Remote control moving method and device for robot, electronic equipment and storage medium

Abstract

This invention relates to the field of robotics, disclosing a method, apparatus, electronic device, and storage medium for remote-controlled robot movement. The invention achieves stable rotation and elevation angles by integrating multiple sensors from a mobile phone, eliminates gyroscope drift through dead-zone filtering, and prevents robot jitter when stationary. It relies on linear mapping of motion commands to the mobile phone's posture, making operation intuitive and easy to learn. No dedicated remote control is required; ordinary smartphones can be adapted to various models of wheeled robots, significantly reducing hardware costs.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to remote control methods, devices, electronic devices, and storage media for robots. Background Technology

[0002] Wheeled robots are mostly used in inspection and exploration scenarios, relying on remote control for motion control and environmental observation. Current mainstream remote control methods rely on dedicated hardware remote controllers or virtual joysticks on smartphones, along with image transmission modules for field of view. With the widespread adoption of mobile sensors, the market urgently needs a low-cost, easy-to-use, and highly secure universal remote control solution. Achieving seamless, haptic control using built-in smartphone sensors has become an important research and development direction.

[0003] Existing remote controls for wheeled robots fall into two categories: one is a dedicated physical remote control, which has high hardware costs, is only compatible with a single model, and has an abstract mapping between the joystick and robot movement, making it difficult to learn; the other is a virtual button / joystick on a mobile phone, which reduces hardware costs but still has a disconnect in control. Summary of the Invention

[0004] This invention provides a method, apparatus, electronic device, and storage medium for remotely controlling the movement of robots, in order to solve the problems of remote control defects in wheeled robots.

[0005] In a first aspect, the present invention provides a method for remotely controlling the movement of a robot, the method comprising: Collect the phone's turning angle and elevation angle and perform dead zone filtering to generate effective turning angle and effective elevation angle; Calculate the robot's speed command based on the effective turning angle and the effective elevation angle; Based on the speed command, the robot is remotely controlled to perform the corresponding movement operation.

[0006] This invention achieves stable rotation and elevation angles by integrating multiple sensors from a mobile phone, eliminates gyroscope drift through dead-zone filtering, and prevents robot shaking when stationary. It relies on linear mapping of motion commands based on the mobile phone's posture, making operation intuitive and easy to learn. No dedicated remote control is required; ordinary smartphones can be used with multiple models of wheeled robots, significantly reducing hardware costs.

[0007] In one optional implementation, the step of collecting the phone's turning angle and elevation angle and performing dead zone filtering to generate effective turning angle and effective elevation angle includes: Raw attitude data from the phone's built-in attitude sensor is collected at a fixed frequency. Magnetometer hard iron compensation, tilt correction and multi-sensor fusion processing are performed on the original attitude data to generate the phone rotation angle and phone elevation angle; Dead zone filtering is performed on the mobile phone corners to generate effective corners; Dead zone filtering is performed on the phone's elevation angle to generate an effective elevation angle.

[0008] This invention performs magnetometer compensation, tilt correction, and multi-sensor fusion on the raw sensor data, effectively eliminating magnetic field offset, tilt interference, and gyroscope integral drift, resulting in stable and offset-free mobile phone rotation and elevation angles. Furthermore, dead zone filtering removes minute attitude fluctuations, preventing continuous micro-shaking of the robot. The accuracy of attitude perception and control stability are significantly improved, ensuring smooth and stable body control.

[0009] In one optional implementation, calculating the robot's speed command based on the effective turning angle and the effective elevation angle includes: Based on the effective turning angle and the preset steering ratio coefficient, the turning speed component of the robot is calculated; Based on the effective pitch angle and the preset pitch ratio coefficient, the pitch velocity component of the robot is calculated. Collect the omnidirectional translational velocity components output by the touch joystick; The robot's speed command is generated by combining the turning speed component, the pitch speed component, and the omnidirectional translation speed component.

[0010] This invention relies on the filtered effective angle combined with a proportional coefficient to calculate the steering and pitch velocity components, and then fuses these with the joystick translation component to generate a complete speed command, achieving coordinated linkage between mobile phone attitude steering control and joystick translation control. The hierarchical calculation logic of the control quantity is clear, the proportional coefficient can be flexibly adjusted to adapt to the response characteristics of different robots, it filters out invalid small-amplitude angle interference, the motion output is smooth without abrupt jitter, and the haptic control is linear and smooth.

[0011] In one optional implementation, remotely controlling the robot to perform a corresponding movement operation according to the speed command includes: Send the speed command to the robot; When the robot receives the speed command, it executes the corresponding movement operation.

[0012] This invention drives the robot to perform actions by issuing integrated speed commands. The commands integrate multi-dimensional control quantities such as steering, pitch, and translation, and can realize multi-dimensional motion adjustment simultaneously.

[0013] In an optional implementation, the method further includes: Receive the display image transmitted back by the robot; The preset posture calibration reference angle is retrieved, and the image compensation rotation amount is calculated by combining the phone's rotation angle and elevation angle. The image compensation rotation amount is used to perform adaptive orientation compensation on the displayed image.

[0014] The present invention calculates an image compensation amount by combining the fused mobile phone rotation angle and elevation angle with a calibration reference angle, so as to correct the tilt problem of the returned image in real time. Based on the corrected stable attitude data, reverse rotation of the image is performed, which is not affected by the holding angle of the mobile phone, so that the image is always displayed in the forward direction and visual fatigue is eliminated. The angle drift is suppressed by relying on the preliminary sensor calibration, the image will not shift gradually after long-term use, and the visual comfort of somatosensory control is greatly improved.

[0015] In an optional embodiment, the method further comprises: acquiring a view angle locking instruction; fixing the image compensation rotation amount according to the view angle locking instruction, and stopping adjusting the rotation angle of the displayed image.

[0016] The present invention fixes the image compensation rotation amount in response to the view angle locking instruction, and the change of the mobile phone attitude after locking will no longer change the image angle. The operator can maintain a fixed observation view angle as needed without continuously correcting the image, which is suitable for fixed-point observation scenarios; the dynamic compensation and locking modes can be flexibly switched to meet both the visual correction requirement during steering control and the fixed-point observation requirement, improve the visual adaptability of remote control, and reduce the visual operation burden.

[0017] In an optional embodiment, the method further comprises: monitoring the transmission state of the display image returned by the robot in real time; if the monitored transmission state of the display image is a transmission interruption, stopping sending the speed instruction to the robot.

[0018] The present invention monitors the state of the image transmission link in real time, and immediately stops issuing motion instructions once the image is interrupted, so as to realize the linkage protection of image transmission and remote control. The defect that the robot can still be controlled when the image is lost in the traditional separate channel is solved, the robot is prevented from being out of sight and colliding out of control, and the operation safety is greatly improved. The image and the control instruction are synchronously transmitted through the same communication channel, the state monitoring logic is simple and reliable, and the risk of misoperation in the blind area is effectively avoided.

[0019] In a second aspect, the present invention provides a remote control movement device for a robot, the device comprising: an acquisition module, configured to acquire a mobile phone rotation angle and a mobile phone elevation angle and perform dead zone filtering processing to generate an effective rotation angle and an effective elevation angle; a calculation module, configured to calculate a speed instruction of the robot according to the effective rotation angle and the effective elevation angle; a remote control module, configured to remotely control the robot to perform a corresponding movement operation according to the speed instruction.

[0020] Thirdly, the present invention provides an electronic device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the remote control movement method for a robot described in the first aspect or any corresponding embodiment thereof.

[0021] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the remote-controlled movement method for a robot described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic flowchart of a first method for remotely controlling the movement of a robot according to an embodiment of the present invention; Figure 2 This is a second flowchart illustrating a remote control movement method for a robot according to an embodiment of the present invention. Figure 3 This is a third flowchart illustrating a remote-controlled movement method for a robot according to an embodiment of the present invention. Figure 4 This is a first schematic diagram of a mobile phone rotating according to an embodiment of the present invention; Figure 5 This is a second schematic diagram of a mobile phone rotating according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the information transmission process between a mobile phone and a robot according to an embodiment of the present invention; Figure 7 This is a structural block diagram of a remote-controlled mobile device for a robot according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] This invention provides a remote-controlled movement method for robots. It achieves stable rotation and elevation angles by integrating multiple sensors from a mobile phone, eliminates gyroscope drift through dead-zone filtering, and prevents robot jitter when stationary. Relying on linear mapping of motion commands from the mobile phone's posture, the method offers intuitive control and a low learning curve. No dedicated remote control is required; ordinary smartphones can be adapted to various models of wheeled robots, significantly reducing hardware costs.

[0028] This embodiment provides a method for remotely controlling the movement of a robot. Figure 1 This is a flowchart of a remote-controlled movement method for a robot according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps: Step S101: Collect the phone's turning angle and elevation angle and perform dead zone filtering to generate effective turning angle and effective elevation angle.

[0029] It should be noted that the phone rotation angle refers to the attitude angle obtained after magnetometer compensation, tilt correction, and multi-sensor fusion, which represents the degree of left and right deflection of the phone and is used to control the robot's turning. It has not undergone dead zone filtering. The phone elevation angle refers to the attitude angle obtained after multi-sensor fusion, which represents the degree of up and down pitch of the phone and is used to control the robot's pitch movement. It has not undergone dead zone filtering. Dead zone filtering refers to setting an angle threshold and zeroing out small attitude fluctuations below the threshold, filtering out invalid angle signals caused by slight hand shaking. The effective rotation angle refers to the usable control angle obtained after the phone rotation angle has been filtered by dead zone and small jitters have been removed. The effective elevation angle refers to the usable control angle obtained after the phone elevation angle has been filtered by dead zone and small jitters have been removed.

[0030] In this embodiment of the invention, raw attitude data from the mobile phone’s built-in gyroscope, accelerometer, and magnetometer are collected at a fixed frequency. The raw attitude data is then processed sequentially with magnetometer hard iron compensation, tilt correction, and multi-sensor fusion to obtain the mobile phone’s rotation angle and elevation angle. Dead zone filtering is then applied to the mobile phone’s rotation angle and elevation angle to filter out small attitude fluctuations and generate the corresponding effective rotation angle and effective elevation angle.

[0031] Step S102: Calculate the robot's speed command based on the effective turning angle and effective elevation angle.

[0032] It should be noted that the speed command refers to the control data packet generated by fusing the turning, pitch, and translation speed components and sent to the robot to drive its motion.

[0033] In this embodiment of the invention, the robot's turning speed component is calculated based on the effective turning angle obtained after filtering and a preset steering ratio coefficient, the pitch speed component is calculated based on the effective pitch angle and a preset pitch ratio coefficient, the omnidirectional translation speed component output by the touch joystick is obtained simultaneously, and the turning speed component, pitch speed component and omnidirectional translation speed component are integrated and calculated to generate a complete robot speed command.

[0034] Step S103: According to the speed command, the remote control robot performs the corresponding movement operation.

[0035] It should be noted that remote-controlled robots refer to robots that are remotely controlled by mobile terminals to perform various movement actions by sending speed commands through communication channels.

[0036] In this embodiment of the invention, the integrated speed command is sent to the robot through a unified communication channel, while the transmission status of the robot's returned images is continuously monitored through the channel. If the image transmission is interrupted, the speed command is stopped. After receiving and parsing the speed command, the robot drives the motion mechanism to complete the matching steering, pitching and omnidirectional translation movements.

[0037] This embodiment provides a method for remotely controlling the movement of a robot. Figure 2 This is a flowchart of a remote-controlled movement method for a robot according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Collect the phone's turning angle and elevation angle and perform dead zone filtering to generate effective turning angle and effective elevation angle.

[0038] In some optional implementations, step S201 above includes: Step S2011: Collect raw attitude data from the mobile phone's built-in attitude sensor at a fixed frequency.

[0039] In embodiments of the present invention, such as Figure 3 As shown, the mobile app reads the fused output of the phone's built-in gyroscope and magnetometer at a fixed frequency (50Hz) to obtain: Phone Roll: The angle at which the phone rotates around a direction perpendicular to the screen, corresponding to the rotation of a steering wheel; Phone Pitch: The angle at which the phone tilts back and forth around its horizontal axis, corresponding to the forward / backward movement of the steering wheel.

[0040] The phone's rotation angle and tilt angle are both raw attitude data.

[0041] Step S2012: Perform magnetometer hard iron compensation, tilt correction and multi-sensor fusion processing on the original attitude data to generate the phone rotation angle and phone elevation angle.

[0042] In this embodiment of the invention, magnetometer assistance (i.e., magnetometer hard iron compensation) is used: combining magnetometer data and gyroscope data for sensor fusion, eliminating long-term integral drift of the gyroscope, and ensuring the long-term stability of the compensation angle.

[0043] like Figure 4 and Figure 5 As shown, there is a fixed magnetic field bias (hard iron error) inside the phone casing. When the APP is run for the first time, it guides the user to rotate the phone in an "∞" shape in the air. The system continuously collects the original triaxial readings of the magnetometer in each direction at a frequency of not less than 50Hz, accumulating no less than 200 data points to form a sample set covering all attitude directions.

[0044] In an ideal environment free from magnetic field interference, when the device rotates around any axis, the triaxial magnetometer readings should form a sphere centered at the origin in three-dimensional space. The essence of hard iron error is that a constant bias component is superimposed on the fixed magnetic field within the casing along the three axes, causing the center of the sphere to deviate from the origin to a fixed position; that is, the overall readings are translated. Based on this physical law, the system substitutes all the collected raw data into the spherical equation, transforming the problem of solving for the sphere's center coordinates into a set of linear equations about the bias parameters. This overdetermined set of equations is then solved using the least squares method to minimize the sum of squared residuals from all sampling points to the fitted sphere, thus obtaining the optimal estimated coordinates of the sphere's center, i.e., the triaxial static bias compensation (bias_x, bias_y, bias_z).

[0045] After the solution is completed, the system synchronously calculates the ratio of the root mean square residual from all sampling points to the fitted sphere to the sphere radius, using this as an evaluation index of the fitting quality. If this ratio exceeds 5%, the data quality is deemed insufficient, and the user is prompted to recalibrate to ensure the reliability of the compensation. After successful calibration, the three-axis offset compensation is persistently stored locally, and compensation is performed on the original readings in each subsequent frame. mx_c=mx_raw-bias_x my_c=my_raw-bias_y mz_c=mz_raw-bias_z In the formula, mx_raw, my_raw, and mz_raw are the original triaxial output data of the magnetometer (uncompensated unit vectors or intensity values); bias_x, bias_y, and bias_z are the triaxial static bias compensation amounts (extracted by fitting an ellipsoid through an ∞-shaped rotation, used to eliminate the error of the fixed magnetic field hard iron inside the mobile phone casing).

[0046] The compensated magnetometer reading is then used in the Kalman filter or complementary filter fusion calculation with the gyroscope's integrated attitude. The absolute direction reference provided by the magnetometer continuously corrects the drift error accumulated by the long-term integration of the gyroscope, ensuring the long-term stability of the compensated angle.

[0047] Tilt compensation (i.e., tilt correction): When the phone has a pitch angle, a horizontal reference component needs to be extracted from the three-dimensional magnetic field vector; otherwise, the azimuth error will be large. The current pitch and roll are calculated using the gravity vector extracted from the accelerometer (without integral drift). The three-axis accelerometer readings are denoted as (ax, ay, az). Each axis component has a definite geometric relationship with the tilt angle under the influence of gravity, which can be directly calculated from this: Pitch=atan2(-ax, sqrt(ay² + az²)) Roll=atan2(ay, az) In the formula, Pitch is the pitch angle of the mobile phone around the horizontal axis, and Roll is the roll angle around the vertical axis. Both are expressed in radians. The calculation results are free from integral drift and are available in real time.

[0048] Substituting the above angles into the magnetometer's horizontal component projection formula eliminates the azimuth error introduced by tilt: mx_h=mx_c×cos(Pitch)+mz_c×sin(Pitch) my_h=mx_c×sin(Roll)×sin(Pitch)+my_c×cos(Roll)-mz_c×sin(Roll)×cos(Pitch) Extracting the magnetometer reference angle: θ_mag = atan2( my_h,mx_h) In the formula, mx_h is the horizontal reference component after tilt compensation (projecting the three-dimensional magnetic field vector onto the horizontal plane to eliminate the effects of pitch and roll); my_h is the vertical reference component after tilt compensation (projecting the three-dimensional magnetic field vector onto the vertical plane to eliminate the effects of pitch and roll); mx_c is the magnetometer triaxial data after static bias compensation: mx_c = mx_raw - bias_x, and my_c and mz_c are similarly calculated; θ_mag is the absolute azimuth angle calculated from the horizontal magnetic field component: θ_mag = atan2(-my_h, mx_h), providing a long-term stable reference.

[0049] Complementary filter fusion (i.e., multi-sensor fusion processing, running frame-by-frame at 50Hz):

[0050] Where ω_z is the angular velocity of the gyroscope around the normal (Z-axis) of the mobile phone screen, in rad / s or ° / s; Δt is the sampling time interval, the system operating frequency is 50Hz, so Δt=0.02s.

[0051] Fusion formula: θ_fused=α×θ_gyro+(1 α)×θ_mag θ_prev=θ_fused In the formula, α = 0.98 (empirical value, corresponding to a cutoff frequency of about 0.16Hz), and the time constant is about 5 seconds: that is, the gyroscope drift is corrected and converged by the magnetometer within about 5 seconds; θ_fused is θ_current in the subsequent image compensation, which replaces the pure gyroscope integral to ensure the long-term stability of the compensation angle.

[0052] Effect: No matter how the user rotates the phone, the "top" in the robot's view is always aligned with the user's visual top, meaning the Actor (target object) in the image is always presented in an upright position, allowing the operator to read the tilted image without any mental burden.

[0053] Step S2013: Perform dead zone filtering on the mobile phone corners to generate valid corners.

[0054] In this embodiment of the invention, dead zone processing is performed on the original attitude angle to eliminate false triggering caused by gyroscope drift: Effective turning angle = phone turning angle. If |phone turning angle| > dead zone angle - turning (3°), otherwise = 0.

[0055] Step S2014: Perform dead zone filtering on the phone's elevation angle to generate an effective elevation angle.

[0056] In this embodiment of the invention, the effective elevation angle = the mobile phone elevation angle; if |mobile phone elevation angle| > dead zone angle - elevation angle (8°), otherwise = 0.

[0057] The selection criteria for dead zone angle are as follows: a turning dead zone of 3° is the empirical threshold for gyroscope static drift; an elevation dead zone of 8° is larger because the handheld posture changes more frequently in the elevation direction, requiring a larger stability range.

[0058] Step S202: Calculate the robot's speed command based on the effective turning angle and effective elevation angle.

[0059] In some optional implementations, step S202 above includes: Step S2021: Calculate the robot's turning speed component based on the effective turning angle and the preset steering ratio coefficient.

[0060] In this embodiment of the invention, the turning speed = (effective turning angle - symbol (effective turning angle) × dead zone angle_turning) × kp_yaw.

[0061] In the formula, kp_yaw is the yaw (steering) ratio coefficient, which is user-defined and maps the effective turning angle to the robot's turning speed.

[0062] Step S2022: Calculate the robot's pitch velocity component based on the effective pitch angle and the preset pitch ratio coefficient.

[0063] In this embodiment of the invention, the pitch rate = (effective pitch angle - symbol (effective pitch angle) × dead zone angle_pitch) × kp_pitch.

[0064] In the formula, kp_pitch is the pitch (forward / backward) scaling factor, which is user-defined and maps the effective pitch angle to the robot's linear velocity.

[0065] kp_yaw and kp_pitch are both user-defined scaling factors. The larger the value, the more sensitive the attitude angle is to the speed. The above formula realizes the "linear mapping + dead zone" control characteristics. The output is zero within the dead zone and increases linearly after it exceeds the dead zone.

[0066] Step S2023: Collect the omnidirectional translational velocity component output by the touch joystick.

[0067] In this embodiment of the invention, the horizontal and vertical axis touch offset of the touch joystick is read in real time, and the omnidirectional translation speed components corresponding to the robot's forward and backward and left and right movements are calculated by combining them with the speed components obtained from the attitude calculation to generate speed commands.

[0068] Step S2024: Combine the turning speed component, pitch speed component, and omnidirectional translation speed component to generate the robot's speed command.

[0069] In this embodiment of the invention, the calculated turning speed component, pitch speed component, and omnidirectional translation speed component output by the touch joystick are superimposed and integrated, packaged and encapsulated into an MQTT message (speed command), and sent to the robot body at a frequency of 50Hz via WiFi / Bluetooth / RF channel.

[0070] Step S203: According to the speed command, the remote-controlled robot performs the corresponding movement operation.

[0071] In some optional implementations, step S203 above includes: Step S2031: Send the speed command to the robot.

[0072] In this embodiment of the invention, speed commands are sent to the robot body via WiFi / Bluetooth / RF channel at a frequency of 50Hz.

[0073] Step S2032: When the robot receives a speed command, it executes the corresponding movement operation.

[0074] In this embodiment of the invention, the robot receives and parses the transmitted speed command, separates various speed components such as turning, pitching, and omnidirectional translation, drives its own walking and pitching actuators to operate synchronously, and completes turning, lifting and translating movements that match the speed components.

[0075] In some alternative implementations, the method further includes: Step a1: Receive the display image transmitted back by the robot.

[0076] In embodiments of the present invention, such as Figure 6 As shown, the robot continuously receives and transmits real-time image data streams through the same communication channel as the speed command, and decodes them to obtain a display image that can be previewed in real time for subsequent attitude angle correction calculations.

[0077] Step a2: Retrieve the preset posture calibration reference angle, and calculate the image compensation rotation amount by combining the phone's rotation angle and elevation angle.

[0078] In this embodiment of the invention, the attitude calibration reference angle is read from the local storage, and the reference angle is compared with the real-time acquired mobile phone rotation angle and mobile phone elevation angle. The two sets of differences are combined to solve the image compensation rotation amount adapted to the current holding posture, providing a calculation basis for screen angle correction.

[0079] Step a3: Perform adaptive orientation compensation on the displayed image using image compensation rotation.

[0080] In this embodiment of the invention, the decoded display image is rotated at a corresponding angle according to the calculated image compensation rotation amount, and the screen tilt offset is corrected in real time to achieve adaptive direction compensation, so that the preview screen always maintains a positive viewing angle for the operator to view.

[0081] In some alternative implementations, the method further includes: Step b1: Obtain the view lock command.

[0082] In this embodiment of the invention, a locking touch signal triggered by the operator on the control interface is detected, and a viewpoint locking command is generated to interrupt the real-time update process of subsequent image compensation rotation.

[0083] Step b2: Fix the image compensation rotation amount according to the viewpoint lock command, and stop adjusting the rotation angle of the displayed image.

[0084] In this embodiment of the invention, in response to the received viewpoint lock command, the currently calculated image compensation rotation amount is saved and fixed so that it is no longer updated in real time. The rotation amount is stopped from being recalculated based on the phone's rotation angle and elevation angle, and the angle rotation adjustment operation on the displayed image is no longer performed.

[0085] In some alternative implementations, the method further includes: Step c1: Monitor the real-time transmission status of the display images returned by the robot.

[0086] In this embodiment of the invention, the reception status of image data packets transmitted back by the robot in the communication channel is continuously monitored, and the reception interval and packet loss are statistically analyzed to determine whether the image transmission is normal in real time. The transmission status is then used in the logic for issuing control speed commands.

[0087] Step c2: If the monitored display image transmission status is interrupted, stop sending speed commands to the robot.

[0088] In this embodiment of the invention, once it is determined that no valid data packets are received for a long time, the transmission is considered interrupted, the speed command sending channel is immediately cut off, and the integrated speed data packets are no longer sent to the robot, so as to avoid the robot continuing to move without visual images and causing collision failures.

[0089] Specifically, initial calibration: when the user clicks the calibration button (or when the connection is successfully established for the first time), the phone's rotation angle θ_ref at this time is recorded as a reference value; Real-time compensation: During image rendering, the image is rotated in the opposite direction (θ_current - θ_ref) by an angle to ensure that the image is always displayed in the positive direction relative to the reference direction; Viewpoint Lock: Users can freeze the compensation angle by clicking the viewpoint lock button. In this case, rotating the phone will no longer trigger image rotation, which is suitable for scenarios that require a fixed viewing direction.

[0090] Effect: No matter how the user rotates the phone, the "top" in the robot's view is always aligned with the user's visual top, meaning the Actor (target object) in the image is always presented in an upright position, allowing the operator to read the tilted image without any mental burden.

[0091] This embodiment also provides a remote-controlled mobile device for a robot, which implements the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0092] This embodiment provides a remote-controlled mobile device for a robot, such as... Figure 7 As shown, it includes: The acquisition module 301 is used to acquire the mobile phone's turning angle and elevation angle and perform dead zone filtering to generate effective turning angle and effective elevation angle. The calculation module 302 is used to calculate the robot's speed command based on the effective turning angle and effective elevation angle; The remote control module 303 is used to remotely control the robot to perform corresponding movement operations according to speed commands.

[0093] In some alternative implementations, the acquisition module 301 includes: The acquisition unit is used to acquire raw attitude data from the mobile phone's built-in attitude sensor at a fixed frequency. The processing unit is used to perform magnetometer hard iron compensation, tilt correction and multi-sensor fusion processing on the raw attitude data to generate the phone's rotation angle and phone's elevation angle; The first dead zone filtering processing unit is used to perform dead zone filtering processing on the corners of the mobile phone to generate effective corners. The second dead zone filtering processing unit is used to perform dead zone filtering processing on the phone's elevation angle to generate an effective elevation angle.

[0094] In some alternative implementations, the computing module 302 includes: The turning speed component calculation unit is used to calculate the robot's turning speed component based on the effective turning angle and the preset steering ratio coefficient. The pitch velocity component calculation unit is used to calculate the robot's pitch velocity component based on the effective pitch angle and the preset pitch ratio coefficient. Omnidirectional translational velocity component acquisition unit, used to acquire the omnidirectional translational velocity component output by the touch joystick; The combining unit is used to combine the turning speed component, the pitch speed component, and the omnidirectional translation speed component to generate the robot's speed command.

[0095] In some alternative implementations, the remote control module 303 includes: The transmitting unit is used to send speed commands to the robot; The execution unit is used to perform the corresponding movement operation when the robot receives a speed command.

[0096] In some alternative embodiments, the device further includes: The receiving unit is used to receive the display images transmitted back by the robot; The retrieval unit is used to retrieve a preset attitude calibration reference angle, and calculate the image compensation rotation amount by combining the phone's rotation angle and elevation angle. The compensation unit is used to perform adaptive orientation compensation on the displayed image using image compensation rotation.

[0097] In some alternative embodiments, the device includes: The acquisition unit is used to acquire the view lock command; The stop unit is used to fix the image compensation rotation amount according to the viewpoint lock command and stop adjusting the rotation angle of the displayed image.

[0098] In some alternative embodiments, the device includes: The monitoring unit is used to monitor the transmission status of the display images returned by the robot in real time. The interrupt unit is used to stop sending speed commands to the robot if the detected display image transmission status is interrupted.

[0099] The remote-controlled movement device for robots provided in this embodiment of the invention can execute the remote-controlled movement method for robots provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the various modules and units described above are the same as in the corresponding embodiments described above, and will not be repeated here.

[0100] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0101] The following is a detailed reference. Figure 8This diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 401, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 402 or a program loaded from memory 408 into random access memory (RAM) 403. The RAM 403 also stores various programs and data required for the operation of the electronic device. The processor 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0102] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0103] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 409, or installed from a memory 408, or installed from a ROM 402. When the computer program is executed by the processor 401, it performs the functions defined in the remote-controlled movement method for a robot according to embodiments of the present invention.

[0104] Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0105] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the remote-controlled movement method for a robot shown in the above embodiments is implemented.

[0106] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for remotely controlling the movement of a robot, characterized in that, The method includes: Collect the phone's turning angle and elevation angle and perform dead zone filtering to generate effective turning angle and effective elevation angle; Calculate the robot's speed command based on the effective turning angle and the effective elevation angle; Based on the speed command, the robot is remotely controlled to perform the corresponding movement operation.

2. The method according to claim 1, characterized in that, The process of collecting the phone's turning angle and elevation angle, performing dead zone filtering, and generating effective turning angle and effective elevation angle includes: Raw attitude data from the phone's built-in attitude sensor is collected at a fixed frequency. Magnetometer hard iron compensation, tilt correction and multi-sensor fusion processing are performed on the original attitude data to generate the phone rotation angle and phone elevation angle; Dead zone filtering is performed on the mobile phone corners to generate effective corners; Dead zone filtering is performed on the phone's elevation angle to generate an effective elevation angle.

3. The method according to claim 1, characterized in that, The step of calculating the robot's speed command based on the effective turning angle and the effective elevation angle includes: Based on the effective turning angle and the preset steering ratio coefficient, the turning speed component of the robot is calculated; Based on the effective pitch angle and the preset pitch ratio coefficient, the pitch velocity component of the robot is calculated. Collect the omnidirectional translational velocity components output by the touch joystick; The robot's speed command is generated by combining the turning speed component, the pitch speed component, and the omnidirectional translation speed component.

4. The method according to claim 1, characterized in that, The step of remotely controlling the robot to perform corresponding movement operations according to the speed command includes: Send the speed command to the robot; When the robot receives the speed command, it executes the corresponding movement operation.

5. The method according to claim 2, characterized in that, The method further includes: Receive the display image transmitted back by the robot; The preset posture calibration reference angle is retrieved, and the image compensation rotation amount is calculated by combining the phone's rotation angle and elevation angle. The image compensation rotation amount is used to perform adaptive orientation compensation on the displayed image.

6. The method according to claim 5, characterized in that, The method further includes: Get the view lock command; The image compensation rotation amount is fixed according to the viewpoint locking command, and the adjustment of the rotation angle of the displayed image is stopped.

7. The method according to claim 1, characterized in that, The method further includes: Real-time monitoring of the transmission status of the display images returned by the robot; If the monitored display image transmission status is interrupted, then stop sending the speed command to the robot.

8. A remote-controlled moving device for a robot, characterized in that, The device includes: The acquisition module is used to acquire the phone's turning angle and elevation angle, perform dead zone filtering, and generate effective turning angle and effective elevation angle. The calculation module is used to calculate the robot's speed command based on the effective turning angle and the effective elevation angle; The remote control module is used to remotely control the robot to perform corresponding movement operations according to the speed command.

9. An electronic device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the remote-controlled movement method for a robot as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the remote-controlled movement method for a robot as described in any one of claims 1 to 7.

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