CN107305464A - A kind of control method and device based on pressure sensitive - Google Patents
A kind of control method and device based on pressure sensitive Download PDFInfo
- Publication number
- CN107305464A CN107305464A CN201610261085.8A CN201610261085A CN107305464A CN 107305464 A CN107305464 A CN 107305464A CN 201610261085 A CN201610261085 A CN 201610261085A CN 107305464 A CN107305464 A CN 107305464A
- Authority
- CN
- China
- Prior art keywords
- motion parameter
- motion
- determining
- sharing
- time
- 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.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Selective Calling Equipment (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of control method based on pressure sensitive, the pressure information received is obtained；First kinematic parameter is determined according to the pressure information；First kinematic parameter is sent to outside controlled device.The invention also discloses a kind of control device based on pressure sensitive.
Description
Technical Field
The invention relates to a man-machine interaction technology, in particular to a control method and a control device based on pressure induction.
Background
The pressure sensing screen is also called a pressure sensing screen and is a screen applied to equipment such as a terminal, and when finger touch is detected, a pressure sensor of the pressure sensing screen can acquire the pressure in the whole touch process; pressure sensing is a user experience mode newly added to the current terminal, and the application scene of the pressure sensing mainly comprises weighing, games, picture preview, application icon right-click menu control and the like based on the pressure sensing; as a new man-machine interaction mode, the related application scenes are not wide at present, and most of the pressure sensing is still limited to game application.
At present, the development of robot technology is changing day by day, and with the continuous progress of computer technologies such as artificial intelligence, deep learning, machine vision, etc., various industrial robots and indoor service robots are in the endlessly, and the robots gradually come into the lives of people. The human-robot interaction mode mainly comprises remote control, voice, body feeling and the like, the voice recognition can only recognize a part of voice commands, the understanding of natural language semantics is very difficult, the body feeling needs more sensor data and the support of complex algorithms, and the remote control mode is simpler and more reliable and can directly send control instructions to the robot.
The remote control of robots is various, such as via computer keyboard, game pad, terminal, etc.; at present, a terminal is controlled by installing an application software, the application software displays four buttons, namely an upper button, a lower button, a left button and a right button on a screen, the robot is pressed to move forward, the left button is pressed, the robot turns left and the like, and the moving speed of the robot is a set fixed value.
The existing terminal controls the robot in a monotonous mode, the control mode is almost the same as that of a user through a computer keyboard, and the user does not have real-time experience of controlling the motion and the speed of the robot in real time.
Disclosure of Invention
In view of this, embodiments of the present invention are expected to provide a control method, device, and system based on pressure sensing, which implement flexible and accurate control of a mobile robot based on pressure sensing and a sliding gesture, so that human-computer interaction is more friendly.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the embodiment of the invention provides a control method based on pressure induction, which comprises the following steps:
acquiring received pressure information;
determining a first motion parameter according to the pressure information;
and sending the first motion parameter to an external controlled device, wherein the first motion parameter is used for controlling the external controlled device to move.
In the foregoing solution, the determining a first motion parameter according to the pressure information includes:
determining a first motion parameter corresponding to the pressure information according to a preset corresponding relation;
the preset corresponding relationship comprises: and presetting a mapping relation between a pressure value range in the pressure information and a value range of the first motion parameter.
In the foregoing solution, the determining a first motion parameter according to the pressure information includes:
counting the received pressure information in a specified time period, and determining a first motion parameter corresponding to the time period.
In the foregoing solution, the counting pressure information received within a specified time period, and determining a first motion parameter corresponding to the time period includes:
acquiring received pressure information in a time-sharing manner;
determining corresponding time-sharing first motion parameters according to the pressure information;
carrying out weighted moving average filtering on the time-sharing first motion parameters, and determining the result after the weighted moving average filtering as the first motion parameters;
the performing weighted moving average filtering on the time-sharing first motion parameters includes: presetting the weight of each time-sharing first motion parameter; adding the products of the first time-sharing motion parameters multiplied by the corresponding weights, and determining the sum of the addition as the first motion parameter;
and the sum of the corresponding weights of the time-sharing first motion parameters is 1.
In the above scheme, the method further comprises:
and determining the current first motion parameter through the weighted moving average filtering according to the current time sharing first motion parameter and the preset number of historical time sharing first motion parameters.
In the foregoing solution, the determining a first motion parameter according to the pressure information includes: and determining the movement speed according to the pressure information.
In the above scheme, the method further comprises:
acquiring sliding gesture information, and determining a second motion parameter according to the sliding gesture information;
transmitting the second motion parameter to the external controlled device;
and controlling the external controlled device to move according to the first motion parameter and/or the second motion parameter.
In the foregoing solution, the determining a second motion parameter according to the sliding gesture information includes: determining a motion direction and/or a motion angle according to the sliding gesture information;
the swipe gesture information includes: the manner of sliding and/or the angle of sliding.
The embodiment of the invention also provides a control device based on pressure induction, which comprises: the device comprises an acquisition module, a determination module and a sending module; wherein,
the acquisition module is used for acquiring the received pressure information;
the determining module is used for determining a first motion parameter according to the pressure information;
the sending module is used for sending the first motion parameter to an external controlled device;
the first motion parameter is used for controlling the external controlled device to move.
In the foregoing solution, the determining module is specifically configured to:
determining a first motion parameter corresponding to the pressure information according to a preset corresponding relation;
the preset corresponding relationship comprises: and presetting a mapping relation between a pressure value range in the pressure information and a value range of the first motion parameter.
In the above scheme, the obtaining module is further configured to count information of each pressure received within a specified time period,
the determining module is further configured to determine a first motion parameter corresponding to the time period according to each piece of pressure information received within the statistical time period.
In the above scheme, the obtaining module is further configured to obtain the received pressure information in a time-sharing manner;
the determining module is further configured to:
determining corresponding time-sharing first motion parameters according to the pressure information;
carrying out weighted moving average filtering on the time-sharing first motion parameters, and determining the result after the weighted moving average filtering as the first motion parameters;
the performing weighted moving average filtering on the time-sharing first motion parameters includes: presetting the weight of each time-sharing first motion parameter; adding the products of the first time-sharing motion parameters multiplied by the corresponding weights, and determining the sum of the addition as the first motion parameter;
the sum of the corresponding weights of the time-sharing first motion parameters is 1;
the determining module is further configured to: and determining the current first motion parameter through the weighted moving average filtering according to the current time sharing first motion parameter and the preset number of historical time sharing first motion parameters.
In the above scheme, the obtaining module is further configured to obtain sliding gesture information;
the determining module is further configured to determine a second motion parameter according to the sliding gesture information;
the sending module is further configured to send the second motion parameter to the external controlled device;
wherein the second motion parameter is used for controlling the external controlled device to move.
According to the control method and device based on pressure sensing, the received pressure information is obtained, the first motion parameter is determined according to the pressure information, and the first motion parameter is sent to an external controlled device; controlling the movement of the external controlled device according to the force of pressing the pressure sensing screen; furthermore, the motion direction and the angle of an external controlled device are determined through the sliding gesture information received on the touch screen, so that the mobile robot can be flexibly and accurately controlled, and the human-computer interaction is more friendly.
Drawings
FIG. 1 is a schematic flow chart illustrating a pressure sensing control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a weighted moving average filtering process according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating specific steps executed by a terminal program according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating specific steps performed by a robot program according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a pressure-sensitive control device according to an embodiment of the present invention.
Detailed Description
In the embodiment of the invention, the received pressure information is obtained; determining a first motion parameter according to the pressure information; and transmitting the first motion parameter to an external controlled device.
The present invention will be described in further detail with reference to examples.
As shown in fig. 1, the method for controlling a sensor based on pressure according to an embodiment of the present invention includes:
step 101: acquiring pressure information received by a pressure induction screen;
here, the pressure information received on the terminal pressure sensing screen can be acquired; when the pressure sensing screen detects finger touch, the pressure sensor of the pressure sensing screen can acquire the pressure in the whole touch process; here, the pressure information may be acquired by the pressure sensor.
Step 102: determining a first motion parameter according to the pressure information;
generally, the mode of the terminal controlling the external controlled device includes bluetooth, wireless and mobile communication network, etc., and the control parameter can be sent to the external controlled device wirelessly;
here, the first motion parameter may be a parameter for controlling the externally controlled device to perform a motion, such as a motion speed, and may be adjusted by sensing a difference in pressure through the pressure sensing screen; wherein the externally controlled device may be a robot or the like.
In specific application, communication between the terminal and the controlled robot can be established through wireless communication, and a mapping relation between the pressure of a pressure sensing screen pressed by a user finger and the movement speed of an external controlled device is initialized; the moving speed of the robot is in direct proportion to the pressure of the user finger pressing the pressure sensing screen of the terminal, the moving speed of the robot is represented by S, and the pressure of the user finger pressing the pressure sensing screen of the terminal is represented by PBy SmaxRepresenting the maximum speed of movement of the robot by SminIndicating the minimum speed of movement of the robot, PmaxIndicating the maximum pressure of the user's finger pressing the pressure sensitive screen of the terminal, by PminThe minimum pressure for pressing the terminal pressure sensing screen by the finger of the user is represented; the pressure of the pressure sensing screen pressed by the finger of the user and the movement speed of the robot are in a linear mapping relation, and the mapping relation can be expressed by an expression (1):
wherein S ismaxAnd SminThe terminal can obtain the S from the robot end when the robot and the control terminal establish communication connection according to the robotmaxAnd Smin；PmaxAnd PminP can be preset according to the terminal pressure induction capabilitymaxAnd PminA value of (d); therefore, the corresponding robot movement speed can be determined according to the acquired pressure value.
Because the pressure of the user pressing the pressure sensing screen is unstable, in order to enable an external controlled device to run more stably and smoothly, a plurality of segmented time points can be set in a specified time period, and pressure information received by the pressure sensing screen is acquired at each segmented time point; determining corresponding time-sharing first motion parameters according to the pressure information; carrying out weighted moving average filtering on the time-sharing first motion parameters, and determining the result after the weighted moving average filtering as the first motion parameters; further, the current first motion parameter can be determined through weighted moving average filtering processing according to the current time sharing first motion parameter and a preset number of historical time sharing first motion parameters; and controlling the controlled device by adopting the first motion parameter calculated by the weighted moving average, so that the external controlled device can run more stably and smoothly.
Specifically, the pressure information can be acquired in a time-sharing manner, and weighted moving average filtering processing is performed on the time-sharing movement speed S' of the robot corresponding to each time of pressure information; the weighted moving average filtering process can be expressed by expression (2):
wherein S' (i) represents the motion speed of the robot at the i-th time, CiA weighting coefficient representing the motion speed of the robot at the ith time, N represents the number of the motion speed values of the robot stored after the weighted moving average filtering processing,a filtered output value representing a robot movement speed; the relationship of the weighting coefficients for the movement speeds of the robots may be set in advance, and the relationship of the weighting coefficients expressed by expression (3) may be adopted:
the specific steps of the robot motion speed S weighted moving average filtering process may be as shown in fig. 2, and include:
step 1201: initializing N-5, i-1, C1＝1/15,C2＝2/15,C3＝3/15,C4＝4/15,C55/15, establishing an array Buf with the size of N;
step 1202: acquiring the motion speed of the robot, recording the motion speed as S '(i), and storing S' (i) to Buf, i being i + 1;
step 1203: judging whether i is greater than or equal to N, if so, entering a step 1024; otherwise, return to step 1202;
step 1204: calculating the filtering output value of the robot motion speed by using the formula (2)Removing the first speed value S '(1), …, and S' (N) from Buf, and moving the whole left, wherein i is equal to N;
step 1205: returning to step 1202, the process continues to loop.
Here, the calculated filter output value representing the moving speed may beAs the first motion parameter.
Furthermore, a touch function is usually provided on a pressure sensing screen of the terminal, so that sliding gesture information can be obtained, and a second motion parameter can be determined according to the sliding gesture information;
specifically, the second motion parameter may be a motion direction, and/or an angle; the second motion parameter can be determined according to the sliding direction and/or the sliding angle of the user on the terminal pressure sensing screen; the motions of the robot motion may include four types: forward, backward, left turn and right turn; when the fingers of the user slide upwards on the terminal pressure sensing screen, the robot can be indicated to move forwards; when the fingers of the user slide downwards on the terminal pressure sensing screen, the robot can be indicated to retreat; when the fingers of the user slide clockwise on the terminal pressure sensing screen, the robot can be indicated to turn right; when the fingers of the user slide anticlockwise on the terminal pressure sensing screen, the robot can be indicated to turn left; the angle of the finger of the user sliding clockwise or counterclockwise on the terminal pressure sensing screen can indicate the angle when the robot turns left or right.
Step 103: transmitting the first motion parameter to an external controlled device;
here, the first motion parameter may be transmitted to an external controlled device in a bluetooth, wireless, mobile communication network, or the like;
further, the second activity parameter may be sent simultaneously, or both parameters may be sent to the external controlled device. The externally controlled device moves according to the first motion parameter and/or the second motion parameter.
In practical applications, the mapping of the pressure information and the first motion parameter and the determination of the first motion parameter may also be performed in the external controlled device; the terminal can send the acquired pressure information to the external controlled device, and the external controlled device can map the pressure information and parameters such as speed of the external controlled device, so that a first motion parameter is determined and motion is performed according to the setting of the first motion parameter; further, the external controlled device may also count information of each pressure received within a specified time period, and determine a first motion parameter corresponding to the time period; the external controlled device can also receive the sliding direction and/or sliding angle information of the terminal touch screen, so as to determine the second motion parameter and move according to the second motion parameter.
The method provided by the embodiment of the invention can also be applied to the control of devices such as a remote control airplane, a remote control ship and the like, and can map the pressure information with the rotating speed of the propeller of the remote control airplane to play a role in controlling the rotating speed.
The use of the present invention is described in further detail below with reference to specific examples.
Here, the terminal controls the motion direction, angle and speed of the external robot; as shown in fig. 3, the specific steps executed on the terminal are as follows:
the motion of the motion includes four types: forward, reverse, left turn and right turn, indicated by F, B, L and R, respectively; when the finger of the user slides upwards on the terminal pressure sensing screen, use AupIndicating, instructing the robot to advance; when the finger of the user slides downwards on the terminal pressure sensing screen, use AdownIndicating that the robot is instructed to retreat; when the finger of the user slides clockwise on the terminal pressure sensing screen, use AclockwiseIndicating, instructing the robot to turn right; when the finger of the user slides anticlockwise on the terminal pressure sensing screen, use AcounterclockwiseIndicating, indicating robot leftRotating; the moving speed of the robot is in direct proportion to the pressure of the user finger pressing the terminal pressure sensing screen, the moving speed of the robot is represented by S, the pressure of the user finger pressing the terminal pressure sensing screen is represented by P, and the sliding mode of the user finger on the terminal pressure sensing screen is represented by AuserIndicating that the robot performs an action ArobotRepresents; with SmaxRepresenting the maximum speed of movement of the robot by SminRepresenting a minimum movement speed of the robot; d represents the angle of clockwise or anticlockwise sliding of the finger of the user on the terminal pressure sensing screen; by PmaxIndicating the maximum pressure of the user's finger pressing the pressure sensitive screen of the terminal, by PminIndicating the minimum pressure of the user's finger pressing the pressure-sensitive screen of the terminal.
Step 301: establishing communication between the terminal and the robot by bluetooth, initializing S according to the realitymax、Smin、PmaxAnd PminMeanwhile, initializing D as 0;
step 302: sliding mode A for respectively sensing fingers of user through terminal pressure sensing screen and touch screenuserPressure P of pressing touch screen by finger and sliding angle D, AuserThe value of (b) can be expressed by expression (4):
wherein, when Auser＝AupWhen the user gesture is sliding upwards, D is 0: when A isuser＝AdownWhen the gesture of the user is downward sliding, D is 0; when A isuser＝AclockwiseWhen D is the angle of clockwise sliding; when A isuser＝AcounterclockwiseWhen D is the angle of anticlockwise sliding;
step 303: substituting the pressure value P obtained in the step 302 into a formula (1) to obtain the time-sharing motion speed S' of the robot;
step 304: according to the robotThe step of time-sharing motion speed S' weighting moving average filtering processing is to obtain the result by carrying out digital filtering processing on the calculated motion speed of the robot
Step 305: sliding mode A of the user's finger in step 302userThe value, the sliding angle D of the user's finger and the moving speed of the robot obtained in step 304The values are fused to form a data packet, the data packet header is added, the checksum is calculated, and finally the checksum is sent to the robot through the Bluetooth. The robot receives the data packet and analyzes the data packet, and changes the moving direction and the moving speed of the data packet according to the analysis result;
step 306: returning to step 302, the process continues to loop.
As shown in fig. 4, the specific steps performed on the robot are as follows:
step 401: establishing communication between the robot and the terminal by bluetooth, initializing D0, arobot＝F，
Step 402: reading a data packet sent to the robot by the terminal and calculating a checksum, if the calculated checksum is consistent with the checksum calculated by the terminal, indicating that no error exists in the data transmission process, and analyzing A in the data packet by the robotuserD andaccording to AuserTo ArobotThe valuation is expressed as expression (5):
if the calculated checksum is inconsistent with the checksum calculated by the terminal, an error exists in the data transmission process, and the robot ignores the data packet;
step 403: the robot performs action a in step 402robotAnd changing the moving direction of the robot according to the D value and changing the moving speed of the robot according to the S value. The robot can adopt relative change when changing its motion direction according to the D value, namely the robot takes the position after the last rotation as the initial position of the next rotation;
step 404: returning to step 402, the process continues to loop.
The steps are repeated continuously, so that the robot can be flexibly controlled based on the terminal pressure sensing.
As shown in fig. 5, the pressure sensing-based control device provided in the embodiment of the present invention includes: an acquisition module 51, a determination module 52 and a sending module 53; wherein,
the obtaining module 51 is configured to obtain the received pressure information,
here, the pressure information received on the terminal pressure sensing screen can be acquired; when the pressure sensing screen detects finger touch, the pressure sensor of the pressure sensing screen can acquire the pressure in the whole touch process; here, the pressure information may be acquired by the pressure sensor.
The determining module 52 is configured to determine a first motion parameter according to the pressure information;
generally, the mode of the terminal controlling the external controlled device includes bluetooth, wireless and mobile communication network, etc., and the control parameter can be sent to the external controlled device wirelessly;
here, the first motion parameter may be a parameter for controlling the externally controlled device to perform a motion, such as a motion speed, and may be adjusted by sensing a difference in pressure through the pressure sensing screen; wherein the externally controlled device may be a robot or the like.
In specific application, communication between the terminal and the controlled robot can be established through wireless communication, and a mapping relation between the pressure of a pressure sensing screen pressed by a user finger and the movement speed of an external controlled device is initialized; the moving speed of the robot is in direct proportion to the pressure of the user finger pressing the pressure sensing screen of the terminal, the moving speed of the robot is represented by S, the pressure of the user finger pressing the pressure sensing screen of the terminal is represented by P and SmaxRepresenting the maximum speed of movement of the robot by SminIndicating the minimum speed of movement of the robot, PmaxIndicating the maximum pressure of the user's finger pressing the pressure sensitive screen of the terminal, by PminThe minimum pressure for pressing the terminal pressure sensing screen by the finger of the user is represented; the pressure of the terminal pressure sensing screen pressed by the fingers of the user and the movement speed of the robot are in a linear mapping relation, and the mapping relation can be expressed by an expression (1); wherein S ismaxAnd SminThe terminal can obtain the S from the robot end when the robot and the control terminal establish communication connection according to the robotmaxAnd Smin；PmaxAnd PminP can be preset according to the terminal pressure induction capabilitymaxAnd PminA value of (d); therefore, the corresponding robot movement speed can be determined according to the acquired pressure value.
Because the pressure of the user pressing the pressure sensing screen is unstable, in order to enable an external controlled device to run more stably and smoothly, a plurality of segmented time points can be set in a specified time period, and pressure information received by the pressure sensing screen is acquired at each segmented time point; determining corresponding time-sharing first motion parameters according to the pressure information; carrying out weighted moving average filtering on the time-sharing first motion parameters, and determining the result after the weighted moving average filtering as the first motion parameters; further, the current first motion parameter can be determined through weighted moving average filtering processing according to the current time sharing first motion parameter and a preset number of historical time sharing first motion parameters; and controlling the controlled device by adopting the first motion parameter calculated by the weighted moving average, so that the external controlled device can run more stably and smoothly.
Specifically, the pressure information can be acquired in a time-sharing manner, and weighted moving average filtering processing is performed on the time-sharing movement speed S' of the robot corresponding to each time of pressure information; the weighted moving average filtering process can be expressed by expression (2); wherein S' (i) represents the motion speed of the robot at the i-th time, CiA weighting coefficient representing the motion speed of the robot at the ith time, N represents the number of the motion speed values of the robot stored after the weighted moving average filtering processing,a filtered output value representing a robot movement speed; the relationship of the weighting coefficients for the movement speeds of the robots of respective times may be set in advance, and the relationship of the weighting coefficients expressed by expression (3) may be adopted;
as shown in fig. 2, the specific steps of the robot motion speed S weighted moving average filtering process are as follows:
initializing N-5, i-1, C1＝1/15,C2＝2/15,C3＝3/15,C4＝4/15,C55/15, establishing an array Buf with the size of N;
step 1202: acquiring the motion speed of the robot, recording the motion speed as S '(i), and storing S' (i) to Buf, i being i + 1;
step 1203: judging whether i is more than or equal to N, if so, entering a step 1024, otherwise, returning to the step 1202;
step 1204: calculating the filtering output value of the robot motion speed by using the formula (2)Removing the first speed value S '(1), …, and S' (N) from Buf, and moving the whole left, wherein i is equal to N;
step 1205: returning to step 1202, the process continues to loop.
Here, the calculated filter output value representing the moving speed may beAs the first motion parameter.
Furthermore, a touch function is usually provided on a pressure sensing screen of the terminal, the obtaining module 51 may further obtain sliding gesture information, and the determining module 52 may determine a second motion parameter according to the sliding gesture information;
specifically, the second motion parameter may be a motion direction, and/or an angle; the second motion parameter can be determined according to the sliding direction and/or the sliding angle of the user on the terminal pressure sensing screen; the motions of the robot motion may include four types: forward, backward, left turn and right turn; when the fingers of the user slide upwards on the terminal pressure sensing screen, the robot can be indicated to move forwards; when the fingers of the user slide downwards on the terminal pressure sensing screen, the robot can be indicated to retreat; when the fingers of the user slide clockwise on the terminal pressure sensing screen, the robot can be indicated to turn right; when the fingers of the user slide anticlockwise on the terminal pressure sensing screen, the robot can be indicated to turn left; the angle of the finger of the user sliding clockwise or counterclockwise on the terminal pressure sensing screen can indicate the angle when the robot turns left or right.
The sending module 53 is configured to send the first motion parameter to an external controlled device;
here, the first motion parameter may be transmitted to an external controlled device by using bluetooth, wireless, and communication network;
further, the second activity parameter may be sent simultaneously, or both parameters may be sent to the external controlled device. The externally controlled device moves according to the first motion parameter and/or the second motion parameter.
In practical applications, the mapping of the pressure information and the first motion parameter and the determination of the first motion parameter may also be performed in the external controlled device; the terminal can send the acquired pressure information to the external controlled device, and the external controlled device can map the pressure information and parameters such as speed of the external controlled device, so that a first motion parameter is determined and motion is performed according to the setting of the first motion parameter; further, the external controlled device may also count information of each pressure received within a specified time period, and determine a first motion parameter corresponding to the time period; the external controlled device can also receive the sliding direction and/or sliding angle information of the terminal touch screen, so as to determine the second motion parameter and move according to the second motion parameter.
The device provided by the embodiment of the invention can be applied to the control of devices such as a remote control airplane, a remote control ship and the like, and can map the pressure information with the rotating speed of the propeller of the remote control airplane to play a role in controlling the rotating speed.
In practical applications, the obtaining module 51, the determining module 52 and the sending module 53 can be implemented by a Central Processing Unit (CPU), a microprocessor unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a communication module, or the like of the terminal.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (13)
1. A pressure sensing based control method, the method comprising:
acquiring received pressure information;
determining a first motion parameter according to the pressure information;
and sending the first motion parameter to an external controlled device, wherein the first motion parameter is used for controlling the external controlled device to move.
2. The method of claim 1, wherein determining a first motion parameter from the pressure information comprises:
determining a first motion parameter corresponding to the pressure information according to a preset corresponding relation;
the preset corresponding relationship comprises: and presetting a mapping relation between a pressure value range in the pressure information and a value range of the first motion parameter.
3. The method of claim 1, wherein determining a first motion parameter from the pressure information comprises:
counting the received pressure information in a specified time period, and determining a first motion parameter corresponding to the time period.
4. The method of claim 3, wherein counting each piece of pressure information received over a specified time period to determine a first motion parameter corresponding to the time period comprises:
acquiring received pressure information in a time-sharing manner;
determining corresponding time-sharing first motion parameters according to the pressure information;
carrying out weighted moving average filtering on the time-sharing first motion parameters, and determining the result after the weighted moving average filtering as the first motion parameters;
the performing weighted moving average filtering on the time-sharing first motion parameters includes: presetting the weight of each time-sharing first motion parameter; adding the products of the first time-sharing motion parameters multiplied by the corresponding weights, and determining the sum of the addition as the first motion parameter;
and the sum of the corresponding weights of the time-sharing first motion parameters is 1.
5. The method of claim 4, further comprising:
and determining the current first motion parameter through the weighted moving average filtering according to the current time sharing first motion parameter and the preset number of historical time sharing first motion parameters.
6. The method of any of claims 1 to 5, wherein determining a first motion parameter from the pressure information comprises: and determining the movement speed according to the pressure information.
7. The method according to any one of claims 1 to 5, further comprising:
acquiring sliding gesture information, and determining a second motion parameter according to the sliding gesture information;
transmitting the second motion parameter to the external controlled device;
and controlling the external controlled device to move according to the first motion parameter and/or the second motion parameter.
8. The method of claim 7,
the determining a second motion parameter according to the swipe gesture information includes: determining a motion direction and/or a motion angle according to the sliding gesture information;
the swipe gesture information includes: the manner of sliding and/or the angle of sliding.
9. A pressure-sensing based control device, the device comprising: the device comprises an acquisition module, a determination module and a sending module; wherein,
the acquisition module is used for acquiring the received pressure information;
the determining module is used for determining a first motion parameter according to the pressure information;
the sending module is used for sending the first motion parameter to an external controlled device;
the first motion parameter is used for controlling the external controlled device to move.
10. The apparatus of claim 9, wherein the determining module is specifically configured to:
determining a first motion parameter corresponding to the pressure information according to a preset corresponding relation;
the preset corresponding relationship comprises: and presetting a mapping relation between a pressure value range in the pressure information and a value range of the first motion parameter.
11. The apparatus of claim 9,
the acquisition module is also used for counting the information of each pressure received in a specified time period,
the determining module is further configured to determine a first motion parameter corresponding to the time period according to each piece of pressure information received within the statistical time period.
12. The apparatus of claim 11,
the acquisition module is also used for acquiring the received pressure information in a time-sharing manner;
the determining module is further configured to:
determining corresponding time-sharing first motion parameters according to the pressure information;
carrying out weighted moving average filtering on the time-sharing first motion parameters, and determining the result after the weighted moving average filtering as the first motion parameters;
the performing weighted moving average filtering on the time-sharing first motion parameters includes: presetting the weight of each time-sharing first motion parameter; adding the products of the first time-sharing motion parameters multiplied by the corresponding weights, and determining the sum of the addition as the first motion parameter;
the sum of the corresponding weights of the time-sharing first motion parameters is 1;
the determining module is further configured to: and determining the current first motion parameter through the weighted moving average filtering according to the current time sharing first motion parameter and the preset number of historical time sharing first motion parameters.
13. The apparatus according to any one of claims 9 to 12,
the acquisition module is also used for acquiring sliding gesture information;
the determining module is further configured to determine a second motion parameter according to the sliding gesture information;
the sending module is further configured to send the second motion parameter to the external controlled device;
wherein the second motion parameter is used for controlling the external controlled device to move.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610261085.8A CN107305464A (en) | 2016-04-25 | 2016-04-25 | A kind of control method and device based on pressure sensitive |
| PCT/CN2016/087629 WO2017185512A1 (en) | 2016-04-25 | 2016-06-29 | Control method and device based on pressure sensing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610261085.8A CN107305464A (en) | 2016-04-25 | 2016-04-25 | A kind of control method and device based on pressure sensitive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107305464A true CN107305464A (en) | 2017-10-31 |
Family
ID=60150216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610261085.8A Withdrawn CN107305464A (en) | 2016-04-25 | 2016-04-25 | A kind of control method and device based on pressure sensitive |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107305464A (en) |
| WO (1) | WO2017185512A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107961078A (en) * | 2017-12-18 | 2018-04-27 | 微创（上海）医疗机器人有限公司 | Surgical robot system and its operating theater instruments |
| CN110737265A (en) * | 2019-09-11 | 2020-01-31 | 珠海格力电器股份有限公司 | Control method and device for robots, electronic equipment and storage medium |
| CN111913440A (en) * | 2020-07-29 | 2020-11-10 | 深圳市汇川技术股份有限公司 | Machining speed optimization method for machining equipment, machining equipment and storage medium |
| CN114939871A (en) * | 2022-06-02 | 2022-08-26 | 台州宏创电力集团有限公司科技分公司 | Remote cooperative control method for robot dog, control module and imaging helmet |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345285A (en) * | 2013-06-27 | 2013-10-09 | 山东大学 | Quadruped robot remote control system and remote control method thereof |
| EP2693284A2 (en) * | 2012-08-02 | 2014-02-05 | Immersion Corporation | Systems and method for haptic remote control gaming |
| CN104511903A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot remote control system and method |
| CN104598108A (en) * | 2015-01-02 | 2015-05-06 | 北京时代沃林科技发展有限公司 | Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal |
| CN104821076A (en) * | 2015-05-14 | 2015-08-05 | 福建农林大学 | Multifunctional remote control device |
| CN105000170A (en) * | 2015-07-15 | 2015-10-28 | 何春旺 | Touch screen controller and control method of driving device |
| CN105049804A (en) * | 2015-07-14 | 2015-11-11 | 广州广日电气设备有限公司 | Remote operating system for explosive-handling robot |
| CN105389119A (en) * | 2015-12-24 | 2016-03-09 | 惠州Tcl移动通信有限公司 | Screen scrolling control method and system of mobile terminal |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4590596B2 (en) * | 2007-12-11 | 2010-12-01 | 独立行政法人理化学研究所 | INPUT DEVICE, CONTROL DEVICE, INPUT METHOD, CONTROL METHOD, AND PROGRAM |
| KR101410416B1 (en) * | 2011-12-21 | 2014-06-27 | 주식회사 케이티 | Remote control method, system and user interface |
| CN104641315B (en) * | 2012-07-19 | 2017-06-30 | 优泰机电有限公司 | 3D Haptic Sensing Devices |
| CN102789327B (en) * | 2012-08-07 | 2015-04-08 | 北京航空航天大学 | Method for controlling mobile robot on basis of hand signals |
| KR101392679B1 (en) * | 2012-10-12 | 2014-05-21 | 한국과학기술원 | Method for remote controlling using drag gesture and apparatus of the same |
| AT513675A1 (en) * | 2012-11-15 | 2014-06-15 | Keba Ag | Method for the secure and conscious activation of functions and / or movements of a controllable technical device |
| KR101966127B1 (en) * | 2013-09-05 | 2019-04-05 | 엘지전자 주식회사 | robot cleaner system and a control method of the same |
| CN103978487B (en) * | 2014-05-06 | 2017-01-11 | 宁波易拓智谱机器人有限公司 | Gesture-based control method for terminal position of universal robot |
| CN104267904A (en) * | 2014-09-26 | 2015-01-07 | 深圳市睿德网络科技有限公司 | Touch screen virtual unit control method and mobile terminal |
-
2016
- 2016-04-25 CN CN201610261085.8A patent/CN107305464A/en not_active Withdrawn
- 2016-06-29 WO PCT/CN2016/087629 patent/WO2017185512A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2693284A2 (en) * | 2012-08-02 | 2014-02-05 | Immersion Corporation | Systems and method for haptic remote control gaming |
| CN103345285A (en) * | 2013-06-27 | 2013-10-09 | 山东大学 | Quadruped robot remote control system and remote control method thereof |
| CN104511903A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot remote control system and method |
| CN104598108A (en) * | 2015-01-02 | 2015-05-06 | 北京时代沃林科技发展有限公司 | Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal |
| CN104821076A (en) * | 2015-05-14 | 2015-08-05 | 福建农林大学 | Multifunctional remote control device |
| CN105049804A (en) * | 2015-07-14 | 2015-11-11 | 广州广日电气设备有限公司 | Remote operating system for explosive-handling robot |
| CN105000170A (en) * | 2015-07-15 | 2015-10-28 | 何春旺 | Touch screen controller and control method of driving device |
| CN105389119A (en) * | 2015-12-24 | 2016-03-09 | 惠州Tcl移动通信有限公司 | Screen scrolling control method and system of mobile terminal |
Non-Patent Citations (1)
| Title |
|---|
| 杨慧，许福栗: "基于权重转移的加权滑动平均模型改进", 《计算机工程与应用》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107961078A (en) * | 2017-12-18 | 2018-04-27 | 微创（上海）医疗机器人有限公司 | Surgical robot system and its operating theater instruments |
| CN110737265A (en) * | 2019-09-11 | 2020-01-31 | 珠海格力电器股份有限公司 | Control method and device for robots, electronic equipment and storage medium |
| CN111913440A (en) * | 2020-07-29 | 2020-11-10 | 深圳市汇川技术股份有限公司 | Machining speed optimization method for machining equipment, machining equipment and storage medium |
| CN114939871A (en) * | 2022-06-02 | 2022-08-26 | 台州宏创电力集团有限公司科技分公司 | Remote cooperative control method for robot dog, control module and imaging helmet |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017185512A1 (en) | 2017-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101986327B1 (en) | Method for providing posture guide and apparatus thereof | |
| US11567573B2 (en) | Neuromuscular text entry, writing and drawing in augmented reality systems | |
| CN104536558B (en) | A smart ring and method for controlling smart devices | |
| US8010911B2 (en) | Command input method using motion recognition device | |
| CN107305464A (en) | A kind of control method and device based on pressure sensitive | |
| WO2013139181A1 (en) | User interaction system and method | |
| WO2014113507A1 (en) | Dynamic user interactions for display control and customized gesture interpretation | |
| CN105190578A (en) | Method and apparatus for combining muscle activity sensor signals and inertial sensor signals for gesture-based control | |
| EP3951564A1 (en) | Methods and apparatus for simultaneous detection of discrete and continuous gestures | |
| CN109839827B (en) | Gesture recognition intelligent household control system based on full-space position information | |
| TWI480768B (en) | Display method and system with adjustment function | |
| KR101654311B1 (en) | User motion perception method and apparatus | |
| CN110928432A (en) | Ring mouse, mouse control device and mouse control system | |
| CN103294226B (en) | A virtual input device and method | |
| WO2015091638A1 (en) | Method for providing user commands to an electronic processor and related processor program and electronic circuit. | |
| CA2521805A1 (en) | A tongue-operated input device for control of electronic systems | |
| CN113407034A (en) | Sign language inter-translation method and system | |
| WO2017165023A1 (en) | Under-wrist mounted gesturing | |
| CN113569635A (en) | Gesture recognition method and system | |
| CN108051001A (en) | A kind of robot movement control method, system and inertia sensing control device | |
| JP7713484B2 (en) | Detecting user input from a multimodal hand biometric device | |
| CN107305470A (en) | Unmanned aerial vehicle (UAV) control method and apparatus based on mobile terminal | |
| KR20180000515A (en) | System For Mouse Function By Detecting Finger Motion | |
| CN108127667B (en) | A Somatosensory Interactive Control Method for Robot Arm Based on Joint Angle Increment | |
| JP2017182571A (en) | Information processing system, information processing method, and information processing program |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171031 |
|
| WW01 | Invention patent application withdrawn after publication |