displayed by default on the remote control terminal and its initial indication direction is "up, north, down, south, left, west, right, east", then adjust according to the geomagnetic direction information Then, the indication direction is "Up, East, Down, West, Left, North, Right, South". When the user wants to control the sweeping robot to move directly in front of him, the user can drag the middle vertically upwards with his finger according to his own needs. Circle, the remote control terminal will generate a target direction instruction to "East", and send the target direction instruction to the sweeping robot through WIFI, Bluetooth, etc., and then when the sweeping robot receives the target direction command, the sweeping robot can According to the target direction command to move in the "East" direction, that is, the sweeping robot moves directly in front of the user. Similarly, when the user is facing the direction of the sweeping robot, if the user wants to control the sweeping robot to the direction where he is To move, the user only needs to drag the circle in the middle vertically with his finger (equivalent to sending a target direction instruction to the mobile robot to "west"), so that the user does not need to consider the relationship between himself and the sweeping robot The relative position of the robot, the rotation angle of the sweeping robot and other complicated factors, you only need to control the moving direction of the sweeping robot according to the actual use needs. It is very convenient to control and realize the "what you see is what you get" effect on the remote control terminal. , Thus effectively avoiding the problem that the sweeping robot does not listen when the sweeping robot is manually controlled remotely, and greatly improving the user experience.

In this embodiment, the mobile robot remote control method obtains the geomagnetic information of the current environment, so that the remote control terminal can recognize the geomagnetic direction of the current use environment, and the remote control terminal can display the remote control indicating the direction consistent with the geomagnetic direction according to the obtained geomagnetic information. The icon is used for the user to manually remote control, so that the mobile robot that can also recognize the geomagnetic direction of the current use environment can accurately move in the target direction required by the user according to the target direction instruction triggered by the user for the remote control icon. When remotely controlling a mobile robot through a remote control terminal, the user does not need to consider various complex factors such as the relative position between himself and the sweeping robot, the rotation angle of the sweeping robot, etc., and only need to control the moving direction of the sweeping robot according to actual needs. It is very convenient to control and realizes the effect of "what you see is what you get" on the remote control terminal, which effectively avoids the problem of unwillingness of the sweeping robot when the sweeping robot is manually controlled remotely, and greatly improves the user experience.

In an optional embodiment, the above steps of acquiring the geomagnetic direction information of the current use environment, and displaying the remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information, include:

S111: Acquire geomagnetic direction information, and determine whether the indicated direction of the remote control icon is consistent with the geomagnetic direction according to the geomagnetic direction information;

If the indicated direction of the remote control icon is inconsistent with the geomagnetic direction, execute S112, and calculate the deviation information between the indicated direction and the geomagnetic direction through a preset algorithm;

S113: Rotate the indication direction according to the deviation information to adjust the indication direction to be consistent with the geomagnetic direction.

In the above S111, the geomagnetic direction information can come from the sweeping robot or the remote control terminal itself. Specifically, in some embodiments, assuming that the geomagnetic direction information comes from the sweeping robot, when the sweeping robot receives the signal sent by the remote control terminal When obtaining instructions, the sweeping robot can send the geomagnetic direction information collected by the built-in geomagnetic sensor to the remote control terminal. After the remote control terminal receives the geomagnetic direction information sent by the sweeping robot, the remote control terminal can further judge based on the geomagnetic direction information Whether the indication direction of the remote control icon displayed by default is consistent with the actual geomagnetic direction, or judge whether the indication direction of the remote control icon displayed in real time on the display interface of the current remote control terminal is consistent with the actual geomagnetic direction, for example, the indication direction of the remote control icon is " Up north down south, left west right east", the geomagnetic direction contained in the geomagnetic direction information is "up east down west, left north right south", the remote control terminal can determine that the direction indicated by the remote control icon is inconsistent with the actual geomagnetic direction .

In the above S112, if the indicated direction of the remote control icon is inconsistent with the actual geomagnetic direction, the remote control terminal may further calculate the deviation information between the indicated direction and the geomagnetic direction, so as to subsequently adjust the indicated direction, where the deviation information includes the deviation direction And the deviation angle, for example, the initial indication direction of the remote control icon is "up-north, lower-south, left-west-right-east", and the actual geomagnetic direction is "up-east-down-west, left-north-right-south", which can be calculated by the preset algorithm The deviation information between the indicated direction and the geomagnetic direction is a counterclockwise deviation of 90°, that is, the deviation direction is a counterclockwise direction, and the deviation angle is 90°.

In the above S113, assuming that the deviation information obtained by the remote control terminal through calculation is a counterclockwise deviation of 90°, the remote control terminal can rotate the indication direction of the remote control icon 90° counterclockwise accordingly, thereby automatically turning the indication direction of the remote control icon Accurately adjust to the actual geomagnetic direction.

In another optional embodiment, the foregoing steps of acquiring the geomagnetic direction information of the current use environment, and displaying the remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information, include:

S11a: Acquire geomagnetic direction information, and determine whether the indicated direction of the remote control icon is consistent with the geomagnetic direction according to the geomagnetic direction information;

If the indication direction of the remote control icon is inconsistent with the geomagnetic direction, execute S11b to send a prompt message to the user to prompt the user to perform a specified operation on the remote control icon;

S11c, receiving a rotation instruction triggered by a user performing a specified operation, and adjusting the instruction direction to be consistent with the geomagnetic direction according to the rotation instruction.

In the above S11a, the geomagnetic direction information can come from the sweeping robot or the remote control terminal itself. Specifically, in some embodiments, assuming that the geomagnetic direction information comes from the remote control terminal itself, the remote control terminal can use the built-in geomagnetic sensor Collect the geomagnetic direction information of the current use environment, and then determine whether the indicated direction of the remote control icon displayed by default is consistent with the actual geomagnetic direction according to the collected geomagnetic direction information, or determine the remote control displayed in real time on the display interface of the current remote control terminal Whether the indicated direction of the icon is consistent with the actual geomagnetic direction, for example, the indicated direction of the remote control icon is "up-north, lower-south, left-west-right-east", and the geomagnetic direction contained in the geomagnetic direction information is "up-east-down-west, left-north-right" "South", the remote control terminal can determine that the indicated direction of the remote control icon is inconsistent with the actual geomagnetic direction; in addition, in some other embodiments, after the remote control terminal obtains the geomagnetic direction information, it can also generate a compass icon based on the geomagnetic direction information And it is displayed on the application interface for the user to perform remote control operations, so that the user can intuitively know the geomagnetic direction of the current use environment.

In the above S11b, if the indication direction of the remote control icon is inconsistent with the actual geomagnetic direction, the remote control terminal prompts the user to perform a specified operation on the remote control icon by issuing prompt information, such as voice prompts, text prompts, etc. Prompt message: "There is a deviation in the current indication direction, please refer to the guide to correct the indicated direction"; for another example, a prompt message: "The current indication direction is deviated, please rotate the indicated direction 90° counterclockwise", what needs to be explained here Yes, after collecting the geomagnetic direction information, the remote control terminal can also calculate the deviation information between the indicated direction and the geomagnetic direction through the above preset algorithm, where the deviation information includes the deviation direction and the deviation angle, for example, the initial indication direction of the remote control icon If it is "Up North, Lower South, Left West, Right East", and the geomagnetic direction is "Up East, Lower West, Left North, Right South", the deviation information between the indicated direction and the geomagnetic direction can be calculated as a counterclockwise deviation through a preset algorithm 90°, that is, the deviation direction is counterclockwise, and the deviation angle is 90°. Therefore, when the remote control terminal determines that the preset indication direction is inconsistent with the geomagnetic direction, the remote control terminal can send out a more intelligent prompt message, which can be more intelligent. Good guide users to perform specified operations.

In the above S11c, in some specific embodiments, the user can drag the indicated direction (that is, four arrows) around the center of the circle clockwise or counterclockwise by long pressing the arrow according to the prompt message sent by the remote control terminal. Rotation, for example, when the user hears the voice prompt from the remote control terminal: "The current indication direction is deviated, please rotate the indication direction 90° counterclockwise", the user can press the arrow in the "north" direction with a finger and move it counterclockwise Drag to realize the adjustment of the indicated direction. Specifically, when the user drags one of the arrows in the indicated direction to rotate, it will trigger the remote control terminal to generate a rotation command (such as a counterclockwise rotation command), and the remote control terminal can follow The rotation instruction rotates the indicated direction according to the user's gesture until it is detected that the indicated direction is consistent with the actual geomagnetic direction (that is, when the indicated direction is consistent with the actual geomagnetic direction, the indicated direction of the remote control icon is automatically changed. “Fix”) or until it is detected that the indicated direction is consistent with the actual geomagnetic direction, the user is prompted to stop the operation, for example, a voice prompts the user to let go, and then when the user let go, the indicated direction of the remote control icon is “fixed”, thereby The direction of the remote control icon can be adjusted manually to be consistent with the actual geomagnetic direction.

In yet another optional embodiment, the above steps of acquiring the geomagnetic direction information of the current use environment and displaying the remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information includes:

S11A: Obtain the geomagnetic direction information, and based on the geomagnetic direction information, generate and display a remote control icon indicating the same direction as the geomagnetic direction.

In this embodiment, the geomagnetic direction information can come from the sweeping robot, or it can come from the remote control terminal itself. In some embodiments, the remote control icon for user remote control may not be displayed by default on the application interface of the remote control terminal ( For example, when the sweeping robot is in automatic cleaning mode), for this situation, after the remote control terminal obtains the geomagnetic direction information, the remote control terminal can generate a remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information and display it for the user Manual remote control (that is, equivalent to generating a compass that can be used for remote control operations). For example, if the geomagnetic direction information obtained by the remote control terminal is "up, north, down, south, left, west, right, east", the remote control terminal can be generated accordingly as shown in Figure 3. The remote control icon shown is displayed on the application interface. For another example, if the geomagnetic direction information obtained by the remote control terminal is "Up East, Lower West, Left North, Right South", the remote control terminal can generate the remote control icon shown in Figure 4 accordingly. And displayed on the application interface.

In an optional embodiment, before the step of acquiring the geomagnetic direction information of the current use environment, and displaying the remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information, the method further includes:

S101: Obtain the current working mode of the mobile robot, and determine whether the working mode is an automatic mode, where the working mode includes an automatic mode and a manual mode;

If the current working mode of the mobile robot is the automatic mode, execute S102 to detect whether the manual mode selection instruction input by the user is received;

If the manual mode selection instruction input by the user is received, execute S103, switch the automatic mode to manual mode, and detect whether the mobile robot is in a moving state;

If the mobile robot is in a moving state, execute S104 to control the mobile robot to enter a stationary state, and in manual mode, execute the above to obtain the geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, display the indication direction that is consistent with the geomagnetic direction Steps of remote control icon.

In the above S101, generally, when using the sweeping robot for cleaning work, the user can manually set the working mode of the sweeping robot on the specific application interface of the remote control terminal according to their actual use needs. The working modes include automatic mode and Manual mode. Generally, in automatic mode, a "start cleaning" button will be displayed on the specific application interface of the remote control terminal. When the user clicks the "start cleaning" button, the sweeping robot will automatically follow the preset method Carry out cleaning work, such as automatic cleaning work according to the "bow"-shaped cleaning path, and in manual mode, a remote control icon is generally displayed on the specific application interface of the remote control terminal for the user to perform remote control operations. In this step, specifically, when the sweeping robot establishes a communication connection with the remote control terminal, the current working mode of the sweeping robot is read, and the working mode is judged whether the working mode is automatic mode. If the working mode is manual mode, the above acquisition can be performed directly The geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, displays the steps of the remote control icon indicating the direction consistent with the geomagnetic direction; and if the working mode is automatic mode, you can enter S102 to perform related operations.

In the above S102, generally, when the sweeping robot is currently in automatic mode, if the user wants to manually control the sweeping robot to perform cleaning work (for example, when the user finds that the sweeping robot is in the automatic cleaning state, the cleaning in some places is omitted) , The user needs to manually set the manual mode. When the user manually sets the manual mode (such as by clicking, etc.), the remote control terminal will be triggered to generate a manual mode selection instruction, and then when the remote control terminal receives the manual mode selection instruction, the remote control According to this, the terminal can automatically switch the current working mode of the cleaning robot from automatic mode to manual mode.

In the above S103, because the cleaning robot may be in a static state or in a moving state before switching the working mode, and when manually controlling the cleaning robot to perform cleaning work, it generally needs to start from the static state, so it is necessary to check whether the cleaning robot is If it is in a moving state, if not, it can directly execute the above steps of acquiring the geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, display the remote control icon indicating the direction consistent with the geomagnetic direction; if yes, proceed to S104.

In the above S104, if the sweeping robot is in a moving state, you can first control the mobile robot to enter a stationary state, and then execute the above to obtain the geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, display that the indicated direction is consistent with the geomagnetic direction The steps of the remote control icon allow the user to perform remote control operations on the sweeping robot through the remote control icon.

In an optional embodiment, a shift touch button is preset on the remote control interface of the remote control terminal. The above-mentioned acquisition of the geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, displays a remote control icon indicating the direction consistent with the geomagnetic direction After the steps, it also includes:

S13: Receive a gear instruction triggered by the user for shifting the touch button, and send the gear instruction to the mobile robot, so that the mobile robot moves at a speed corresponding to the gear instruction according to the gear instruction.

In this embodiment, the gear position of the shift touch button can be determined according to requirements. For example, three gears of high speed, medium speed and low speed can be set. Different gears correspond to different speeds. The user can touch the shift touch The button is used to control the moving speed of the sweeping robot. In this way, the user’s different speed requirements can be met, which is beneficial to improve the user’s experience. Generally, during use, if the user does not touch the shifting touch button, the sweeping robot will press The default preset speed moves. Specifically, in some embodiments, the gear instruction can be triggered by the user before the mobile robot moves. In this way, when the user triggers the target direction instruction, the sweeping robot can follow the speed corresponding to the gear instruction. (Such as high-speed) move to the target direction. In other embodiments, the gear command can also be triggered by the user after the mobile robot moves. In this way, when the sweeping robot moves along the target direction, when the remote control terminal sends When the gear instruction is selected (such as a medium-speed gear instruction), the sweeping robot can adjust the current moving speed to the speed corresponding to the gear instruction.

2, the embodiment of the present application also proposes a mobile robot working method, which is applied to a mobile robot. The mobile robot has the function of recognizing the geomagnetic direction of the current use environment. In some specific embodiments, it can be used on the mobile robot. The addition of a geomagnetic sensor makes the mobile robot have the function of identifying the direction of the geomagnetism. Among them, the mobile robot and the remote control terminal realize communication connection through WIFI, Bluetooth, etc. The remote control terminal is installed with a specific application program (APP), and the user can use the remote control terminal Use APP to perform remote control and other operations on the mobile robot. Specifically, the working method of the mobile robot includes:

S31: Use the built-in geomagnetic sensor to collect the geomagnetic direction information of the current use environment, and send the geomagnetic direction information to the remote control terminal, where the geomagnetic direction information is used to determine the geomagnetic direction;

S32: Receive a target direction instruction returned by the remote control terminal in response to the geomagnetic direction information, and move in the target direction according to the target direction instruction.

In the above S31, specifically, when the sweeping robot receives the acquisition instruction sent by the remote control terminal, the sweeping robot can collect the geomagnetic direction information of the current use environment through the built-in geomagnetic sensor, and then send the collected geomagnetic direction information to the remote control terminal Above, in some embodiments, when the remote control terminal receives the geomagnetic direction information, the remote control terminal can adjust the indication direction of the remote control icon preset on the application interface to be consistent with the actual geomagnetic direction; in other embodiments When the remote control terminal receives the geomagnetic direction information, the remote control terminal can generate and display a remote control icon indicating the same direction as the geomagnetic direction according to the geomagnetic direction information (that is, equivalent to generating a compass that can be used for remote control operations). When the remote control terminal adjusts the indication direction of the preset remote control icon to be consistent with the actual geomagnetic direction or when the remote control terminal generates and displays a remote control icon with the indication direction consistent with the geomagnetic direction according to the geomagnetic direction information, the remote control terminal can also pass The way of sending out the prompt message prompts the user to carry out remote control operation through the remote control icon.

In the above S32, specifically, when the remote control terminal adjusts the indication direction of the preset remote control icon to be consistent with the actual geomagnetic direction or when the remote control terminal generates and executes the remote control icon with the indication direction consistent with the geomagnetic direction according to the geomagnetic direction information When displayed, the user can remotely operate the sweeping robot through the remote control icon. Specifically, when the user conducts a remote control operation through the remote control icon, the remote control terminal will generate a corresponding target direction instruction according to the user's corresponding operation, for example, refer to Figure 4 , Assuming that the indication direction of the remote control icon is "up, north, down, south, left, west, right, east", when the user drags the circle in the middle vertically with a finger, the remote control terminal will generate a target direction instruction to "north" at this time, and The target direction instruction is sent to the cleaning robot through WIFI, Bluetooth, etc., and when the cleaning robot receives the target direction instruction, the cleaning robot can move in the "north" direction according to the target direction instruction.

In this embodiment, the working method of the mobile robot sends the collected geomagnetic direction information to the remote control terminal, so that the remote control terminal can provide the user with a remote control icon indicating the direction consistent with the actual geomagnetic direction according to the geomagnetic direction information. When the mobile robot with the function of recognizing the geomagnetic direction receives the target direction command sent by the remote control terminal, the mobile robot can accurately move along the target direction according to the target direction command, thereby improving the accuracy of the direction movement of the mobile robot and avoiding manual When the mobile robot is remotely controlled, the mobile robot does not listen to the problem.

In an optional embodiment, the step of moving in the target direction according to the target direction instruction includes:

S321: Analyze the target direction instruction to obtain target direction information;

S322: Obtain head direction information of the mobile robot, and compare whether the head direction information is consistent with the target direction information;

If the head direction information is inconsistent with the target direction information, S323 is executed to rotate the head direction of the mobile robot to the target direction and then move in the target direction.

In the above S321, for example, referring to FIG. 4, assuming that the indication direction of the remote control icon is "up, north, bottom, south, left, west, right, east", when the user drags the circle in the middle vertically with a finger, the remote control terminal A target direction command to "north" will be generated, and the target direction command will be sent to the sweeping robot through WIFI, Bluetooth, etc., and then when the sweeping robot receives the target direction command, the sweeping robot performs the target direction command Analysis, the corresponding target direction information can be obtained as the "north" direction.

In the above S322, since the sweeping robot always collides with the sensor in front when it is moving, so as to find obstacles in time and slow down until it stops, the part where the collision sensor is located is the head of the sweeping robot, so by reading the collision sensor in the sweeping robot Combining with the geomagnetic direction information collected by the geomagnetic sensor, the head orientation of the sweeping robot (ie head direction information) can be obtained, and then the obtained head direction information can be compared with the target direction information to determine the two Whether they are consistent, if they are consistent, the cleaning robot can directly execute the target direction instruction and move along the target direction, and if they are not consistent, it can enter S323 to perform related operations. In the above S323, when the head direction information is inconsistent with the target direction information, for example, the head direction information is the "East" direction and the target direction information is the "North" direction, the sweeping robot will rotate in place according to this until Turn the location of the collision sensor toward the "north" direction indicated by the remote control terminal, and then move along the "north" direction.

5, an embodiment of the present application also proposes a mobile robot remote control device, which is applied to a remote control terminal. The mobile robot has the function of recognizing the geomagnetic direction of the current use environment. The mobile robot remote control device includes:

The obtaining module 11 is used to obtain the geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, display a remote control icon indicating the direction consistent with the geomagnetic direction, wherein the geomagnetic direction information is used to determine the geomagnetic direction;

The receiving module 12 is configured to receive a target direction command triggered by the user for the remote control icon, and send the target direction command to the mobile robot, so that the mobile robot moves in the target direction according to the target direction command.

In an optional embodiment, the above-mentioned obtaining module 11 includes:

The first acquiring unit is configured to acquire geomagnetic direction information, and determine whether the indicated direction of the remote control icon is consistent with the geomagnetic direction according to the geomagnetic direction information;

The calculation unit is used to calculate the deviation information between the indicated direction and the geomagnetic direction through a preset algorithm when the indicated direction of the remote control icon is inconsistent with the geomagnetic direction;

The rotating unit is used to rotate the indication direction according to the deviation information so as to adjust the indication direction to be consistent with the geomagnetic direction.

In another optional embodiment, the above-mentioned obtaining module 11 includes:

The second acquiring unit is configured to acquire geomagnetic direction information, and determine whether the indicated direction of the remote control icon is consistent with the geomagnetic direction according to the geomagnetic direction information;

The prompt unit is used to send a prompt message to the user when the indication direction of the remote control icon is inconsistent with the geomagnetic direction to prompt the user to perform a specified operation on the remote control icon;

The adjustment unit is used to receive a rotation instruction triggered by a user performing a designated operation, and adjust the instruction direction to be consistent with the geomagnetic direction according to the rotation instruction.

In yet another optional embodiment, the above-mentioned obtaining module 11 includes:

The first generating unit is used to obtain the geomagnetic direction information, and according to the geomagnetic direction information, generate and display the remote control icon indicating the direction consistent with the geomagnetic direction.

In an optional embodiment, the above-mentioned obtaining module 11 further includes:

The second generating unit is used to generate and display a compass icon according to the geomagnetic direction information.

In an optional embodiment, the above-mentioned mobile robot remote control device further includes:

The judgment module is used to obtain the current working mode of the mobile robot and judge whether the working mode is an automatic mode, where the working mode includes automatic mode and manual mode;

The detection module is used to detect whether the manual mode selection instruction input by the user is received when the current working mode of the mobile robot is the automatic mode;

The switching module is used to switch the automatic mode to the manual mode when the manual mode selection instruction input by the user is received, and to detect whether the mobile robot is in a moving state;

The control module is used to control the mobile robot to enter the stationary state when the mobile robot is in the moving state, and in the manual mode, execute the above-mentioned acquisition of the geomagnetic direction information of the current use environment, and display the indication direction and the geomagnetic direction according to the geomagnetic direction information Steps for consistent remote control icons.

The speed control module is used to receive the gear instruction triggered by the user for shifting the touch button, and send the gear instruction to the mobile robot, so that the mobile robot moves at the speed corresponding to the gear instruction according to the gear instruction .

6, an embodiment of the present application also proposes a mobile robot working device, which is applied to a mobile robot, and the mobile robot working device includes:

The collection module 31 is used to collect the geomagnetic direction information of the current use environment by using the built-in geomagnetic sensor, and send the geomagnetic direction information to the remote control terminal, where the geomagnetic direction information is used to determine the geomagnetic direction;

The moving module 32 is used for receiving the target direction instruction returned by the remote control terminal in response to the geomagnetic direction information, and moving along the target direction according to the target direction instruction.

In an optional embodiment, the above-mentioned moving module 32 includes:

The parsing unit is used to parse the target direction instruction to obtain target direction information;

The comparison unit is used to obtain the head direction information of the mobile robot and compare whether the head direction information is consistent with the target direction information;

The rotation unit is used to rotate the head direction of the mobile robot to the target direction and move along the target direction when the head direction information is inconsistent with the target direction information.

It should be noted that with regard to the mobile robot remote control device and the mobile robot working device in the above-mentioned embodiments, the specific manners for performing operations of each module have been described in detail in the embodiments related to the method, and those skilled in the art can understand that, I won't repeat them here.

7, an embodiment of the present application also proposes a remote control terminal 300, including a memory 400, a processor 500, and a computer program 200 stored in the memory 400 and running on the processor 500. When the processor 500 executes the computer program 200 Realize the mobile robot remote control method in any of the above embodiments.

Those skilled in the art can understand that the remote control terminal 300 in the embodiment of the present invention is the aforementioned device for executing one or more of the methods in the present application. These devices may be specially designed and manufactured for the required purpose, or may also include known devices in general-purpose computers. These devices have computer programs 200 or application programs stored therein, and these computer programs 200 are selectively activated or reconfigured. Such a computer program 200 may be stored in a device (for example, a computer) readable medium or in any type of medium suitable for storing electronic instructions and respectively coupled to a bus. The computer readable medium includes but is not limited to any type Disks (including floppy disks, hard disks, CD-ROMs, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory, random access memory), EPROM (Erasable Programmable Read-Only Memory, Erasable programmable read-only memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, flash memory, magnetic card or optical card. That is, the readable medium includes any medium that stores or transmits information in a readable form by a device (for example, a computer).

The above are only the preferred embodiments of this application, and do not limit the scope of this application. Any equivalent structure or equivalent process transformation made using the content of the specification and drawings of this application, or directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of this application.

Claims

A remote control method for a mobile robot, applied to a remote control terminal, characterized in that the mobile robot has the function of recognizing the geomagnetic direction of the current use environment, and the method includes:

Acquire geomagnetic direction information of the current use environment, and display a remote control icon indicating the direction consistent with the geomagnetic direction according to the geomagnetic direction information, wherein the geomagnetic direction information is used to determine the geomagnetic direction;

A target direction instruction triggered by a user for the remote control icon is received, and the target direction instruction is sent to the mobile robot, so that the mobile robot moves in a target direction according to the target direction instruction.
The mobile robot remote control method according to claim 1, wherein the step of acquiring geomagnetic direction information of the current use environment, and displaying a remote control icon indicating a direction consistent with the geomagnetic direction according to the geomagnetic direction information ,include:

Acquiring the geomagnetism direction information, and judging whether the indication direction of the remote control icon is consistent with the geomagnetism direction according to the geomagnetism direction information;

If the indication direction of the remote control icon is inconsistent with the geomagnetism direction, calculating the deviation information between the indication direction and the geomagnetism direction by using a preset algorithm;

According to the deviation information, the indication direction is rotated to adjust the indication direction to be consistent with the geomagnetic direction.
The mobile robot remote control method according to claim 1, wherein the step of acquiring geomagnetic direction information of the current use environment, and displaying a remote control icon indicating a direction consistent with the geomagnetic direction according to the geomagnetic direction information ,include:

Acquiring the geomagnetism direction information, and judging whether the indication direction of the remote control icon is consistent with the geomagnetism direction according to the geomagnetism direction information;

If the indication direction of the remote control icon is inconsistent with the geomagnetic direction, sending a prompt message to the user to prompt the user to perform a designated operation on the remote control icon;

Receiving a rotation instruction triggered by the user performing the specified operation, and adjusting the instruction direction to be consistent with the geomagnetic direction according to the rotation instruction.
The mobile robot remote control method according to claim 1, wherein the step of acquiring geomagnetic direction information of the current use environment, and displaying a remote control icon indicating a direction consistent with the geomagnetic direction according to the geomagnetic direction information ,include:

The geomagnetism direction information is acquired, and the remote control icon indicating the direction consistent with the geomagnetism direction is generated and displayed according to the geomagnetism direction information.
The remote control method for a mobile robot according to any one of claims 1 to 4, characterized in that said acquiring the geomagnetic direction information of the current use environment, and displaying the indication direction and the geomagnetic direction according to the geomagnetic direction information Before the steps of consistent remote control icons, it also includes:

Acquiring the current working mode of the mobile robot, and determining whether the working mode is an automatic mode, wherein the working mode includes an automatic mode and a manual mode;

If the working mode is the automatic mode, detecting whether a manual mode selection instruction input by the user is received;

If a manual mode selection instruction input by the user is received, switching the automatic mode to the manual mode, and detecting whether the mobile robot is in a moving state;

If the mobile robot is in a moving state, control the mobile robot to enter a stationary state, and in the manual mode, execute the acquisition of geomagnetic direction information of the current use environment, and display instructions based on the geomagnetic direction information The step of the remote control icon whose direction is consistent with the geomagnetic direction.
The remote control method for a mobile robot according to any one of claims 1 to 4, wherein a shift touch button is preset on the remote control interface of the remote control terminal, and the geomagnetic direction information of the current use environment is acquired, and According to the geomagnetic direction information, after the step of displaying the remote control icon indicating the same direction as the geomagnetic direction, it also includes:

Receive the gear instruction triggered by the user for the shift touch button, and send the gear instruction to the mobile robot, so that the mobile robot will follow the gear instruction according to the gear instruction. Move at the speed corresponding to the command.
The remote control method for a mobile robot according to claim 3, characterized in that, after the step of obtaining the geomagnetic direction information, the method further comprises:

According to the geomagnetic direction information, a compass icon is generated and displayed.
A remote control device for a mobile robot, applied to a remote control terminal, characterized in that the mobile robot has the function of recognizing the geomagnetic direction of the current use environment, and the device includes:

The acquiring module is used to acquire the geomagnetic direction information of the current use environment, and according to the geomagnetic direction information, display a remote control icon indicating the direction consistent with the geomagnetic direction, wherein the geomagnetic direction information is used to determine the geomagnetic direction ；

The receiving module is configured to receive a target direction instruction triggered by the user for the remote control icon, and send the target direction instruction to the mobile robot, so that the mobile robot moves in the target direction according to the target direction instruction .
The mobile robot remote control device according to claim 8, wherein the acquisition module comprises:

The first acquiring unit is configured to acquire geomagnetic direction information, and determine whether the indicated direction of the remote control icon is consistent with the geomagnetic direction according to the geomagnetic direction information;

The calculation unit is used to calculate the deviation information between the indicated direction and the geomagnetic direction through a preset algorithm when the indicated direction of the remote control icon is inconsistent with the geomagnetic direction;

The rotating unit is used to rotate the indication direction according to the deviation information so as to adjust the indication direction to be consistent with the geomagnetic direction.
The mobile robot remote control device according to claim 8, wherein the acquisition module comprises:

The second acquiring unit is configured to acquire geomagnetic direction information, and determine whether the indicated direction of the remote control icon is consistent with the geomagnetic direction according to the geomagnetic direction information;

The prompt unit is used to send a prompt message to the user when the indication direction of the remote control icon is inconsistent with the geomagnetic direction to prompt the user to perform a specified operation on the remote control icon;

The adjustment unit is used to receive a rotation instruction triggered by a user performing a designated operation, and adjust the instruction direction to be consistent with the geomagnetic direction according to the rotation instruction.
The mobile robot remote control device according to claim 8, wherein the acquisition module comprises:

The first generating unit is used to obtain the geomagnetic direction information, and according to the geomagnetic direction information, generate and display the remote control icon indicating the direction consistent with the geomagnetic direction.
The mobile robot remote control device according to any one of claims 8 to 11, further comprising:

The judgment module is used to obtain the current working mode of the mobile robot and judge whether the working mode is an automatic mode, where the working mode includes automatic mode and manual mode;

The detection module is used to detect whether the manual mode selection instruction input by the user is received when the current working mode of the mobile robot is the automatic mode;

The switching module is used to switch the automatic mode to the manual mode when the manual mode selection instruction input by the user is received, and to detect whether the mobile robot is in a moving state;

The control module is used to control the mobile robot to enter the stationary state when the mobile robot is in the moving state, and in the manual mode, obtain the geomagnetic direction information of the current use environment, and display the indication direction consistent with the geomagnetic direction according to the geomagnetic direction information Remote control icon.
The mobile robot remote control device according to any one of claims 8 to 11, wherein a shift touch button is preset on the remote control interface of the remote control terminal, and the mobile robot remote control device further comprises:

The speed control module is used to receive the gear instruction triggered by the user for the shift touch button, and send the gear instruction to the mobile robot, so that the mobile robot can, according to the gear instruction, Move at a speed corresponding to the gear command.
The mobile robot remote control device according to claim 10, wherein the acquisition module further comprises:

The second generating unit is configured to generate and display a compass icon according to the geomagnetic direction information.
A remote control terminal, which is characterized by comprising a memory, a processor, and a computer program stored in the memory and running on the processor. The processor executes the computer program as claimed in claims 1 to 7. The mobile robot remote control method described in any one of 7.