CN106502247A - A kind of robot follower method and device - Google Patents
A kind of robot follower method and device Download PDFInfo
- Publication number
- CN106502247A CN106502247A CN201610972677.0A CN201610972677A CN106502247A CN 106502247 A CN106502247 A CN 106502247A CN 201610972677 A CN201610972677 A CN 201610972677A CN 106502247 A CN106502247 A CN 106502247A
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- Prior art keywords
- robot
- distance
- function
- trigonometric function
- steady state
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
Embodiment of the present invention discloses a kind of robot follower method, including：Set up wireless connection；Distance is calculated using trigonometric function；Steady state value is set according to the distance that trigonometric function is calculated.By the way, embodiment of the present invention can.The situation of prior art is different from, embodiment of the present invention robot with the algorithm of trigonometric function, constantly adjusts the distance with the bluetooth equipment being connected, and then realizes following automatically to bluetooth equipment according to the distance parameter for having designed.So as to provide the user all kinds of derivative services.Robot is moved according to the steady state value for calculating, can be when electronic equipment is moved, and robot followed by movement, and Consumer's Experience is preferable.Interactive mode is very natural, comfortably.User does not need the traveling of manually operated machine people.Robot can carry out intelligent Service with next to the skin to user, be that intelligent robot service becomes a reality.
Description
Technical field
Embodiment of the present invention is related to robot field, more particularly to a kind of robot follower method.
Background technology
Under normal circumstances, after intelligent robot is set up with remote control and is connected, receive the remote control of remote control, according to remote control
Telecommand is operated accordingly, but, when remote control is not operated, robot will not generally carry out corresponding operating.And
And, after away from remote control, being limited by geographical environment and communication environment affects, and it is use that robot cannot stand ready for robot
Family services.
Content of the invention
Embodiment of the present invention is mainly solving the technical problems that provide a kind of robot follower method and device, Neng Goushi
Now follow, easy to use.
For solving above-mentioned technical problem, the technical scheme that embodiment of the present invention is adopted is：A kind of robot is provided
Follower method, including：Set up wireless connection；Distance is calculated using trigonometric function；Set according to the distance that trigonometric function is calculated
Determine steady state value.
For solving above-mentioned technical problem, the technical scheme that embodiment of the present invention is adopted is：A kind of connection mode is provided
Block, sets up wireless connection；Setting module, sets steady state value according to the distance that trigonometric function is calculated；Computing module, using triangle
Function calculates distance.
The beneficial effect of embodiment of the present invention is：It is different from the situation of prior art, embodiment of the present invention robot
According to the distance parameter for having designed, with the algorithm of trigonometric function, the distance with the bluetooth equipment being connected constantly is adjusted,
And then realize following automatically to bluetooth equipment.So as to provide the user all kinds of derivative services.Robot is according to calculating
Steady state value is moved, can be when electronic equipment is moved, and robot followed by movement, and Consumer's Experience is preferable.Interactive mode is non-
Chang Ziran, comfortably.User does not need the traveling of manually operated machine people.Robot can carry out intelligent Service with next to the skin to user,
It is that intelligent robot service becomes a reality.
Description of the drawings
Fig. 1 is a kind of flow chart of robot follower method that the present invention is provided；
Fig. 2 is a kind of schematic diagram of the structure of robot following device that the present invention is provided.
Specific embodiment
Accompanying drawing in reference to the embodiment of the present invention, to the embodiment of the present invention in technical scheme carry out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiment.Based on this
Inventive embodiment, the every other enforcement obtained under the premise of creative work is not made by those of ordinary skill in the art
Example, belongs to protection scope of the present invention.
For the ease of understanding the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail
Bright.It should be noted that when element is expressed " being fixed on " another element, it can directly on another element or
There may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it can be straight
It is connected to another element in succession or there may be one or more elements placed in the middle therebetween.The term used by this specification
" vertical ", " level ", "left", "right" and similar statement are for illustrative purposes only.
Unless otherwise defined, this specification is used all of technology and scientific terminology and the technology neck for belonging to the present invention
The implication that the technical staff in domain is generally understood that is identical.The term for being used in this specification in the description of the invention is simply
The purpose of description specific embodiment, is not intended to limit the present invention.The term "and/or" used by this specification includes
The arbitrary and all of combination of one or more related Listed Items.
As shown in figure 1, the embodiment of the present invention provides a kind of robot follower method, the executive agent of methods described is hand
The electronic equipments such as machine, panel computer, including：
Step 1, sets up wireless connection.
The connection can include the modes such as bluetooth, WI F I, infrared, 2.4G, after setting up connection, can be by using nothing
Line host-host protocol carries out the exchange of data.Set up with electronic equipment by two bluetooth modules being arranged in robot and be connected.
Step 2, calculates distance using trigonometric function.
The distance that calculates of the utilization trigonometric function includes：Judge robot present position and electronic equipment position
Between angle, then with using the functions such as SIN function, cosine function, tan, cotangent calculate robot with
The distance between electronic equipment.
Step 3, sets steady state value according to the distance that trigonometric function is calculated.
Will with calculate robot using functions such as SIN function, cosine function, tan, cotangents and electronics sets
The distance between standby it is set as steady state value.
The steady state value is set to the fixed range between robot and electronic equipment, and then robot can be protected with robot
The distance of the steady state value is held, when electronic equipment is moved, robot keeps the distance of steady state value to follow electronic equipment to be moved
Dynamic.
Further, robot bluetooth module searches for user's bluetooth equipment automatically, then user's bluetooth equipment and robot
Obtain connection.
Robot with the algorithm of trigonometric function, is constantly adjusted and is connected according to the distance parameter for having designed
The distance of bluetooth equipment, and then realize following automatically to bluetooth equipment.So as to provide the user all kinds of derivative services.Robot
Steady state value according to calculating is moved, can be when electronic equipment is moved, and robot followed by movement, Consumer's Experience compared with
Good.Interactive mode is very natural, comfortably.User does not need the traveling of manually operated machine people.Robot can be with next to the skin to user
Intelligent Service is carried out, is that intelligent robot service becomes a reality.
Another robot follower method provided in an embodiment of the present invention, including：
1st, using image recognition technology or speech recognition technology record biological characteristic；
Specifically include：Formation robot memory after catching user images and recognize by camera, or used by identification
Family voice simultaneously forms memory.
2nd, biological characteristic is recorded, and is followed according to the biological characteristic of record.
Specifically include：Using the biological characteristic of above-mentioned record, whether it is note by the image or sound that judge to obtain
The image that records or sound, in this way, are then followed automatically.
As shown in Fig. 2 the embodiment of the present invention provides a kind of robot following device, including：
Link block 21, sets up wireless connection.
The connection can include the modes such as bluetooth, WIFI, infrared, 2.4G, after setting up connection, can be by using wireless
Host-host protocol carries out the exchange of data.
Computing module 22, calculates distance using trigonometric function.
The distance that calculates of the utilization trigonometric function includes：Judge robot present position and electronic equipment position
Between angle, then with using the functions such as SIN function, cosine function, tan, cotangent calculate robot with
The distance between electronic equipment.
Setting module 23, sets steady state value according to the distance that trigonometric function is calculated.
Will with calculate robot using functions such as SIN function, cosine function, tan, cotangents and electronics sets
The distance between standby it is set as steady state value.
The steady state value is set to the fixed range between robot and electronic equipment, and then robot can be protected with robot
The distance of the steady state value is held, when electronic equipment is moved, robot keeps the distance of steady state value to follow electronic equipment to be moved
Dynamic.
Robot is moved according to the steady state value for calculating, can be when electronic equipment is moved, and robot followed by
Mobile, Consumer's Experience is preferable.
Embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, every using this
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (5)
1. a kind of robot follower method, it is characterised in that include：
Set up wireless connection；
Distance is calculated using trigonometric function；
Steady state value is set according to the distance that trigonometric function is calculated.
2. method according to claim 1, it is characterised in that the connection can include bluetooth, WIFI, infrared, 2.4G
Mode, after setting up connection, can carry out the exchange of data by using wireless transmission protocol.
3. method according to claim 1, it is characterised in that the distance that calculates of the utilization trigonometric function includes：Sentence
Angle between disconnected present position and electronic equipment position, then with using SIN function, cosine function, tan or
Cotangent function calculates the distance between current location and electronic equipment.
4. method according to claim 1, it is characterised in that described will with utilize SIN function, cosine function, tangent letter
The distance that number, cotangent function are calculated is set as steady state value.
5. a kind of robot following device, it is characterised in that include：
Link block, sets up wireless connection；
Setting module, sets steady state value according to the distance that trigonometric function is calculated；
Computing module, calculates distance using trigonometric function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972677.0A CN106502247A (en) | 2016-10-28 | 2016-10-28 | A kind of robot follower method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972677.0A CN106502247A (en) | 2016-10-28 | 2016-10-28 | A kind of robot follower method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106502247A true CN106502247A (en) | 2017-03-15 |
Family
ID=58323202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610972677.0A Pending CN106502247A (en) | 2016-10-28 | 2016-10-28 | A kind of robot follower method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106502247A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100168934A1 (en) * | 2006-05-17 | 2010-07-01 | Your Shadow Technologies Pty Ltd | Robotic Golf Caddy |
| CN102289556A (en) * | 2011-05-13 | 2011-12-21 | 郑正耀 | Supermarket shopping assistant robot |
| CN102358369A (en) * | 2011-07-22 | 2012-02-22 | 路海燕 | Intelligent tracking type electric remote-control wheelbarrow |
| CN105828431A (en) * | 2016-04-25 | 2016-08-03 | 上海理工大学 | UWB-based autonomous following robot positioning method and system |
-
2016
- 2016-10-28 CN CN201610972677.0A patent/CN106502247A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100168934A1 (en) * | 2006-05-17 | 2010-07-01 | Your Shadow Technologies Pty Ltd | Robotic Golf Caddy |
| CN102289556A (en) * | 2011-05-13 | 2011-12-21 | 郑正耀 | Supermarket shopping assistant robot |
| CN102358369A (en) * | 2011-07-22 | 2012-02-22 | 路海燕 | Intelligent tracking type electric remote-control wheelbarrow |
| CN105828431A (en) * | 2016-04-25 | 2016-08-03 | 上海理工大学 | UWB-based autonomous following robot positioning method and system |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170315 |