Remote control platform, pose test method and related equipment

Abstract

The embodiment of the invention provides a remote control platform, a pose test method and related equipment, which are used for simulating different use scenes of UWB remote control equipment so as to optimize the test efficiency of the UWB remote control equipment. The method provided by the embodiment of the invention comprises the following steps: receiving a pose control instruction generated by driving control equipment, controlling one or more groups of sliding rails in a vertical bracket, a cross rod sliding rail or a parallel sliding rail to move according to the pose control instruction, and adjusting UWB remote control equipment to rotate according to the pose control instruction; when the UWB remote control equipment moves a preset distance and adjusts a preset angle every time, UWB signal transmission between the UWB remote control equipment and the UWB receiving end is controlled, and UWB test data is obtained until the UWB remote control equipment is located at a target specified position and a target specified posture; and acquiring UWB experiment data set when the UWB remote control equipment moves a preset distance and adjusts a preset angle each time, and performing simulation calculation on the UWB experiment data according to all the UWB test data to verify the simulation reliability of the UWB remote control equipment in different environments.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of remote control technology, and in particular to a remote control platform, a posture testing method, and related equipment. Background Art

[0002] Ultrawideband (UWB) ranging and angle measurement require a high level of accuracy from the test platform to meet development requirements (e.g., 1-2 cm for distance and 1-2° for angle). Therefore, precise control of the distance, position, and attitude of the UWB transmitter and receiver is crucial. The test platform must retain accurate position and attitude information during testing to verify the accuracy of the data collected.

[0003] Existing solutions for simulating the position and attitude of a directional remote control and a TV typically fix the UWB receiver to the top of a servo. The servo rotates, driving the UWB receiver's rotation while the directional remote control maintains a fixed position and angle. During rotation, the servo's rotation angle is compensated based on the relative position and angle changes between the directional remote control and the UWB receiver, so that the servo's target angle simulates the actual position and attitude changes of the directional remote control. However, this method has two major drawbacks: First, the UWB receiver rotates under the control of the servo, while the remote control remains in a fixed position. This only simulates the angle between the remote control and the TV, but not the distance between them, which is inconsistent with actual usage. Second, it is inconsistent with the actual usage environment. When a user uses a directional remote control, the surrounding environmental reflections vary depending on the distance and posture. However, this method uses a nearly constant environmental reflection, which is inconsistent with the actual usage environment. These inconsistent usage environments lead to poor data accuracy and inaccurate UWB ranging and angle measurement results. Summary of the Invention

[0004] The embodiments of the present application provide a remote control platform, a posture testing method, and related equipment for simulating different usage scenarios of UWB remote control devices to optimize the testing efficiency of UWB remote control devices.

[0005] A second aspect of the embodiments of the present application provides a remote control platform, comprising: a UWB receiver, a UWB remote control device, a vertical bracket, a horizontal slide rail, two parallel slide rails, and a drive control device;

[0006] The UWB receiver is fixed to the midpoint of one side of the remote control platform, and the bottom connection point of the UWB receiver is located on one of the parallel slide rails;

[0007] The UWB remote control device is connected to the upper end point of the vertical bracket, the lower end point of the vertical bracket is connected to the crossbar slide rail, and the vertical bracket is perpendicular to the slide rail plane of the crossbar slide rail;

[0008] The bottom end of the remote control platform is composed of two parallel slide rails parallel to each other, and the crossbar slide rail is vertically connected between the two parallel slide rails;

[0009] The drive control device is used to control the vertical support to move on the crossbar slide rail, and is also used to control the crossbar slide rail to move a preset distance between the two parallel slide rails each time, so that the vertical support and the crossbar slide rail are located at a target specified position; the sliding speed of both ends of the crossbar slide rail on any parallel slide rail is the same;

[0010] The driving control device is further used to control the UWB remote control device to adjust the preset angle each time, and make the UWB remote control device meet the target specified posture;

[0011] The remote control platform is used to control UWB signal transmission between the UWB receiving end and the UWB remote control device when the UWB remote control device is in the target specified posture and the target specified position, obtain UWB test data, and perform simulation testing of the UWB remote control device.

[0012] Optionally, the vertical bracket is a movable bracket, an upper end point of the movable bracket is connected to the UWB remote control device via a pulley ball, and the UWB remote control device is rotated by the pulley ball;

[0013] The driving control device is used to control the pulley ball to rotate, so as to drive the UWB remote control device to point to any angle.

[0014] The drive control device is further used to control the movable bracket to move on the slide rail plane of the crossbar slide rail, so as to drive the UWB remote control device to move synchronously with the movable bracket.

[0015] Optionally, the movement trajectory of the vertical bracket on the slide rail plane is an arc; wherein the center of the arc is the position point of the UWB receiving end on the slide rail plane, and the radius of the arc is the distance from the position point of the vertical bracket on the slide rail plane to the center of the circle.

[0016] Optionally, any of the parallel slide rails is connected to the crossbar slide rail by a pulley;

[0017] The crossbar slide rail and the vertical support are connected by a pulley.

[0018] Optionally, a slide rail motor is also included;

[0019] The slide rail motor is electrically connected to the drive control device, the vertical support, the crossbar slide rail and the parallel slide rail respectively;

[0020] The slide rail motor is used to receive the posture control instruction sent by the drive control device; wherein, the posture control instruction is used to control the vertical bracket, the crossbar slide rail and the parallel slide rail to move to the platform position corresponding to the posture control instruction, and control the UWB remote control device to rotate to the spatial angle corresponding to the posture control instruction.

[0021] A second aspect of an embodiment of the present application provides a method for testing a posture of a remote control platform, comprising:

[0022] receiving a posture control instruction generated by a drive control device, controlling the movement of one or more sets of slides among the vertical support, the crossbar slide, or the parallel slides according to the posture control instruction, and adjusting the rotation of the UWB remote control device according to the posture control instruction; wherein the vertical support moves on the crossbar slide, the crossbar slide moves on the parallel slide, and the UWB control device rotates on the vertical support;

[0023] Each time the UWB remote control device moves a preset distance and adjusts a preset angle, controlling UWB signal transmission between the UWB remote control device and a UWB receiver to obtain UWB test data until the UWB remote control device is in a target specified position and a target specified posture; wherein the target specified position includes a target longitudinal position of the vertical support and a target lateral position of the crossbar slide; and the target specified posture is a target rotation angle of the UWB remote control device;

[0024] Acquire UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle, and perform simulation calculations on the UWB experimental data based on all the UWB test data to verify the simulation reliability of the UWB remote control device in different environments.

[0025] Optionally, controlling the UWB remote control device to transmit UWB signals to a UWB receiver to obtain UWB test data includes:

[0026] Controlling the UWB remote control device to move in arcs with multiple different radii and rotate at different angles on the slide plane where the crossbar slide and the parallel slide are located, based on the posture control command, with the UWB receiver as the center of the circle; wherein the radius of any arc is the distance from the position of the vertical support on the slide plane to the center of the circle;

[0027] When the moving distance of the UWB remote control device on the arc is the preset distance and the rotation angle is the preset angle, the UWB remote control device is controlled to stop moving and rotating, and UWB test data between the current UWB remote control device and the UWB receiving end is collected.

[0028] Optionally, until the UWB remote control device is at a designated target position and a designated target posture, the method further includes:

[0029] Setting a preset designated position and a preset designated posture of the UWB remote control device; wherein the preset designated position includes a preset longitudinal position of the vertical bracket and a preset transverse position of the crossbar slide rail; and the preset designated posture is a preset rotation angle of the UWB remote control device;

[0030] Determining whether the UWB remote control device has passed through all the preset designated positions and adjusted all the preset designated postures;

[0031] If the UWB remote control device passes through all the preset designated positions and adjusts all the preset designated postures, the last preset designated position and the last preset designated posture are determined as the target designated position and the target designated posture, and the UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle are obtained, and the UWB experimental data are simulated and calculated based on all the UWB test data to verify the simulation reliability of the UWB remote control device under different environments;

[0032] If the UWB remote control device has not passed through all the preset designated positions, or has not adjusted all the preset designated postures, the UWB remote control device is controlled to move the preset distance, adjust the preset angle, and perform the step of determining whether the UWB remote control device has passed through all the preset designated positions and adjusted all the preset designated postures.

[0033] The posture testing method of the remote control platform provided in the second aspect of the embodiment of the present application is used to be applied to the remote control platform described in the first aspect.

[0034] A third aspect of the present application provides a posture testing system for a remote control platform, including:

[0035] a receiving unit, configured to receive a posture control instruction generated by a drive control device, control the movement of one or more of the vertical support, the crossbar slide rails, or the parallel slide rails according to the posture control instruction, and adjust the rotation of the UWB remote control device according to the posture control instruction; wherein the vertical support moves on the crossbar slide rails, the crossbar slide rails move on the parallel slide rails, and the UWB control device rotates on the vertical support;

[0036] a control unit configured to control UWB signal transmission between the UWB remote control device and a UWB receiver each time the UWB remote control device moves a preset distance and adjusts a preset angle, thereby obtaining UWB test data, until the UWB remote control device is in a target designated position and a target designated posture; wherein the target designated position includes a target longitudinal position of the vertical support and a target lateral position of the crossbar rail; and the target designated posture is a target rotation angle of the UWB remote control device;

[0037] An acquisition unit is used to acquire UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle, and simulate the UWB experimental data based on all the UWB test data to verify the simulation reliability of the UWB remote control device in different environments.

[0038] The remote control platform posture testing system provided in the third aspect of the embodiment of the present application is used to execute the remote control platform posture testing method described in the second aspect.

[0039] A fourth aspect of the present application provides a posture testing device for a remote control platform, comprising:

[0040] CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply;

[0041] The memory is a transient storage memory or a persistent storage memory;

[0042] The central processing unit is configured to communicate with the memory and execute instruction operations in the memory to perform the posture testing method of the remote control platform described in the second aspect.

[0043] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which includes instructions. When the instructions are executed on a computer, the computer executes the posture testing method of the remote control platform described in the second aspect.

[0044] A fifth aspect of an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are run on a computer, the computer executes the posture testing method of the remote control platform described in the second aspect.

[0045] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: through a posture testing method of a remote control platform disclosed in the embodiments of the present application, high-precision distance, angle and posture control is achieved through the automatic collection and testing of data between the UWB receiver and the UWB remote control device, and it is repeatable, thereby greatly optimizing the R&D efficiency and simulation efficiency of remote control device products. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0047] Figure 1 This is a schematic diagram of the architecture of a remote control platform disclosed in an embodiment of the present application;

[0048] Figure 2 A flowchart of a method for testing the posture of a remote control platform disclosed in an embodiment of the present application is provided;

[0049] Figure 3 A flow chart of another method for testing the posture of a remote control platform disclosed in an embodiment of the present application;

[0050] Figure 4 A flow chart of another method for testing the posture of a remote control platform disclosed in an embodiment of the present application;

[0051] Figure 5 This is a structural diagram of a posture testing system for a remote control platform disclosed in an embodiment of the present application;

[0052] Figure 6 This is a structural schematic diagram of a posture testing device for a remote control platform disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0053] To facilitate understanding of the present application, the present application will be described in more detail below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present application belongs. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0054] It should be understood that when an element or layer is referred to as being "on," "adjacent," "connected to," or "coupled to" another element or layer, it can be directly on, adjacent, connected, or coupled to the other element or layer, or there can be intervening elements or layers. In contrast, when an element is referred to as being "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" another element or layer, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc. may be used to describe various elements, components, regions, layers, and / or portions, these elements, components, regions, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer, or portion from another element, component, region, layer, or portion. Thus, a first element, component, region, layer, or portion discussed below may be represented as a second element, component, region, layer, or portion without departing from the teachings of the present application.

[0055] Spatially relative terms such as "under," "beneath," "below," "under," "above," "above," etc., may be used herein for convenience of description to describe the relationship of one element or feature shown in the figures to other elements or features. It should be understood that in addition to the orientations shown in the figures, the spatially relative terms are intended to include different orientations of the device in use and operation. For example, if the device in the drawings is flipped, then the elements or features described as "under other elements" or "beneath" or "beneath" will be oriented as "on" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. The device may be oriented otherwise (rotated 90 degrees or in other orientations) and the spatial descriptors used herein are interpreted accordingly.

[0056] The purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application. When used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "comprising" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0057] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0058] To solve the technical problems mentioned in the above background technology, please refer to Figure 1 ,in, Figure 1 This is a schematic diagram of the architecture of a remote control platform disclosed in an embodiment of the present application.

[0059] Depend on Figure 1 It can be seen that the remote control platform (or described as a control platform, which is not limited here) includes a UWB receiver (which can be a TV or other electronic device that can interact with UWB signals), a UWB remote control device (such as a shooting gun or a game controller, etc.), a vertical bracket, a horizontal bar slide, two parallel slides parallel to each other, and a drive control device. Among them, the UWB receiver is fixed to the midpoint of one side of the remote control platform, and the bottom connection point of the UWB receiver is located on one of the parallel slides. The UWB remote control device is connected to the upper end point of the vertical bracket, the lower end point of the vertical bracket is connected to the horizontal bar slide, and the vertical bracket is perpendicular to the slide plane of the horizontal bar slide. The bottom end of the remote control platform is composed of two parallel slides parallel to each other, and the horizontal bar slide is vertically connected between the two parallel slides. The drive control device is used to control the movement of the vertical bracket on the horizontal rail. It is also used to control the horizontal rail to move a preset distance between two parallel rails each time, so that the vertical bracket and the horizontal rail are located at the target specified position; the sliding speed of both ends of the horizontal rail on any parallel rail is the same. The drive control device is also used to control the UWB remote control device to adjust the preset angle each time, so that the UWB remote control device meets the target specified posture. The remote control platform is used to control the UWB signal transmission between the UWB receiver and the UWB remote control device when the UWB remote control device is in the target specified posture and target specified position, obtain UWB test data, and perform simulation tests on the UWB remote control device.

[0060] Furthermore, the vertical bracket is a movable bracket, the upper end of which is connected to the UWB remote control device via a pulley ball, and the UWB remote control device is rotated by the pulley ball. A drive control device is used to control the rotation of the pulley ball (this rotation not only rotates the UWB remote control device on a horizontal plane parallel to the ground, but can also rotate on different horizontal planes), thereby driving the UWB remote control device to point at any angle. The drive control device is also used to control the movement of the movable bracket on the slide rail plane of the crossbar slide rail, driving the UWB remote control device to move synchronously with the movable bracket.

[0061] Furthermore, the moving trajectory of the vertical bracket on the slide rail plane is an arc; wherein the center of the arc is the position point of the UWB receiver on the slide rail plane, and the radius of the arc is the distance from the position point of the vertical bracket on the slide rail plane to the center of the arc.

[0062] Furthermore, any parallel slide rail is connected to the crossbar slide rail by a pulley; and the crossbar slide rail is connected to the vertical support by a pulley.

[0063] Furthermore, the remote control platform also includes a slide motor, which is electrically connected to the drive control device, the vertical support, the crossbar slide, and the parallel slide. The slide motor is configured to receive position control commands from the drive control device. The position control commands are used to control the vertical support, the crossbar slide, and the parallel slide to the platform position corresponding to the position control commands, and to control the rotation of the UWB remote control device to the spatial angle corresponding to the position control commands.

[0064] In one of the feasible technical solutions, combined with Figure 1 As shown, the UWB receiver is fixed at the midpoint of one side of the remote control platform. There is no height restriction, but it can be set to the same height as the upper edge (or lower edge) of a common wall-mounted display device (in other embodiments, there is no height restriction; this height is provided for illustration only). The UWB remote control device (which can be a specific directional remote control) is fixed to a movable bracket on the remote control platform and can move with the bracket. The movable bracket is controlled by a slide motor and can be moved anywhere within the remote control platform, reaching any position in three-dimensional space.

[0065] The bottom of the remote control platform consists of two parallel rails. A horizontal rail slides vertically between the two parallel rails (the horizontal bar is always perpendicular to the two parallel rails, that is, the two ends of the horizontal bar slide at the same speed on both rails). Another vertical bracket is perpendicular to the plane of the rails and can slide on the horizontal rail. In addition, the top of this bracket can be rotated, so that the directional remote control on the top can be pointed at any angle.

[0066] A program script can be compiled into the host computer driver (i.e., the driver in the driver control device) to control the slide motor, thereby driving the bracket to move freely on the two-dimensional plane formed by the slide rail. At the same time, the remote control platform can also replace the vertical bracket with a retractable bracket, the retraction height of which is also controlled by the slide motor, so that the directional remote control at the top of the bracket can move freely in three-dimensional space to any position. It should be noted that this host computer driver can be installed on a computer or other electronic device, and the specific details are not limited here.

[0067] Furthermore, the parallel rails can be considered the X-axis, the horizontal rails the Y-axis, and the vertical brackets the Z-axis. When the horizontal rails slide left and right on the parallel rails, they determine the position of the remote control device on the X-axis. When the vertical brackets slide back and forth on the horizontal rails, they determine the position of the remote control device on the Y-axis. The vertical brackets' upward and downward extension and contraction determine the position of the remote control device on the Z-axis. Furthermore, the connection between the top of the bracket and the remote control device is a pulley ball (which can also be understood as a ball bearing), which can control the rotation and flipping of the remote control device at any spatial angle.

[0068] Therefore, in the process of verifying the performance of the UWB receiver and the UWB remote control device, the data from the arc shift test is very important for optimizing the performance of the remote control device. In order to collect data, we developed an arc shift slide test control platform. During the test, a pair of UWB receivers and a directional remote control device were fixed on the control platform, where the UWB receiver was at the midpoint of one side of the platform, and the height was the same as the upper edge (or lower edge) of a common wall-mounted machine. The directional remote control device was fixed on a vertical bracket and moved with the bracket. The motor-controlled bracket will drive the remote control device to move in an arc shift manner, moving on arcs of different radii, and will temporarily stop at this point every time it passes a certain angle (center angle) to collect data. After completing the data collection for all preset radius and preset angles, the control platform will stop moving and complete the test. In addition, if you want the remote control device to reach a certain precise distance and angle, you can automatically control the remote control device to reach the specified position by directly inputting instructions to the motor (which can be achieved through Figure 1 (The angle and distance shown are verified.) It should be noted that the arc shift test, in the embodiments of this application, refers to a test in which a point is used as the center of a circle, and a different length (such as 0.5 meters, 1 meter, or 1.5 meters) is fixed each time as the radius, and another point moves along the arc with that radius. In the actual test of the UWB receiver and the UWB remote control device, the UWB receiver is fixed at the center of the circle, and the UWB remote control device moves step by step along the arc at a specific angle (the center angle of the circle), always pointing to the UWB receiver (the center of the circle).

[0069] The above combined platform enables the remote control device to simulate any position and any posture.

[0070] To facilitate the above Figure 1 The working logic of the remote control platform is explained in the following Figure 2 , Figure 2 This is a flow chart of a method for testing the posture of a remote control platform disclosed in an embodiment of the present application, including steps 201 to 203.

[0071] 201. Receive a posture control instruction generated by a drive control device, control the movement of one or more groups of vertical supports, horizontal slides, or parallel slides according to the posture control instruction, and adjust the rotation of a UWB remote control device according to the posture control instruction.

[0072] Combine Figure 1 As shown, in the remote control platform, the UWB receiving end is fixed, and can be fixed on a certain electronic device, or be part of the electronic device, which is not limited here. What moves in the remote control platform are mainly the UWB remote control device, the horizontal bar slide and the vertical bracket. Specifically, in this embodiment, the drive control device can be understood as a host computer, and program instructions related to the movement or rotation of the UWB remote control device, the horizontal bar slide and the vertical bracket, that is, the posture control instructions, can be compiled in the drive control device. Thus, the remote control platform can receive the posture control instructions generated by the drive control device, control the movement of one or more groups of slides in the vertical bracket, the horizontal bar slide or the parallel slide according to the posture control instructions, and adjust the rotation of the UWB remote control device according to the posture control instructions. Combined with Figure 1 It should be noted that the vertical bracket moves on the horizontal bar slide rail, the horizontal bar slide rail moves on the parallel slide rail, and the UWB control device rotates on the vertical bracket.

[0073] In one specific embodiment, the position control instructions include position movement instructions for the vertical support (specifically, controlling the Z-axis of the UWB remote control device) and the crossbar slide (specifically, controlling the Y-axis of the crossbar slide), as well as attitude rotation instructions for the UWB remote control device. Specifically, the remote control platform sends the position control instructions to the slide motor and drives the slide motor. The slide motor can then control the movement of the vertical support, crossbar slide, and parallel slide, as well as the rotation of the UWB remote control device on the vertical support.

[0074] Furthermore, combined Figure 1 As shown, combined with the movement of the horizontal rail and the vertical bracket, the movement mainly occurs in an arc on the rail plane. Since the vertical bracket has a pulley ball that can be turned in any horizontal plane, the rotation of the UWB remote control device can make the UWB remote control device point to any angle (horizontal angle, pitch angle, etc.).

[0075] 202. Each time the UWB remote control device moves a preset distance and adjusts a preset angle, the UWB remote control device is controlled to transmit UWB signals to the UWB receiving end to obtain UWB test data until the UWB remote control device is at a target specified position and target specified posture.

[0076] During the movement of the vertical bracket and the horizontal rail (since the UWB remote control device is mainly used as the reference point, the subsequent movement of the vertical bracket and the horizontal rail will be described in terms of the UWB remote control device), as well as the rotation of the UWB remote control device, each time the UWB remote control device moves a preset distance and adjusts a preset angle, the UWB signal transmission between the UWB remote control device and the UWB receiver is controlled to obtain UWB test data until the UWB remote control device is in the target specified position and target specified attitude. It should be noted that the target specified position includes the target longitudinal position of the vertical bracket and the target lateral position of the horizontal rail; the target specified attitude is the target rotation angle of the UWB remote control device.

[0077] In one specific embodiment, since the posture control instruction includes the position and attitude instructions of multiple UWB remote control devices, the UWB remote control device will temporarily stop at a certain point every time it passes a certain angle (central angle) or a certain distance. At this time, after the UWB remote control device reaches the point position and achieves the attitude (horizontal angle and pitch angle) corresponding to the point position, UWB signal transmission will be performed between the UWB remote control device and the UWB receiving end for subsequent UWB data collection and testing work, such as UWB ranging and angle measurement.

[0078] Then, after completing the data collection at this point, it will move to the next point and complete the UWB data collection and testing work at the next point until all instructions in the posture control command are completed, that is, the UWB remote control device is in the target specified position and target specified posture.

[0079] Furthermore, the UWB remote control device can be calibrated with the help of a level meter, a laser meter, etc. to determine the position and attitude of the UWB remote control device set under the posture control instruction.

[0080] 203. Obtain UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle, and perform simulation calculations on the UWB experimental data based on all UWB test data to verify the simulation reliability of the UWB remote control device in different environments.

[0081] Because the remote control platform pre-sets each UWB remote control device's specified position and posture changes (position movement and attitude adjustment, change, etc.), these include actual distance, angle, or attitude. UWB test data can also reflect the distance, angle, and attitude information between the UWB remote control device and the UWB receiver (for example, this can be calculated using the Phase-Difference-of-Arrival (PDOA) algorithm).

[0082] In one specific embodiment, when the remote control platform tests the UWB remote control device, or before the test, UWB experimental data (including but not limited to the actual position, angle, or posture, etc.) of the UWB remote control device under each posture change can be set. Therefore, after obtaining all the UWB test data, the UWB test data obtained from each test can be compared and calculated with the UWB experimental data under the corresponding posture, so as to determine the simulation reliability of the UWB remote control device under different environments. For example, in a test, there will be a set of UWB actual data and a set of UWB test data. By calculating the standard deviation of the difference between the two sets of data, the reliability and accuracy of the simulation can be determined.

[0083] In other feasible technical solutions, in each UWB test data collected, various parameters of the UWB remote control device at this time can be checked and verified through the UWB test data, thereby completing the debugging and optimization of the UWB remote control device. Furthermore, the distance and angle measurement algorithms of the UWB remote control device can be evaluated and developed through the UWB test data, so that the distance and angle measurement algorithms based on multiple UWB test data can be further tested and simulated in multiple scenarios. Specifically, the distance and angle measurement algorithms of specific UWB remote control devices are not limited or explained here. Furthermore, after completing the testing or verification of all UWB remote control devices, the operation of the program instructions of the drive control device can also be terminated. Then, the slide motor can restore the vertical bracket and the crossbar track to their original positions.

[0084] The present embodiment discloses a method for testing the posture of a remote control platform, which realizes high-precision distance, angle, and posture control with repeatability through the automated collection and testing of data between a UWB receiver and a UWB remote control device, thereby greatly optimizing the R&D efficiency and simulation efficiency of remote control device products.

[0085] Figure 3 This is a flow chart of another method for testing the posture of a remote control platform disclosed in an embodiment of the present application, including steps 301 and 302.

[0086] 301. Control the UWB remote control device to move in arcs with multiple different radii and rotate at different angles on the slide plane where the crossbar slide and the parallel slide are located, with the UWB receiver as the center of the circle, according to the posture control command.

[0087] It should be noted in advance that steps 301 and 302 in this embodiment are the same as those in the above Figure 2Further example of step 202 in . In this embodiment, the remote control platform can control the UWB remote control device, and according to the posture control instruction, with the UWB receiving end as the center of the circle, it moves in arcs with multiple different radii on the slide plane where the crossbar slide and the parallel slide are located, and rotates at different angles. Among them, the radius of any arc is the distance from the position point of the vertical bracket on the slide plane to the center of the circle. It should also be noted that, since it is the remote control platform that basically controls the movement of the vertical bracket through the slide motor, and the UWB remote control device is located on the vertical bracket, and the UWB remote control device is stationary relative to the vertical bracket, then in this embodiment, it is described as the movement of the UWB remote control device. For ease of understanding, this will not be described in detail later.

[0088] In one specific embodiment, the UWB remote control device is mounted on a vertical support (which may be fixedly connected, with only the base of the UWB remote control device fixedly connected to the vertical support, while the signal transmitter or other signal transmitting device of the UWB remote control device is movable), and moves with the movement of the vertical support. Because the slide motor can control the movement of the vertical support and the crossbar slide based on the posture control instructions, the UWB remote control device can be driven to move in an arc-like manner, that is, to move along arcs of different radii. At the same time, when the UWB remote control device reaches a certain position, it can also control the UWB remote control device to adjust its posture so that it points to different horizontal angles or pitch angles.

[0089] 302. When the movement distance of the UWB remote control device on the arc is a preset distance and the rotation angle is a preset angle, the UWB remote control device is controlled to stop moving and rotating, and UWB test data between the current UWB remote control device and the UWB receiving end is collected.

[0090] Therefore, when the UWB remote control device moves a preset distance and rotates at a preset angle along the arc, the slide motor can control the UWB remote control device to stop moving and rotating. At the same time, UWB signals will be exchanged between the UWB receiver and the UWB remote control device, allowing the remote control platform to receive UWB test data between the current UWB remote control device and the UWB receiver.

[0091] In one specific embodiment, the position control command includes multiple control commands related to the position and posture of the UWB remote control device. When the slide motor controls the UWB remote control device to specify a specific position control command, the corresponding UWB control device will move a distance in an arc and rotate a preset angle. As a result, the slide motor will control the UWB remote control device to stop moving and rotating. UWB signals will then be exchanged between the UWB remote control device and the UWB receiver, and the remote control platform will collect UWB test data between the two.

[0092] The present embodiment discloses a method for testing the posture of a remote control platform, which proposes the concept of arc shift and marks the actual position in a form close to polar coordinates, facilitating the evaluation of distance and angle measurement and algorithm development. Testing based on this method can more accurately simulate the use scenario of a directional remote control. Therefore, by freely moving to any position and rotating at any angle, the remote control platform can simulate any situation of the position and posture relationship between the UWB remote control device and the UWB receiver, which is consistent with actual observations, making the data used for algorithm development and test verification more intuitive and reliable. At the same time, it solves the pain points of poor accuracy and poor repeatability in traditional methods.

[0093] Figure 4 This is a flow chart of another method for testing the posture of a remote control platform disclosed in an embodiment of the present application, including steps 401 to 404.

[0094] 401. Set a preset designated position and a preset designated posture of the UWB remote control device.

[0095] It should be noted that this embodiment mainly implements Figure 2 During the process of step 202 shown, since in the actual control process of the slide motor, the posture control instructions include the position instructions and posture instructions of the UWB remote control device at different positions, therefore, on the drive control device, multiple test points of the UWB remote control device can also be set, that is, the preset designated position and preset designated posture of the UWB remote control device are set. Among them, the preset designated position includes the preset longitudinal position of the vertical bracket and the preset horizontal position of the crossbar slide; the preset designated posture is the preset rotation angle of the UWB remote control device. It is not difficult to understand that, in combination with the above step 202, the preset designated position can also be understood as the designated position reached by the UWB remote control device at the previous position point after moving a preset distance. Correspondingly, the preset designated posture is the posture of the UWB remote control device at the previous position point, the preset designated posture after reaching the preset designated position.

[0096] In one specific embodiment, the posture control instruction is a control instruction for multiple sections of the UWB remote control device. Only after the UWB remote control device executes one section of the control instruction can it continue to execute the next section of the control instruction. Furthermore, when the UWB remote control device is in the initial state (or the original position, that is, the position and posture before the test starts), multiple preset designated positions and multiple preset designated postures of the UWB remote control device during the test can be pre-set. The preset designated positions can be spaced apart by a preset distance from each other, and the preset designated postures can differ from each other by a preset angle. Furthermore, different interval distances and angles can also be randomly set according to the test requirements. It can also be understood that the specified posture is specifically the horizontal angle and pitch angle of the UWB remote control device relative to the UWB receiving end. The specified position is the position of the specified X-axis, Y-axis and Z-axis, which is determined by the pre-input of the driver and is not limited here.

[0097] In other feasible technical solutions, since the motion trajectory of the UWB remote control device on the slide rail plane in this embodiment can be understood as an arc, the line segment connecting the position points of all preset designated positions should also be an arc. The specific details are not described here.

[0098] Furthermore, after executing step 401, the UWB remote control device and the UWB receiver are controlled to perform a UWB posture test to obtain UWB test data at the current preset designated position and preset designated posture. Then, step 402 is executed.

[0099] 402. Determine whether the UWB remote control device has passed through all preset designated positions and adjusted all preset designated postures.

[0100] When the UWB remote control device is at a preset designated position and preset designated posture and completes the UWB ranging and angle measurement and data collection work, it can be determined whether the UWB remote control device at this time has passed all the preset designated positions set in the posture control instruction and has adjusted all the preset designated postures.

[0101] In one specific embodiment, during the operation, the tester first inputs instructions to the slide rail motor through the drive control device, and then the slide rail motor will drive the crossbar slide rail to move on the parallel track according to the instructions, and the vertical bracket will move on the crossbar slide rail. After the bracket moves to the specified position, the operator can carry out subsequent tests, such as UWB ranging and angle measurement, and data collection. Then move to the next position and loop the operation until the collection requirements of all positions are completed. Furthermore, at a certain preset specified position, it will be determined whether all preset postures (preset specified positions and preset specified postures) have been passed. Thus, according to different judgment results, step 403 or step 404 is executed.

[0102] 403. When the UWB remote control device passes through all preset designated positions and adjusts all preset designated postures, the last preset designated position and the last preset designated posture are determined as the target designated position and the target designated posture, and the UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle are obtained. Based on all UWB test data, the UWB experimental data are simulated and calculated to verify the simulation reliability of the UWB remote control device in different environments.

[0103] Based on step 402, when the UWB remote control device passes through all preset designated positions and adjusts all preset designated postures, the preset designated position (i.e., the last preset designated position) and the preset designated posture (i.e., the last preset designated posture) at this time can be determined as the target designated position and the target designated posture. Then, the Figure 2 As shown in step 203, the specific description of the above step 203 is omitted here.

[0104] In one specific embodiment, when the UWB remote control device has passed all preset designated positions and adjusted all preset designated postures, it can be determined that the UWB remote control device has completed all control instructions for position and posture in the posture control instructions, and the program can be ended, and the horizontal bar track and vertical bracket can be restored to their original positions.

[0105] 404. When the UWB remote control device has not passed through all preset designated positions or has not adjusted all preset designated postures, control the UWB remote control device to move a preset distance, adjust a preset angle, and execute the step of determining whether the UWB remote control device has passed through all preset designated positions and adjusted all preset designated postures.

[0106] Based on step 402, when the UWB remote control device has not passed through all preset designated positions, or has not adjusted all preset designated postures, the UWB remote control device can continue to be controlled to move the preset distance, adjust the preset angle, and execute the step of determining whether the UWB remote control device has passed through all preset designated positions and adjusted all preset designated postures.

[0107] In one specific embodiment, if the UWB remote control device has not yet passed through all preset designated positions or has not yet adjusted to all preset designated postures, it can be determined that the UWB remote control device has not yet completed executing the posture control instructions and needs to continue executing the next stage of control instructions. In other words, the slide motor will continue to control the movement of the UWB remote control device and adjust the angle until the UWB remote control device reaches the preset designated position and preset designated posture set by the next stage of control instructions. Then, step 402 can be repeated.

[0108] Through the posture testing method of a remote control platform disclosed in this embodiment, the UWB automated data acquisition and testing platform achieves high-precision distance, angle and posture control with repeatability, thereby greatly optimizing the efficiency of R&D and simulation of pointing remote control products (such as shooting guns or game controllers, etc.).

[0109] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the steps or stages in other steps.

[0110] See also Figure 5 , Figure 5 This is a structural diagram of a posture testing system for a remote control platform disclosed in an embodiment of the present application.

[0111] A receiving unit 501 is configured to receive a posture control instruction generated by a drive control device, control the movement of one or more of the vertical support, the crossbar slide, or the parallel slides according to the posture control instruction, and adjust the rotation of the UWB remote control device according to the posture control instruction; wherein the vertical support moves on the crossbar slide, the crossbar slide moves on the parallel slide, and the UWB control device rotates on the vertical support;

[0112] The control unit 502 is configured to control UWB signal transmission between the UWB remote control device and the UWB receiver each time the UWB remote control device moves a preset distance and adjusts a preset angle, thereby obtaining UWB test data, until the UWB remote control device is in a target specified position and a target specified attitude; wherein the target specified position includes a target longitudinal position of the vertical support and a target lateral position of the horizontal rail; and the target specified attitude is a target rotation angle of the UWB remote control device.

[0113] The acquisition unit 503 is used to obtain UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle, and simulates and calculates the UWB experimental data based on all UWB test data to verify the simulation reliability of the UWB remote control device in different environments.

[0114] Exemplarily, the system includes:

[0115] The control unit 502 is specifically configured to control the UWB remote control device to move and rotate the device in arcs with multiple different radii on the slide plane where the crossbar slide and the parallel slide are located, based on the posture control command. The radius of any arc is the distance from the position of the vertical support on the slide plane to the center of the circle.

[0116] The control unit 502 is further configured to control the UWB remote control device to stop moving and rotating when the moving distance of the UWB remote control device on the arc is a preset distance and the rotation angle is a preset angle, and to collect UWB test data between the current UWB remote control device and the UWB receiving end.

[0117] Exemplarily, the system further includes: a setting unit 504 and a determining unit 505;

[0118] A setting unit 504 is configured to set a preset designated position and a preset designated posture of the UWB remote control device; wherein the preset designated position includes a preset longitudinal position of the vertical support and a preset transverse position of the crossbar rail; and the preset designated posture is a preset rotation angle of the UWB remote control device;

[0119] A determination unit 505 is configured to determine whether the UWB remote control device has passed through all preset designated positions and has adjusted all preset designated postures;

[0120] The determining unit 505 is further configured to, when the UWB remote control device passes through all preset designated positions and adjusts all preset designated postures, determine the last preset designated position and the last preset designated posture as the target designated position and the target designated posture, and execute to obtain UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle, and perform simulation calculations on the UWB experimental data based on all UWB test data to verify the simulation reliability of the UWB remote control device under different environments;

[0121] The control unit 502 is further configured to control the UWB remote control device to move a preset distance, adjust a preset angle, and execute the step of determining whether the UWB remote control device has passed through all preset designated positions and adjusted all preset designated postures when the UWB remote control device has not passed through all preset designated positions or has not adjusted all preset designated postures.

[0122] See below Figure 6 The structural diagram of a posture testing device for a remote control platform disclosed in an embodiment of the present application includes:

[0123] CPU 601, memory 605, input / output interface 604, wired or wireless network interface 603 and power supply 602;

[0124] The memory 605 is a temporary storage memory or a permanent storage memory;

[0125] The CPU 601 is configured to communicate with the memory 605 and execute the instructions in the memory 605 to perform the aforementioned Figures 2 to 4 The posture testing method of the remote control platform in the illustrated embodiment.

[0126] The embodiment of the present application also provides a chip system, which includes at least one processor and a communication interface, wherein the communication interface and the at least one processor are interconnected through a line, and the at least one processor is used to run a computer program or instruction to execute the aforementioned Figures 2 to 4 A method for testing the posture of a remote control platform in any of the illustrated embodiments.

[0127] The embodiment of the present application also provides a computer-readable storage medium, which includes instructions. When the instructions are executed on a computer, the computer executes the aforementioned Figures 2 to 4 A method for testing the posture of a remote control platform in any of the illustrated embodiments.

[0128] The present application also provides a computer program product comprising instructions, which, when executed on a computer, causes the computer to execute the aforementioned Figures 2 to 4 A method for testing the posture of a remote control platform in any of the illustrated embodiments.

[0129] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0131] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0132] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0133] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk, and other media that can store program code.

Claims

1. A remote control platform, characterized in that: The remote control platform includes: a UWB receiver, a UWB remote control device, a vertical bracket, a horizontal slide rail, two parallel slide rails and a drive control device; The UWB receiver is fixed to the midpoint of one side of the remote control platform, and the bottom connection point of the UWB receiver is located on one of the parallel slide rails; The UWB remote control device is connected to the upper end point of the vertical bracket, the lower end point of the vertical bracket is connected to the crossbar slide rail, and the vertical bracket is perpendicular to the slide rail plane of the crossbar slide rail; The bottom end of the remote control platform is composed of two parallel slide rails parallel to each other, and the crossbar slide rail is vertically connected between the two parallel slide rails; The drive control device is used to control the vertical support to move on the crossbar slide rail, and is also used to control the crossbar slide rail to move a preset distance between the two parallel slide rails each time, so that the vertical support and the crossbar slide rail are located at a target specified position; the sliding speed of both ends of the crossbar slide rail on any parallel slide rail is the same; The driving control device is further used to control the UWB remote control device to adjust the preset angle each time, and make the UWB remote control device meet the target specified posture; The remote control platform is used to control UWB signal transmission between the UWB receiving end and the UWB remote control device when the UWB remote control device is in the target specified posture and the target specified position, obtain UWB test data, and perform simulation testing of the UWB remote control device.

2. The remote control platform according to claim 1, characterized in that: The vertical bracket is a movable bracket, the upper end point of the movable bracket is connected to the UWB remote control device via a pulley ball, and the UWB remote control device is rotated by the pulley ball; The driving control device is used to control the pulley ball to rotate so as to drive the UWB remote control device to point to any angle; The drive control device is further used to control the movable bracket to move on the slide rail plane of the crossbar slide rail, so as to drive the UWB remote control device to move synchronously with the movable bracket.

3. The remote control platform according to claim 1, characterized in that: The moving trajectory of the vertical bracket on the slide rail plane is an arc; wherein the center of the arc is the position point of the UWB receiver on the slide rail plane, and the radius of the arc is the distance from the position point of the vertical bracket on the slide rail plane to the center of the arc.

4. The remote control platform according to claim 1, characterized in that: Any of the parallel slide rails is connected to the crossbar slide rail by a pulley; The crossbar slide rail and the vertical support are connected by a pulley.

5. The remote control platform according to claim 1, characterized in that: Also includes slide motor; The slide rail motor is electrically connected to the drive control device, the vertical support, the crossbar slide rail and the parallel slide rail respectively; The slide rail motor is used to receive the posture control instruction sent by the drive control device; wherein, the posture control instruction is used to control the vertical bracket, the crossbar slide rail and the parallel slide rail to move to the platform position corresponding to the posture control instruction, and control the UWB remote control device to rotate to the spatial angle corresponding to the posture control instruction.

6. A method for testing the posture of a remote control platform, characterized in that: Applied to the remote control platform according to claims 1 to 5, the method comprises: receiving a posture control instruction generated by a drive control device, controlling the movement of one or more sets of slides among the vertical support, the crossbar slide, or the parallel slides according to the posture control instruction, and adjusting the rotation of the UWB remote control device according to the posture control instruction; wherein the vertical support moves on the crossbar slide, the crossbar slide moves on the parallel slide, and the UWB control device rotates on the vertical support; Each time the UWB remote control device moves a preset distance and adjusts a preset angle, controlling UWB signal transmission between the UWB remote control device and a UWB receiver to obtain UWB test data until the UWB remote control device is in a target specified position and a target specified posture; wherein the target specified position includes a target longitudinal position of the vertical support and a target lateral position of the crossbar slide; and the target specified posture is a target rotation angle of the UWB remote control device; Acquire UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle, and perform simulation calculations on the UWB experimental data based on all the UWB test data to verify the simulation reliability of the UWB remote control device in different environments.

7. The method for testing the posture of a remote control platform according to claim 6, characterized in that: The controlling the UWB remote control device to transmit UWB signals to a UWB receiving end to obtain UWB test data includes: Controlling the UWB remote control device to move in arcs with multiple different radii and rotate at different angles on the slide plane where the crossbar slide and the parallel slide are located, based on the posture control command, with the UWB receiver as the center of the circle; wherein the radius of any arc is the distance from the position of the vertical support on the slide plane to the center of the circle; When the moving distance of the UWB remote control device on the arc is the preset distance and the rotation angle is the preset angle, the UWB remote control device is controlled to stop moving and rotating, and UWB test data between the current UWB remote control device and the UWB receiving end is collected.

8. The method for testing the posture of a remote control platform according to claim 6, wherein: Before the UWB remote control device is at a target designated position and a target designated posture, the method further comprises: Setting a preset designated position and a preset designated posture of the UWB remote control device; wherein the preset designated position includes a preset longitudinal position of the vertical bracket and a preset transverse position of the crossbar slide rail; and the preset designated posture is a preset rotation angle of the UWB remote control device; Determining whether the UWB remote control device has passed through all the preset designated positions and adjusted all the preset designated postures; If the UWB remote control device passes through all the preset designated positions and adjusts all the preset designated postures, the last preset designated position and the last preset designated posture are determined as the target designated position and the target designated posture, and the UWB experimental data set each time the UWB remote control device moves a preset distance and adjusts a preset angle are obtained, and the UWB experimental data are simulated and calculated based on all the UWB test data to verify the simulation reliability of the UWB remote control device under different environments; If the UWB remote control device has not passed through all the preset designated positions, or has not adjusted all the preset designated postures, the UWB remote control device is controlled to move the preset distance, adjust the preset angle, and perform the step of determining whether the UWB remote control device has passed through all the preset designated positions and adjusted all the preset designated postures.

9. A posture testing device for a remote control platform, characterized in that: The device comprises: CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply; The memory is a transient storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instruction operations in the memory to perform the posture testing method of the remote control platform according to any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes instructions, and when the instructions are executed on a computer, the computer executes the posture testing method for a remote control platform according to any one of claims 6 to 8.

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