Intelligent device remote control method and system based on virtual coordinate mapping

Abstract

The application provides a kind of intelligent device remote control method and system based on virtual coordinate mapping, the control method is applied in the control system including intelligent device, at least including virtual presentation interface and calibration control module presentation device and at least including controller and control module control device, specifically: after presentation device receives the fixed visual angle data of intelligent device, based on demand information generates start signal, controller and intelligent device form virtual space mapping, and project to presentation device, control instruction is generated according to the spatial position of controller;Control instruction is calibrated based on the relative position of presentation device and controller, and intelligent device responds to control instruction and executes corresponding action.The application introduces the presentation device of fixed position on the basis of virtual space mapping control, intuitively reflects the corresponding relationship between control instruction and intelligent device action, and corrects the control instruction error caused by the movement of overall system, improves control operation efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of intelligent device control technology, and in particular to a method and system for remote control of intelligent devices based on virtual coordinate mapping. Background Technology

[0002] In current intelligent control fields such as virtual reality, augmented reality, and drone control, operators often use joysticks in conjunction with other controls to remotely control corresponding smart devices. However, this joystick-based control method usually involves multiple joysticks that perform corresponding functions, requiring coordinated control of different joysticks to achieve control of the smart device. This makes the control operation relatively complex and difficult to operate.

[0003] To reduce the difficulty of remotely controlling smart devices, some technologies propose using virtual space mapping to intuitively control these devices based on changes in the spatial position of a single controller. However, in this method, control commands are often transmitted as abstract electrical signals or codes, lacking intuitive visualization. Operators cannot directly perceive the specific impact of these commands on the smart device's actions, resulting in low operational efficiency and a high risk of misoperation. Furthermore, the operator's position is not fixed and often needs to be adjusted based on the smart device's movement. In such cases, the precise spatial position changes of the controller cannot be identified, and the generated control commands may contain errors due to these positional changes, affecting the accuracy of smart device control. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies that use virtual space mapping technology to remotely control smart devices by adjusting the spatial position of the controller. These shortcomings include a lack of intuitive visualization, inability to accurately identify changes in the controller's spatial position, and low operational efficiency and control accuracy. This invention provides a method and system for remote control of smart devices based on virtual coordinate mapping. Building upon the establishment of a virtual space mapping between the controller and the smart device to generate control commands, an imaging device is introduced to display the movement of the smart device. Through the image content displayed by the imaging device, an intuitive correspondence between the controller's control commands and the smart device's movement is established, improving operational efficiency. Furthermore, by using a fixed-position imaging device, the control commands generated based on the controller's spatial position are calibrated according to the relative position of the imaging device and the controller. This avoids inaccurate controller positioning perception results and control command errors caused by overall system movement, thereby improving the accuracy of remote control of smart devices.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] Remote control methods for intelligent devices based on virtual coordinate mapping include:

[0007] After receiving fixed-viewpoint data from the smart device, the imaging device generates a start signal based on the demand information, and the controller and the smart device form a virtual space mapping;

[0008] The virtual space mapping result is projected onto the imaging device, and control commands are generated based on the spatial position of the controller;

[0009] The control commands are calibrated based on the relative position of the imaging device and the controller;

[0010] The smart device responds to the calibrated control command and executes the corresponding action.

[0011] By jointly displaying the movement of smart devices and the virtual spatial mapping results of the controller using imaging devices, an intuitive correspondence can be established between the controller's control commands and the movement of the smart devices. The content displayed on the imaging devices allows for rapid response to adjustments in the controller's spatial position, improving the efficiency of remote control operations on smart devices. To avoid affecting the fixed-view image displayed on the smart devices, the imaging devices are generally positioned in a fixed location relative to the operator. This fixed position allows the imaging devices to accurately reflect changes in the overall system's position. Through changes in its relative position to the controller, the imaging devices can effectively identify the operator's control intentions, providing a calibration reference for control commands. This calibration mechanism effectively corrects command errors caused by changes in the overall system's position, making control commands more accurately match the controller's actual position and operational intentions, reducing the control command error rate, and improving the reliability of control commands.

[0012] Furthermore, the step of generating a start signal based on demand information, and establishing a virtual space mapping between the controller and the smart device, includes:

[0013] Based on the spatial position of the controller at the moment the start signal is generated, the origin is calibrated, and a first coordinate origin is constructed that forms a virtual mapping with the spatial position of the intelligent device at the moment the start signal is generated.

[0014] Based on the first coordinate origin, construct a first virtual control sphere and its first virtual coordinate system.

[0015] Furthermore, the generation of control commands based on the spatial location of the controller includes:

[0016] Obtain the position coordinates of the controller in the first virtual coordinate system;

[0017] Control commands are generated based on the controller's position coordinates.

[0018] Furthermore, it also includes:

[0019] Based on the controller's position coordinates, determine whether the controller is within the range of the first virtual control sphere;

[0020] When the controller is determined to be in the first virtual control sphere, control commands are generated based on the controller's position coordinates.

[0021] Only the movement of the controller within the corresponding first virtual control sphere is recorded to define the effective area of ​​the controller operation, avoid generating meaningless or erroneous instructions in the invalid operation area, improve instruction generation efficiency, and more accurately reflect the actual operation intention of the controller, further improving the accuracy of control instructions.

[0022] Furthermore, it also includes:

[0023] The origin is calibrated based on the spatial position of the imaging device at the time the start signal is generated, and a second virtual control sphere and its second virtual coordinate system corresponding to the imaging device are constructed.

[0024] Furthermore, the calibration of control commands based on the relative position of the imaging device and the controller includes:

[0025] Based on the spatial location of the imaging device, obtain the position coordinates of the imaging device in the corresponding second virtual coordinate system;

[0026] Generate standard control commands for the imaging device based on its position coordinates;

[0027] Based on the relative position of the imaging device and the controller, the control commands of the controller are corrected according to the standard control commands of the imaging device.

[0028] A virtual spatial mapping is established between the controller and the smart device. Through cooperation with the imaging device, the actions of the smart device can be understood more intuitively. By adjusting the spatial position of the controller, control of the smart device can be achieved. The control operation and process are simple, reducing the difficulty of control. Furthermore, corresponding standard control commands are generated based on the spatial position changes of the imaging device to quantify the movement of the overall system. This reveals the parts of the controller's spatial position changes that are unrelated to the control intention. The standard control commands are then used for calibration to ensure the accuracy of the control commands.

[0029] Furthermore, the control commands include the moving direction and moving speed of the smart device.

[0030] A remote control system for intelligent devices based on virtual coordinate mapping, used to execute any one of the intelligent device remote control methods described above, including:

[0031] Smart devices equipped with cameras are used to capture real-time 3D images of the surrounding environment.

[0032] An imaging device including at least a virtual imaging interface and a calibration control module, wherein the virtual imaging interface is communicatively connected to the calibration control module and the smart device, and is used to receive and display stereoscopic images captured by the smart device and the spatial position of the controller in real time.

[0033] The calibration control module is also connected to the control module to generate standard control commands based on the spatial position of the imaging device;

[0034] A control device including at least a controller and a control module. The control module is communicatively connected to both the controller and the smart device, and is used to establish a virtual control mapping between the controller and the smart device. It generates control commands for the smart device based on the spatial location of the controller and receives standard control commands to calibrate the control commands.

[0035] Furthermore, the control device also includes:

[0036] The positioning module, connected to the control module, is used to collect and transmit the spatial position of the controller in real time.

[0037] The sensing component, connected to the control module, is used to generate a start signal based on demand information.

[0038] Furthermore, the imaging device also includes:

[0039] The sensing and positioning module communicates with the calibration control module and is used to acquire the spatial position of the imaging device and the relative position between the imaging device and the controller.

[0040] The beneficial effects of this invention are:

[0041] (1) By jointly displaying the movement of the smart device and the virtual space mapping result of the controller through the imaging device, an intuitive correspondence between the controller's control commands and the movement of the smart device can be established. Through the content displayed by the imaging device, the spatial position adjustment of the controller can be quickly responded to, thereby improving the efficiency of remote control operation of the smart device. In order not to affect the fixed view of the smart device, the position of the imaging device is generally fixed. The fixed position means that the position is fixed relative to the operator. This fixed position of the imaging device can reflect the position change of the overall system. Through the relative position change of the imaging device and the controller, the operator's control intention can be effectively identified, thereby providing a calibration reference for the control command. This calibration mechanism can effectively correct the command error caused by the position movement of the overall system, so that the control command can more accurately match the actual position of the controller and the operation intention, reduce the control command error rate, and improve the reliability of the control command.

[0042] (2) Establish a virtual spatial mapping between the controller and the intelligent device. By cooperating with the imaging device, the actions of the intelligent device can be understood more intuitively. By adjusting the spatial position of the controller, the intelligent device can be controlled. The control operation and process are simple, reducing the difficulty of control operation. Furthermore, the corresponding standard control commands are generated by the spatial position change of the imaging device to quantify the movement of the overall system, thereby reflecting the part of the controller's spatial position change that is unrelated to the control intention. Then, the standard control commands are used to calibrate the control commands to ensure the accuracy of the control commands.

[0043] (3) Only the movement of the controller within the corresponding first virtual control sphere is recorded to define the effective area of ​​the controller operation, avoid generating meaningless or erroneous instructions in the invalid operation area, improve the instruction generation efficiency, and at the same time, more accurately reflect the actual operation intention of the controller, further improving the accuracy of the control instructions. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of a process of the present invention;

[0045] Figure 2 This is a three-dimensional schematic diagram illustrating the spatial position of a controller in an imaging device according to an embodiment of the present invention;

[0046] Figure 3 This is a two-dimensional schematic diagram illustrating the spatial position of a controller in an imaging device according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the communication relationship of a remote control system for intelligent devices according to an embodiment of the present invention. Detailed Implementation

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0049] Example: This example proposes a remote control method for intelligent devices based on virtual coordinate mapping, such as... Figure 1 As shown, it includes:

[0050] After receiving fixed-viewpoint data from the smart device, the imaging device generates a start signal based on the demand information, and the controller and the smart device form a virtual space mapping;

[0051] The virtual space mapping result is projected onto the imaging device, and control commands are generated based on the spatial position of the controller;

[0052] The control commands are calibrated based on the relative position of the imaging device and the controller;

[0053] The smart device responds to the calibrated control command and executes the corresponding action.

[0054] The aforementioned smart device is the controlled object. An imaging device is introduced into the remote control of the smart device to receive fixed-viewpoint data from the smart device to display the surrounding environment information of the smart device. Even if the smart device is not within the user's visual range, the corresponding remote control can still be achieved. The control needs of the smart device can be captured based on the surrounding environment information displayed in the imaging device, and then the spatial position of the controller can be adjusted to issue corresponding control commands.

[0055] The images displayed by the imaging device only show the surrounding environment from a fixed perspective captured by the smart device. This avoids the impact of switching between different perspectives on the acquisition of control requirements, maintains the stability of the correspondence between control commands and smart device actions, and further reduces the probability of operational errors in control operations.

[0056] To optimize the understandability of the correspondence between controller movement and smart device actions during remote control, the stereoscopic images captured by the smart device's first-person perspective camera are prioritized as the corresponding fixed-viewpoint data.

[0057] The imaging device will also simultaneously display the virtual spatial mapping between the controller and the smart device. The spatial position of the controller will be directly displayed in the imaging device. This virtual spatial mapping can be displayed in three dimensions, such as the virtual control sphere mentioned in this embodiment, or in two dimensions.

[0058] The spatial position of the controller, represented in three dimensions, is shown in the imaging device as follows: Figure 2 As shown, Figure 2 The black dot in the corresponding three-dimensional sphere is the controller.

[0059] The spatial position of the controller is represented in two dimensions, and its display in the imaging device is as follows: Figure 3 As shown, Figure 3 The circle in the diagram represents the controller.

[0060] To ensure image quality, imaging equipment is typically positioned in a fixed location relative to the operator's position. During operation, the imaging equipment moves along with the operator. Therefore, by leveraging the fixed position of the imaging equipment and monitoring the relative positional changes between the equipment and the controller, the operator's control intentions can be effectively identified. This provides a calibration reference for control commands, effectively correcting errors caused by overall system movement. This results in control commands more accurately matching the controller's actual position and the operator's intentions, reducing the error rate and improving the reliability of control commands.

[0061] The spatial position change of the imaging device can only reflect the movement of the overall system. For remote control of intelligent devices, it is still necessary to obtain the spatial position of the controller based on the spatial positioning method to formulate control commands. However, by adding a relative position calibration step between the imaging device and the controller, the one-sidedness of unilateral control command formulation is reduced, and the accuracy and reliability of the final control command are ensured.

[0062] Considering that the controller's range of motion is limited by the user's limb movements, if the origin of the controller's spatial position is fixed from the beginning, it is easy to cause the controller's operating range to become disconnected from actual needs. Therefore, before carrying out the controller's spatial positioning, a start-up recognition step is set up. After the start signal is generated, the virtual spatial mapping of the controller and the smart device and the spatial positioning of the imaging device are triggered simultaneously to carry out origin calibration.

[0063] The virtual space mapping for controllers and smart devices includes:

[0064] Based on the spatial position of the controller at the moment the start signal is generated, the origin is calibrated, and a first coordinate origin is constructed that forms a virtual mapping with the spatial position of the intelligent device at the moment the start signal is generated.

[0065] Based on the first coordinate origin, construct a first virtual control sphere and its first virtual coordinate system.

[0066] After generating the start signal, a virtual spatial mapping is established between the controller and the smart device. The spatial position of the controller in the corresponding virtual space corresponds to the spatial position of the smart device in the corresponding actual coordinate system. Therefore, by calibrating the origin based on the spatial position of the controller at the moment the start signal is generated, the controller's actions can be accurately translated into the movement of the smart device, ensuring consistency between the controller's movement and the smart device's response, and achieving efficient control of the smart device.

[0067] To more intuitively demonstrate the changes in the spatial position of the controller, a first virtual control sphere and a first virtual coordinate system are constructed with the calibrated origin as the center.

[0068] The control range of the controller is defined by the first virtual control sphere, and the spatial position change of the controller is quantified by the first virtual coordinate system, thereby optimizing the efficiency of control command formulation.

[0069] In the virtual space formed by the first virtual control sphere and the first virtual coordinate system, any positional change of the controller, such as translation or rotation, will be converted into specific coordinate values ​​in the corresponding first virtual coordinate system. Then, according to the pre-set mapping rules between the controller coordinate position and the smart device motion commands, the position coordinates can be directly converted into the corresponding control commands.

[0070] The spatial position setting of the controller corresponds to the user's control needs for the smart device's actions. Therefore, when setting the mapping rules between the controller's position coordinates and the smart device's movement commands, common body movement habits and corresponding movement purposes can be referenced. For example, the controller being above the origin corresponds to the smart device moving upwards, the controller being below the origin corresponds to the smart device moving downwards, the controller being to the left of the origin corresponds to the smart device moving to the left, and the controller being to the right of the origin corresponds to the smart device moving to the right. Movement commands in any other direction can also be set by changing the controller's relative position to the origin.

[0071] Specifically, generating control commands based on the spatial location of the controller includes:

[0072] Obtain the position coordinates of the controller in the first virtual coordinate system;

[0073] Control commands are generated based on the controller's position coordinates.

[0074] By analyzing the real-time position coordinates of the controller, corresponding control commands can be formulated based on the corresponding coordinate values.

[0075] Furthermore, when generating control commands, the following is also executed:

[0076] Based on the controller's position coordinates, determine whether the controller is within the range of the first virtual control sphere;

[0077] When the controller is determined to be in the first virtual control sphere, control commands are generated based on the controller's position coordinates.

[0078] Only the movement of the controller within the virtual control sphere is recorded to define the effective area of ​​the controller's operation, avoid generating meaningless or erroneous instructions in the invalid operation area, improve instruction generation efficiency, and more accurately reflect the actual operation intention of the controller, further improving the accuracy of control instructions.

[0079] In order to eliminate the impact of overall system position movement on the spatial position of the controller, the spatial position change of the imaging device is acquired in order to identify the spatial position adjustment made by the controller in response to control requirements.

[0080] Specifically, in order to quantify the spatial positional changes of the imaging device and further establish a virtual control space for the imaging device, the following includes:

[0081] The origin is calibrated based on the spatial position of the imaging device at the time the start signal is generated, and a second virtual control sphere and its second virtual coordinate system corresponding to the imaging device are constructed.

[0082] The virtual control space corresponding to the imaging device is associated with its spatial position. A second virtual control sphere and a second virtual coordinate system are established with the spatial position of the imaging device at the moment the start signal is generated as the origin. The establishment of the second virtual control sphere and the second virtual coordinate system is solely for quantifying the movement of the imaging device to improve the efficiency of generating standard control commands; they are not actually directly related to the motion control of intelligent devices.

[0083] When constructing the virtual control space of an imaging device, a corresponding second virtual coordinate system can be built based on dimensions such as the operator's posture. Taking smart glasses as an example, the operator wears the smart glasses in a standing posture, and the smart glasses display a stereoscopic image captured by the smart device from a first-person perspective. In this case, a corresponding second virtual coordinate system can be established based on dimensions such as the vertical direction forward of the smart glasses being the operator's forward direction, the tangent direction to the right of the smart glasses being the operator's rightward direction, and the upward direction relative to the ground being the operator's upward direction. The operator's movement direction is then the movement direction of the imaging device.

[0084] The position coordinates in the second virtual coordinate system are the position coordinates of the imaging device, which are generated based on the spatial position changes of the imaging device.

[0085] Based on this, the control commands are calibrated according to the relative position of the imaging device and the controller, including:

[0086] Based on the spatial location of the imaging device, obtain the position coordinates of the imaging device in the corresponding second virtual coordinate system;

[0087] Generate standard control commands for the imaging device based on its position coordinates;

[0088] Based on the relative position of the imaging device and the controller, the control commands of the controller are corrected according to the standard control commands of the imaging device.

[0089] The relative position between the imaging device and the controller can be achieved through positioning sensing between sensors, or by setting marker elements such as optical markers on the controller and sensing the position of the corresponding marker elements.

[0090] By using the position coordinates of the imaging device, the positional change of the imaging device relative to the start-up time can be quantified, and the corresponding standard control commands generated correspond to the positional changes of the entire system. For example, if an operator wearing the imaging device moves forward, the operator's movement can be quantified based on the position coordinates of the imaging device.

[0091] When the relative positions of the imaging device and the controller remain unchanged, it is understandable that the operator does not actually have the intention to control the device. The change in the spatial position of the controller is only caused by the movement of the entire system. If the intelligent device is remotely controlled directly according to the control instructions generated by the current spatial position of the controller, it is easy to cause operational safety problems of the intelligent device.

[0092] When the relative positions of the imaging device and the controller change, that is, there is a control intention, the impact of the overall system's position movement on the controller's spatial position can be further determined according to the standard control command. This part can then be removed from the control command to achieve control command calibration.

[0093] Regardless of whether the relative positions of the imaging device and the controller change, the system can deduct the control commands whose spatial changes are caused by the movement of the entire system, based on the standard control commands, thereby correcting the control commands.

[0094] However, in order to further optimize the correction efficiency, if the relative positions of the imaging device and the controller remain unchanged, the control commands of the previous controller can be directly continued.

[0095] The control commands include the direction and speed of movement of the smart device. Standard control commands, on the other hand, include the direction and speed of movement of the imaging device.

[0096] When there is a need to correct control commands, the movement direction and speed of the intelligent device can be corrected by using the movement direction and speed of the imaging device, thereby determining the accurate spatial position adjustment made by the controller in response to the control requirements.

[0097] It is important to note that when constructing the first virtual control sphere, the radius is set according to the maximum speed of the smart device. Subsequently, when operating the controller, the speed changes of the smart device can be precisely controlled based on the relative position of the controller within the virtual control sphere and its boundary, achieving smooth adjustment from low to high speed. Furthermore, this ensures that the smart device operates within a safe speed range during control. Even with significant movements during operation, the sphere's radius limits the control commands, preventing the smart device from exceeding the preset maximum speed. This avoids safety accidents such as loss of control or collisions due to excessive speed, ensuring the safe operation of the smart device.

[0098] Therefore, when generating control commands, the desired action of the smart device can be determined by observing the direction and distance of the controller relative to the origin.

[0099] Specifically, the angle of the controller's position relative to the origin can be determined by the corresponding position coordinates, and then the direction of movement of the smart device in space can be determined based on this angle, thereby realizing the setting of the smart device's movement direction.

[0100] Based on setting the radius of the virtual control sphere according to the maximum speed, this embodiment uses the relative distance of the controller from the origin to represent the moving speed of the intelligent device. The ratio of the straight-line distance of the controller relative to the origin to the radius of the virtual control sphere represents the ratio of the real-time speed of the intelligent device to its maximum speed. The straight-line distance between the controller and the origin can be directly calculated using the coordinate values ​​of the position coordinates. By combining this with the radius data used when constructing the virtual control sphere, the moving speed of the intelligent device can be calculated.

[0101] The imaging interface of the imaging device will simultaneously display the fixed-view image of the smart device and the virtual mapping result between the controller and the smart device. The accuracy of the control commands can be intuitively fed back through the imaging content of the imaging device.

[0102] Considering that the operation of smart devices may be phased, and the corresponding remote control will only be activated when there is an operational demand, the activation signal can be set as a touch activation signal to control the timing of remote control activation.

[0103] Furthermore, when the start signal is a touch start signal, a corresponding touch stop signal needs to be set. Upon receiving the start signal, remote control is activated; upon receiving the corresponding stop signal, control commands are stopped being sent, thus preventing invalid actions of the controller from affecting the operation of the smart device.

[0104] Similarly, trigger signals can be further set to differentiate control requirements. For example, when facing control requirements for turning or U-turn, a continuous trigger signal can be set. During the period when the continuous trigger signal is received, the corresponding control command is generated according to the mapping relationship between the spatial position change of the controller and the rotation angle of the smart device.

[0105] Another aspect of this embodiment also provides a remote control system for intelligent devices based on virtual coordinate mapping, including:

[0106] Smart devices equipped with cameras are used to capture real-time 3D images of the surrounding environment.

[0107] An imaging device including at least a virtual imaging interface and a calibration control module, wherein the virtual imaging interface is communicatively connected to the calibration control module and the smart device, and is used to receive and display stereoscopic images captured by the smart device and the spatial position of the controller in real time.

[0108] The calibration control module is also connected to the control module to generate standard control commands based on the spatial position of the imaging device;

[0109] A control device including at least a controller and a control module. The control module is communicatively connected to both the controller and the smart device, and is used to establish a virtual control mapping between the controller and the smart device. It generates control commands for the smart device based on the spatial location of the controller and receives standard control commands to calibrate the control commands.

[0110] Intelligent devices can be remotely controlled objects such as drones, robotic dogs, and robotic arms. As the controlled object, it is equipped with a high-definition camera to capture real-time stereoscopic images of the surrounding environment and project these images onto an imaging device for display. Simultaneously, the intelligent device receives calibrated control commands and drives its own mechanical structure or software functions to complete corresponding actions, such as drone flight or robotic arm grasping.

[0111] A corresponding data transmission channel is established between the smart device and the imaging device, which can transmit corresponding fixed-viewpoint data.

[0112] Imaging devices can be equipped with corresponding virtual imaging interfaces for devices such as smart glasses. They can receive stereoscopic images captured by smart devices in real time and intuitively reflect the control needs of smart devices.

[0113] In this embodiment, smart glasses are preferred as the imaging device, which supports the execution of control operations from a first-person perspective during the control process, making the control operation of smart devices more in line with the usage habits of the general public.

[0114] In addition, the imaging device is equipped with a calibration control module, which can generate corresponding standard control commands based on the spatial position of the imaging device to measure the impact of the overall system displacement, which is unrelated to control requirements, on the control commands formulated by the controller.

[0115] The control device is the direct carrier of user operation. Among them, the controller is a handheld controller, whose positional changes directly reflect the user's body movements. The control module can parse the positional changes of the controller into control commands that the smart device can execute. Through the cooperation of the controller and the control module, displacement, rotation, and other data generated by the user's hand movements can be collected in real time and converted into corresponding spatial position movements, realizing intuitive control of the smart device.

[0116] The control device also includes:

[0117] The positioning module, connected to the control module, is used to collect and transmit the spatial position of the controller in real time.

[0118] The sensing component, connected to the control module, is used to generate a start signal based on demand information.

[0119] Among them, the positioning module, as a key component for obtaining the spatial position of the controller, can be an ultra-wideband positioning module, an inertial measurement unit, a Bluetooth positioning module, or a WiFi positioning module, etc., to achieve accurate acquisition of the spatial position of the controller.

[0120] The sensing component can be one or a combination of pressure sensors or control buttons. Users generate corresponding activation signals through tapping, pressing, or other methods, making the remote control process of smart devices more controllable. In addition, the sensing component can also be used to generate trigger signals adapted to the remote control needs of different smart devices. Taking pressure sensors and control buttons as sensing components as an example, the activation and connection of smart devices and controllers are achieved by tapping the control buttons. During control, if there is a need for rotational movement such as turning or U-turns, the pressure sensor can be gripped to switch to rotational movement control command generation logic. Releasing the pressure sensor switches back to translational movement control command generation logic.

[0121] The imaging device further includes:

[0122] The sensing and positioning module communicates with the calibration control module and is used to acquire the spatial position of the imaging device and the relative position between the imaging device and the controller.

[0123] The sensing and positioning module of the imaging device can obtain the relative position with the controller by means of a visual positioning module and a marker element set on the sensor controller.

[0124] The imaging device, control device, and intelligent device are all equipped with corresponding communication modules, and corresponding data interaction channels are set up between each other. Collaborative control of the intelligent device is achieved through data interaction. The specific communication relationship among the three is as follows: Figure 4 As shown.

[0125] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Other variations and modifications are possible without departing from the technical solutions described in the claims.

Claims

1. A remote control method for intelligent devices based on virtual coordinate mapping, characterized in that, include: After receiving fixed-viewpoint data from the smart device, the imaging device generates a start signal based on the demand information, and the controller and the smart device form a virtual space mapping; The virtual space mapping result is projected onto the imaging device, and control commands are generated based on the spatial position of the controller; The control commands are calibrated based on the relative position of the imaging device and the controller; The intelligent device responds to the calibrated control command and executes the corresponding action. Also includes: The origin is calibrated based on the spatial position of the imaging device at the time the start signal is generated, and a second virtual control sphere and its second virtual coordinate system corresponding to the imaging device are constructed. The calibration of control commands based on the relative position of the imaging device and the controller includes: Based on the spatial location of the imaging device, obtain the position coordinates of the imaging device in the corresponding second virtual coordinate system; Generate standard control commands for the imaging device based on its position coordinates; Based on the relative position of the imaging device and the controller, the control commands of the controller are corrected according to the standard control commands of the imaging device.

2. The remote control method for intelligent devices based on virtual coordinate mapping according to claim 1, characterized in that, The process of generating a start signal based on demand information, and establishing a virtual space mapping between the controller and the smart device, includes: Based on the spatial position of the controller at the moment the start signal is generated, the origin is calibrated, and a first coordinate origin is constructed that forms a virtual mapping with the spatial position of the intelligent device at the moment the start signal is generated. Based on the first coordinate origin, construct a first virtual control sphere and its first virtual coordinate system.

3. The remote control method for intelligent devices based on virtual coordinate mapping according to claim 2, characterized in that, The generation of control commands based on the spatial location of the controller includes: Obtain the position coordinates of the controller in the first virtual coordinate system; Control commands are generated based on the controller's position coordinates.

4. The remote control method for intelligent devices based on virtual coordinate mapping according to claim 3, characterized in that, Also includes: Based on the controller's position coordinates, determine whether the controller is within the range of the first virtual control sphere; When the controller is determined to be in the first virtual control sphere, control commands are generated based on the controller's position coordinates.

5. The remote control method for intelligent devices based on virtual coordinate mapping according to claim 1, characterized in that, The control commands include the direction and speed of movement of the smart device.

6. A remote control system for intelligent devices based on virtual coordinate mapping, used to execute the remote control method for intelligent devices according to any one of claims 1 to 5, characterized in that, include: Smart devices equipped with cameras are used to capture real-time 3D images of the surrounding environment. An imaging device including at least a virtual imaging interface and a calibration module, wherein the virtual imaging interface is communicatively connected to the calibration control module and the smart device, and is used to receive and display the stereoscopic images captured by the smart device and the spatial position of the controller in real time. The calibration control module is also connected to the control module to generate standard control commands based on the spatial position of the imaging device; A control device including at least a controller and a control module. The control module is communicatively connected to both the controller and the smart device, and is used to establish a virtual control mapping between the controller and the smart device. It generates control commands for the smart device based on the spatial location of the controller and receives standard control commands to calibrate the control commands.

7. The intelligent device remote control system based on virtual coordinate mapping according to claim 6, characterized in that, The control device also includes: The positioning module, connected to the control module, is used to collect and transmit the spatial position of the controller in real time. The sensing component, connected to the control module, is used to generate a start signal based on demand information.

8. The intelligent device remote control system based on virtual coordinate mapping according to claim 6, characterized in that, The imaging device further includes: The sensing and positioning module communicates with the calibration control module and is used to acquire the spatial position of the imaging device and the relative position between the imaging device and the controller.

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