CN105334851A - Mobile device capable of sensing gesture - Google Patents
Mobile device capable of sensing gesture Download PDFInfo
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- CN105334851A CN105334851A CN201410395052.3A CN201410395052A CN105334851A CN 105334851 A CN105334851 A CN 105334851A CN 201410395052 A CN201410395052 A CN 201410395052A CN 105334851 A CN105334851 A CN 105334851A
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Abstract
The invention discloses a mobile device capable of sensing gesture. The mobile device comprises signal emitters, signal receivers, a storage device and a determination device; the signal emitters and receivers are mounted on the mobile device, the signal emitters emit detection signals in different coding manners, and the corresponding signal receivers receive reflection signals of the detection signals in the same coding manners; the storage device stores a preset gesture path corresponding to a control instruction and related positions of the signal emitters and/or signal receivers on the mobile device; and the determination device is connected with the storage device, the signal emitters and the signal receivers, determines the gesture path according to the reflection signal reception state of the signal receivers and the relation of the related positions of the signal emitters and/or signal receivers on the mobile device, and determines the whether the gesture path is consistent with the preset gesture path stored in the storage device. Thus, the mobile device can be controlled and operated via gesture, and user experience is improved.
Description
Technical field
The present invention relates to control technology field, particularly relate to a kind of mobile device responding to gesture.
Background technology
Sweeping robot is usually shorter; dumbly in surface work; when people need to go to control it time; as allow it advance, retreat, turn, suspend or run to somewhere clean rubbish time; by pressing button corresponding in robot or touching the corresponding icon of robot contact panel, or remote control equipment is utilized to control robot.What the former adopted is mechanical key or capacitance touch button, and after click keys, MCU can receive the signal of corresponding button, thus does corresponding control action; The latter adopts infrared remote control or wireless remote control, and remote control equipment is communicated by specific infrared code or wireless code with MCU, and MCU performs reception, decoding effort, after receiving correct instruction, just can make corresponding control action.
In use all there are some problems in this two classes mode:
First kind mode, need manipulator to bend over or operation of squatting down, hand must touch robot, extremely inconvenient, and when machine runs, points the more difficult button touched above robot;
Equations of The Second Kind mode, need manipulator to find remote control equipment could realize controlling, and remote control equipment sometimes can forget to be placed on where can not find, and also will ensure that remote control equipment is powered in addition and normally could use.
Summary of the invention
Technical matters to be solved by this invention is, a kind of mobile device responding to gesture is provided, realize controlling this mobile device by gesture, thus the touch-control mobile device or need the drawback that finds telepilot could control mobile device of avoiding bending over, especially, this mobile device is sweeping robot.
In order to solve the problems of the technologies described above, on the one hand, The embodiment provides a kind of mobile device responding to gesture, comprise: be arranged on the many groups sender unit on described mobile device and the signal receiving device corresponding with it, often organize described sender unit to launch with different coded systems respectively and run into the detectable signal that barrier can reflect, receive with identical coded system the reflected signal that this detectable signal reflects with its corresponding signal receiving device; Memory storage, stores the default gesture path corresponding with steering order and respectively organizes sender unit and/or the relative position relation of signal receiving device on described mobile device; Judgment means, respectively with described memory storage, describedly organize sender unit and signal receiving device is connected more, receive the situation of reflected signal according to described many group sender unit emission detection signals, signal receiving device and respectively organize sender unit and/or the relative position relation determination gesture path of signal receiving device on described mobile device, and judge that whether this gesture path is consistent with the default gesture path stored in described memory storage, if consistent, perform corresponding operating.
When described gesture path is consistent with the default gesture path stored in memory storage, described mobile device enters gesture control model and/or described mobile device carries out corresponding actions.Arrange and enter the default gesture of gesture control model, security and the reliability of gesture control model can be increased, avoid due to the action controlling when starting that makes mobile device carry out corresponding gesture of other shelters such as furniture.
When described mobile device enters gesture control model, described judgment means judges gesture path further, and mobile device carries out corresponding actions according to the default gesture path clustering stored.
Described judgment means judges gesture path further, and according to store default gesture path clustering described in mobile device carry out corresponding actions comprise control described mobile device advance, retreat, turn to.
Described judgment means also can receive distance between the Time Calculation barrier of reflected signal and described sender unit and/or described signal receiving device according to described sender unit emission detection signal to described signal receiving device.By dyscalculia thing, the distance namely between gesture and mobile device, not only can identify that the action of gesture level can also identify the action of gesture vertical direction, enrich gesture set-up mode.
Described judgment means receives the information whether described signal receiving/transmission device receives this detectable signal reflected signal after emission detection signal, and is arranged on the relative position of described mobile device according to described signal receiving/transmission device and this mobile device determines the path of described gesture in described signal receiving/transmission device emission detection signal and the direction of motion received in the reflected signal time period and move distance.When calculating gesture horizontal route, add the displacement of mobile device, thus gesture path can be calculated more accurately.
Described sender unit and described signal receiving device are arranged on the same place of described mobile device, and its detectable signal launched is perpendicular to the direction of motion of gesture.
Described sender unit and signal receiving device are that infrared emission receives pipe.
Described many tops that group signal is launched, receiving trap is evenly distributed on described mobile device.
Described mobile device is sweeping robot.
Embodiment of the present invention tool has the following advantages or beneficial effect:
Adopt the technical scheme of the embodiment of the present invention, can mobile device be made, particularly the gesture motion of sweeping robot identification people, thus telepilot can not be needed or directly touch mobile device, can control it, improve Consumer's Experience significantly.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structured flowchart in a kind of embodiment of mobile device of the present invention;
Fig. 2 is mobile device and the mutual schematic diagram of hand in an embodiment of the present invention;
Fig. 3 is mobile device and the mutual schematic diagram of hand in the another kind of embodiment of the present invention;
Fig. 4 is the process flow diagram being controlled sweeping robot in an embodiment of the present invention by gesture;
Fig. 5 is the circuit theory diagrams of infrared transmitting tube in the embodiment of the present invention;
Fig. 6 is the circuit theory diagrams of infrared receiving tube in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Below with reference to the accompanying drawings embodiments of the invention are described.For convenience of description, hereinafter mobile device is all described for sweeping robot, but the technical scheme in the application also may be used on the mobile device of other type, is not limited in the sweeping robot hereinafter described.
See Fig. 1, it is the structured flowchart in a kind of embodiment of mobile device of the present invention.Be that sweeping robot is described with mobile device, sweeping robot 1 comprises many group sender units 11, many group signal receiving device 12, judgment means 13, memory storage 14.Sender unit 11 is for launching the detectable signal of detectable barrier, and signal receiving device 12 is for receiving the reflected signal reflected by barrier.Sender unit 11 and signal receiving device 12 arrange on sweeping robot 1, and in one preferably embodiment, sender unit 11 and signal receiving device 12 integrate, and are referred to as signal receiving/transmission device for convenience of description.
Store default gesture path corresponding to steering order in memory storage 14 and respectively organize sender unit 11 and the relative position relation of signal receiving device 12 on sweeping robot 10.
Judgment means 13 is connected with sender unit 11, signal receiving device 12 and memory storage 14 respectively.After judgment means 13 obtains sender unit 11 emission detection signal, whether signal receiving device 12 receives the information of corresponding reflected signal, and according to this information and each sender unit and/or the relative position relation determination gesture path of signal receiving device on sweeping robot, and judge that whether this gesture path is consistent with the default gesture path stored in memory storage 14, if consistent, perform corresponding operating.Such as, when judgment means 13 judges that gesture path is consistent with the gesture that the control sweeping robot stored in memory storage suspends, control sweeping robot by the related circuit module arranged in sweeping robot and suspend.Or, first the default gesture that enters gesture control model is set in memory storage 14, only have when the default gesture of gesture and this is identical, sweeping robot just enters gesture control model, could identify that corresponding gesture steering order control carries out corresponding actions subsequently, suspend as controlled sweeping robot, advance, retreat, turn to.
In addition, judgment means 13 can also obtain the time interval receiving corresponding reflected signal from sender unit 11 emission detection signal to signal receiving device 12, thus determines the distance between sender unit (that is robot) and barrier (hand).Therefore, sweeping robot 1 not only can identify that the action of gesture horizontal direction can also identify the action of gesture vertical direction.
Please refer to Fig. 2, be sweeping robot in an embodiment of the present invention and the mutual schematic diagram of hand, in the present embodiment, sender unit and signal receiving device integrate, and are referred to as signal receiving/transmission device.Sweeping robot 2 is provided with many group signal receiving/transmission devices 21,22,23, this many groups signal receiving/transmission device is uniformly distributed on the cover of robot, has relative position relationship, and be stored in memory storage between them.This sweeping robot also comprises a judgment means, is connected respectively with each signal receiving/transmission device and memory storage.
In sweeping robot traveling process, signal receiving/transmission device emission detection signal receive reflected signal incessantly, thus induction gesture.Wherein, signal receiving/transmission device can be launched pipe for infrared signal, launching and receiving infrared signal; Also can be sensor, as ultrasonic sensor, laser sensor etc., launch the detectable signal running into barrier and can be reflected back.In order to identify the signal that each group of signal receiving/transmission device is launched, often organizing signal receiving/transmission device and adopt different codings to receive and transmit, to avoid signal disturbing.
Please refer to Fig. 2, such as, gesture direction is to the right, and the signal that signal receiving/transmission device 21 is upwards launched when hand is in the position shown in dotted line can be reflected back into signal receiving/transmission device 21 by hand, and the signal that signal receiving/transmission device 22 is upwards launched can be reflected back into signal receiving/transmission device 22 by hand, when hand moves to position shown in solid line, the signal that signal receiving/transmission device 21 is upwards launched just can not be reflected back into signal receiving/transmission device 21 by hand, and the signal that signal receiving/transmission device 22 is upwards launched can be reflected back into signal receiving/transmission device 22 by hand, the signal that signal receiving/transmission device 23 is upwards launched can be reflected back into signal receiving/transmission device 23 by hand, now judgment means reads signal receiving/transmission device 21, 22, 23 transmit with the situation of Received signal strength and the signal receiving/transmission device 21 stored in read storage device, 22, 23 relative position relations on sweeping robot, thus judge moving direction and the distance of hand.
It should be noted that, the signal receiving/transmission device quantity that sweeping robot is installed is more, and it must be more accurate to gesture induction.In the present embodiment, signal transmitting and receiving device is arranged on same position on sweeping robot or will becomes one both it, thus can conserve space, but in this kind of design, restricting signal R-T unit is needed to transmit with the direction perpendicular to hand, because the signal only in this way reflected just can get back to original place.Such as, when carrying out gesture operation control sweeping robot, hand moves in the horizontal direction, and so when signal transmitting and receiving device is installed together, its needs are installed perpendicular to horizontal direction.
Please refer to Fig. 3, wherein be depicted as the schematic diagram that sweeping robot and hand in another kind of embodiment are mutual, sender unit 31,33,35 and signal receiving device 32,34,36 are installed separately, for ensureing that signal receiving device can receive the reflected signal of sender unit emission detection signal, signal receiving device 32,34,36 need be arranged on the reflection paths of detectable signal.
Due to, sender unit 31,33,35 and signal receiving device 32,34,36 are installed separately, the incident angle that the detectable signal that sender unit 31,33,35 is launched should be formed with hands movement direction is not 90 °, and guarantee reflected signal can reflex to the signal receiving device 32,34,36 be installed separately with sender unit 31,33,35.It should be noted that, only for the purpose of illustration, reflection route meets optical principle to the reflected signal route shown in Fig. 3.
In addition, when sender unit and signal receiving device are installed separately, sender unit emission detection signal and robot cover can be passed through, the i.e. angle of horizontal direction, and sender unit emission detection signal receives the distance between the Time Calculation hand of this detectable signal reflected signal and sweeping robot to signal receiving device.
In addition, in the present embodiment, sender unit and signal receiving device are installed separately, sender unit can adjust the angle of emission detection signal according to the distance between hand and sweeping robot, so that the signal receiving device being arranged on elsewhere can receive the reflected signal of this detectable signal.Also as shown in Figure 3, the angle of emission detection signal can be fixedly installed, but now just needing to limit hand can only operate in the distance set with sweeping robot, otherwise signal receiving device just may not receive reflected signal.
In one preferably embodiment, signal receiving device can receive the signal that each sender unit is launched, and can identify it is which sender unit is launched, this kind of signal receiving device gathers on sweeping robot, thus can improve the accuracy of gesture reading.
It should be noted that, in the above two embodiments, although chirokinesthetic process is of short duration, but in section, sweeping robot also has certain displacement (not shown) at this moment, in order to more accurately calculate gesture motion, judgment means can also read the direction of motion of sweeping robot in this period and move distance thus calculate gesture motion path more exactly while reading sender unit and/or signal receiving device relative position relation.
Illustrate below and adopt technical solution of the present invention realization to the concrete grammar of sweeping robot control and principle:
First, in the memory storage of sweeping robot, store instruction corresponding to various gesture, e.g., control sweeping robot and enter gesture control model, gesture can be set for clockwise above sweeping robot, counterclockwise each motion one week; Control sweeping robot suspends, and can arrange gesture for moving a segment distance, as 20 ~ 30 centimetres towards sweeping robot after one week clockwise above robot; Control sweeping robot advances, and can arrange gesture is slided to the working direction of robot after one week clockwise above robot; Control sweeping robot left steering, can arrange gesture is slided to the left of robot after one week clockwise above robot; Control sweeping robot right turn, can arrange gesture is slided to the right of robot after one week clockwise above robot.The gesture entering gesture control model also can not be set, directly enter corresponding control operation by each gesture.
Need to make it suspend in sweeping robot moving process, hand is placed on above sweeping robot, clockwise after one week towards sweeping robot move toward one another one segment distance, judgment means according to signal receiving/transmission device emission detection signal with receive the situation of reflected signal, emission detection signal to receiving the relative position relation of each group of signal receiving/transmission device on sweeping robot cover stored in time of reflected signal and memory storage, judge gesture motion path.
It should be noted that, utilize emission detection signal to be only applicable to the distance received between the time measurement hand of reflected signal and sweeping robot the situation that sender unit and signal receiving device are arranged on sweeping robot same place.
Please refer to Fig. 4, be wherein depicted as the process flow diagram being controlled sweeping robot in an embodiment of the present invention by gesture.Comprise:
S401: define the default gesture corresponding with the operational order of each control sweeping robot, and store in the storage device;
S402: many group sender units just start emission detection signal when sweeping robot is in "on" position, often organize sender unit with different coded system emission detection signals, to avoid crosstalk occurs;
S403: corresponding signal receiving device receive detectable signal handle reflection after reflected signal, to decode this reflected signal with the coded system identical with corresponding signal emitter;
S404: judgment means monitoring is often organized signal transmitting, receiving trap emission detection signal and received the situation of reflected signal, and according to each group of signal transmitting, the relative position relation determination gesture path of receiving trap on robot cover;
S405: judgment means judges that whether this gesture path is consistent with default gesture path, if be arranged on the default gesture entering gesture control model, so first, judge that whether this gesture path is consistent with the default gesture entering gesture control model, as unanimously, then sweeping robot enters gesture control model, and sweeping robot could identify the gesture of it being carried out to control operation subsequently; As inconsistent, then jump to step S403, again obtain gesture path.
Judgment means is when judging that whether gesture path and default gesture path be consistent, first judge according to priority, the gesture that such as control enters gesture control model has higher priority, other concrete operations, as suspended, advancing, retreat, turn to etc., there is lower priority, so first judge when carrying out gesture and judging that whether this gesture is consistent with the default gesture with higher priority, as unanimously then contrasted with the gesture of lower priority successively, as inconsistent, contrast with the default gesture of higher priority always.
S406: if gesture is consistent with the default gesture of higher priority, then carry out the traversal contrast of lower priority gesture, time consistent with a certain default gesture, then perform the control operation that this default gesture is corresponding.
Please refer to Fig. 5, be wherein depicted as infrared transmitting circuit figure when sweeping robot is detected by infrared signal in an embodiment of the present invention.Wherein infrared transmitting tube D1 and NPN triode Q1 forms infrared signal transmission circuit, the main control chip of sweeping robot holds input control signal by " IR_Send ", control conducting and the cut-off of triode Q1, during conducting, infrared transmitting tube D1 can launch infrared ray, during cut-off, infrared transmitting tube D1 stops launching infrared ray, finally realizes the external transmitting of infrared signal.It should be noted that, in order to improve Consumer's Experience, ensure that user can enter gesture control model at any time, one preferably mode is, while sweeping robot starts, infrared transmitting tube Q1 just starts to launch infrared signal.
Please refer to Fig. 6, wherein be depicted as infrared receiving circuit when sweeping robot is detected by infrared signal in an embodiment of the present invention: wherein divider resistance R5 and infrared receiving tube D5 forms infrared receiving circuit, when there being infrared signal to send, the internal resistance of D5 can reduce, the stronger internal resistance of signal is less, and then greatly, " IR_Receive " passes to MCU signal in the dividing potential drop change of R5 and D5, completed the decoding effort of infrared signal by MCU, realize receiving function.
Embodiment of the present invention tool has the following advantages or beneficial effect: adopt the technical scheme in the embodiment of the present invention, directly can be controlled the various operations of sweeping robot by gesture, drastically increase Consumer's Experience.
Above-described embodiment, does not form the restriction to this technical scheme protection domain.The amendment done within any spirit at above-mentioned embodiment and principle, equivalently to replace and improvement etc., within the protection domain that all should be included in this technical scheme.
Claims (10)
1. can respond to the mobile device of gesture for one kind, comprise: be arranged on the many groups sender unit on described mobile device and the signal receiving device corresponding with it, often organize described sender unit to launch with different coded systems respectively and run into the detectable signal that barrier can reflect, receive with identical coded system the reflected signal that this detectable signal reflects with its corresponding signal receiving device;
Memory storage, stores the default gesture path corresponding with steering order and respectively organizes sender unit and/or the relative position relation of signal receiving device on described mobile device;
Judgment means, respectively with described memory storage, describedly organize sender unit and signal receiving device is connected more, receive the situation of reflected signal according to described many group sender unit emission detection signals, signal receiving device and respectively organize sender unit and/or the relative position relation determination gesture path of signal receiving device on described mobile device, and judge that whether this gesture path is consistent with the default gesture path stored in described memory storage, if consistent, perform corresponding operating.
2. mobile device as claimed in claim 1, it is characterized in that, when described gesture path is consistent with the default gesture path stored in memory storage, described mobile device enters gesture control model and/or described mobile device carries out corresponding actions.
3. mobile device as claimed in claim 2, it is characterized in that, when described mobile device enters gesture control model, described judgment means judges gesture path further, and mobile device carries out corresponding actions according to the default gesture path clustering stored.
4. mobile device as claimed in claim 3, it is characterized in that, described judgment means judges gesture path further, and according to store default gesture path clustering described in mobile device carry out corresponding actions comprise control described mobile device advance, retreat, turn to.
5. mobile device as claimed in claim 1, it is characterized in that, described judgment means also can receive distance between the Time Calculation barrier of reflected signal and described sender unit and/or described signal receiving device according to described sender unit emission detection signal to described signal receiving device.
6. mobile device as claimed in claim 1, it is characterized in that, described judgment means receives described sender unit signal receiving device after emission detection signal and whether receives the information of this detectable signal reflected signal, and is arranged on the relative position of described mobile device according to described signal receiving/transmission device and this mobile device determines the path of described gesture in described signal receiving/transmission device emission detection signal and the direction of motion received in the reflected signal time period and move distance.
7. mobile device as claimed in claim 1, it is characterized in that, described sender unit and described signal receiving device are arranged on the same place of described mobile device, and its detectable signal launched is perpendicular to the direction of motion of gesture.
8. mobile device as claimed in claim 7, is characterized in that, described sender unit and signal receiving device are that infrared emission receives pipe.
9. mobile device as claimed in claim 1, is characterized in that, described many tops that group signal is launched, receiving trap is evenly distributed on described mobile device.
10. the mobile device as described in any one of claim 1-9, is characterized in that, described mobile device is sweeping robot.
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| CN113419527A (en) * | 2021-06-18 | 2021-09-21 | 深圳市银星智能科技股份有限公司 | Induction control method of self-moving equipment and self-moving equipment |
| CN117234221A (en) * | 2023-11-14 | 2023-12-15 | 科沃斯家用机器人有限公司 | Self-mobile device control method, self-mobile device, and storage medium |
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