Summary of the invention
The object of the present invention is to provide a kind of carrying basketball easy to carry, intelligence degree is high, good portable of user experienceBasketball robot control method.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:
A kind of portable basket-playing machine device people's control method is applied to basketball robot, and the basketball robot includes chassis, instituteState the stepper motor that chassis includes chassis and is arranged on the chassis, the output axis connection universal wheel of the stepper motor,The stepper motor is also connected with controller, and the placement section for placing basketball is equipped with above the chassis, and the placement section passes throughConnecting rod is fixedly connected with the chassis, method includes the following steps:
Locating module obtains the current location information of the basketball robot；
Signal transmitting and receiving module and external mobile terminal receive what external mobile terminal was sent by wireless network connectionControl signal；
Signal strength detection module detects the wireless network between the signal transmitting and receiving module and the mobile terminal of outsideThe signal strength size of network；
Controller is according to the signal strength size of the wireless network, the current location information of basketball robot and the controlSignal processed controls the operation of the stepper motor, and then controls the walking of the basketball robot.
Preferably, the wireless network is blueteeth network or WIFI network.
Preferably, the controller is specifically used for:
When receiving the control signal, walking path is planned according to the current location information of the basketball robot,It controls basketball robot starting to walk according to the walking path, when the signal strength of the wireless network is less than or equal to theWhen one threshold value, controls the stepper motor and run with the first revolving speed；When the signal strength of the wireless network is more than or equal to secondWhen threshold value, controls the stepper motor and run with the second revolving speed；Wherein first revolving speed is greater than second revolving speed, and described theOne threshold value is less than second threshold.
The preferred controller is also used to:
The authentication request that the mobile terminal that the signal transmitting and receiving module forwards are come is sent is received, the identity is testedCard request carries user identifier and eyeball information sequence ciphertext；
The eyeball information sequence ciphertext is decrypted, eyeball information sequence is obtained；The wherein eyeball information sequenceMultiple eyeball information including user have ordinal relation between the eyeball information；
Corresponding verification information is obtained according to the user identifier, when determining the eyeball information sequence and verifying letterWhen breath matching, the message that instruction authentication passes through is returned to the mobile terminal.
The beneficial effects of the present invention are: the present invention is carried by walking robot carries basketball, setting signal is received on itModule is sent out, with external mobile terminal (such as mobile phone) by wireless network connection, receives the control that external mobile terminal is sentSignal, signal strength detection module are connect with the signal transmitting and receiving module, detect the signal transmitting and receiving module and external movementThe signal strength of the wireless network (such as bluetooth or WIFI signal network, usually short haul connection mode) between terminal is bigIt is small；Controller is separately connected with the signal transmitting and receiving module and signal strength detection module, according to the signal of the wireless networkIntensity size and the control signal control the walking of the basketball robot, send control due to that can pass through the mobile terminals such as mobile phoneSignal processed persistently controls robot ambulation in short distance, carries basketball with Portable belt, intelligence degree is high, better user experience.
Specific embodiment
The present invention is further illustrated with embodiment with reference to the accompanying drawing.
Portable basket-playing machine device people's control method as shown in Figs. 1-2 is applied to basketball robot, basketball robot packetInclude chassis, the chassis includes chassis 1 and the stepper motor 3 that is arranged on the chassis 1, the output of the stepper motor 3Axis connection universal wheel 2, the stepper motor 3 are also connected with controller (not showing in Fig. 1), are equipped with above the chassis 1 for placingPlacement section the 4(such as concave part or frame structure of basketball), the placement section 4 is fixedly connected by connecting rod 5 with the chassis 1,It further include the locating module being connect with the controller, signal transmitting and receiving module and signal strength detection module.This method include withLower step:
One, locating module (such as GPS positioning module) obtains the current location information of the basketball robot；
Two, signal transmitting and receiving module and external mobile terminal (such as mobile phone) pass through wireless network (such as blueteeth network or WIFIThe short distance communication networks such as network) connection, receive the control signal that external mobile terminal is sent；
Three, signal strength detection module detects described wireless between the signal transmitting and receiving module and the mobile terminal of outsideThe signal strength size of network；
Four, controller is according to the signal strength size of the wireless network, the current location information of basketball robot and instituteControl signal is stated to control the operation of the stepper motor to drive universal wheel, and then controls the walking of the basketball robot.
The present invention is carried by walking robot and carries basketball, on it setting signal transceiver module, with external movementTerminal (APP on such as mobile phone or mobile phone) receives the control signal that external mobile terminal is sent by wireless network connection, letterNumber intensity detection module is connect with the signal transmitting and receiving module, is detected between the signal transmitting and receiving module and the mobile terminal of outsideThe wireless network (such as bluetooth or WIFI signal network, usually short haul connection mode) signal strength size；ControlDevice is separately connected with the signal transmitting and receiving module and signal strength detection module, according to the signal strength size of the wireless networkThe walking that the basketball robot is controlled with the control signal is existed due to that can pass through the mobile terminals such as mobile phone transmission control signalShort distance persistently controls robot and walks immediately following user, carries basketball with Portable belt, intelligence degree is high, better user experience.
Specifically, the controller is specifically used in order to improve the accuracy that user's travelling control is closely followed by robot: when connecingWhen receiving the control signal, walking path is planned according to the current location information of the basketball robot, controls the basketballRobot starting is walked according to the walking path, when the signal strength of the wireless network is less than or equal to first threshold (When basketball robot is remote with distance of mobile terminal), it controls the stepper motor and is run with biggish first revolving speed；When described wirelessWhen the signal strength of network is more than or equal to second threshold (when basketball robot is close with distance of mobile terminal), the stepping is controlledMotor is run with the second revolving speed；Wherein first revolving speed is greater than second revolving speed, and the first threshold is less than second threshold,Wherein first threshold, second threshold, the first revolving speed and the second revolving speed can be arranged as the case may be, be not construed as limiting.Specific pathWhen planning, APP such as map APP(such as Baidu map, Amap on the mobile terminals such as mobile phone) starting and by mobile terminal positionBy signal transmitting and receiving module forwards to controller, controller obtains mobile terminal locations letter for confidence breath and its peripheral map informationBreath and its peripheral map information, the current location information in conjunction with the basketball robot are basketball robot planning roadDiameter information, and then further increase the accuracy of robot ambulation control.
Preferably, in one example, which further includes identification device, is connect with the controller, the partyMethod further include: identify the obstacle identity in front of the basketball robot；Obstacle identity in front of the basketball robotWhen for that can not clear the jumps, the controller controls the basketball robot and slows down；Barrier in front of the basketball robotHindering species type is when can clear the jumps, and the controller controls the basketball robot acceleration and passes through.When the barrierIt is the type that can not clear the jumps when height is higher than predetermined value, when the height of the barrier is lower than the predetermined value,For the type that can clear the jumps.The barrier in front of basketball robot can be specifically obtained by the videos such as camera or image acquiring deviceHinder object image, image procossing is calculated the height of barrier, in order to distinguish obstacle identity, and then improves basketball machineThe accuracy and precision of people's travelling control.
Preferably, in order to improve the safety that the basketball robot controls, illegal operation control is avoided, the controller is alsoFor: firstly, receiving the authentication request for the mobile terminal transmission that the signal transmitting and receiving module forwards are come, the identityChecking request carries user identifier (such as identity id information) and eyeball information sequence ciphertext；Then, to the eyeball information sequenceColumn ciphertext is decrypted, and obtains eyeball information sequence；Wherein the eyeball information sequence include multiple eyeball information of user (such asThe eyeball information for the individual subscriber that different time obtains), there is between the eyeball information ordinal relation, specific encryption and decryption sideCommon enciphering and deciphering algorithm etc. can be used in formula, is not especially limited；Later, corresponding verifying is obtained according to the user identifier to believeBreath returns to instruction authentication to the mobile terminal when determining that the eyeball information sequence is matched with the verification informationBy message.User identifier is associated with corresponding verification information and has previously been stored in controller or connect with controllerMemory in.
Preferably, described in order to pass through the information that the mobile terminals such as mobile phone obtain the basketball being placed in robot in real timePlacement section is equipped with camera, and the camera is electrically connected with the controller.This method further include: mobile terminal sends orderAnd it is transferred to controller, controller control camera, which acquires basketball image information and is transmitted back to mobile terminal, to be shown, justIt is checked in user and understands basketball situation.
It further, in one example, should in order to further increase the accuracy that user's travelling control is closely followed by robotBasketball robot further includes range unit (such as distance measuring sensor), is connect with the controller.This method further include: described in measurementThe distance between basketball robot and the mobile terminal；When the distance is less than third threshold value, the controller controls instituteStepper motor is stated with the operation of third revolving speed；When the distance is more than or equal to third threshold value, the controller controls the steppingMotor is run with the 4th revolving speed；Wherein the third revolving speed is less than the 4th revolving speed.I.e. when basketball robot and the movementWhen the distance between terminal is big, accelerate walking, when the distance between basketball robot and the mobile terminal are small, slow down rowIt walks, improves the accuracy that user's travelling control is closely followed in short distance by robot.
The beneficial effects of the present invention are: the present invention is carried by walking robot carries basketball, setting signal is received on itModule is sent out, with external mobile terminal (such as mobile phone) by wireless network connection, receives the control that external mobile terminal is sentSignal, signal strength detection module are connect with the signal transmitting and receiving module, detect the signal transmitting and receiving module and external movementThe signal strength of the wireless network (such as bluetooth or WIFI signal network, usually short haul connection mode) between terminal is bigIt is small；Controller is separately connected with the signal transmitting and receiving module and signal strength detection module, according to the signal of the wireless networkIntensity size and the control signal control the walking of the basketball robot, send control due to that can pass through the mobile terminals such as mobile phoneSignal processed persistently controls robot in short distance and walks immediately following user, carries basketball with Portable belt, intelligence degree is high, user's bodyIt tests preferably.
The present invention is described in detail above, specific case used herein is to the principle of the present invention and embodiment partyFormula is expounded.The above description of the embodiments is only for helping to understand the core idea of the present invention；Meanwhile for this fieldThose skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum upDescribed, the contents of this specification are not to be construed as limiting the invention.