CN107813306B - Robot and motion control method and device thereof - Google Patents
Robot and motion control method and device thereof Download PDFInfo
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- CN107813306B CN107813306B CN201610817291.2A CN201610817291A CN107813306B CN 107813306 B CN107813306 B CN 107813306B CN 201610817291 A CN201610817291 A CN 201610817291A CN 107813306 B CN107813306 B CN 107813306B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The invention discloses a robot and an action control method and device thereof. The robot motion control method includes: when the robot executes a first preset action, acquiring an action response mode of the robot, wherein the action response mode is a response mode of the robot to a control instruction; receiving a control instruction, wherein the control instruction is an instruction for controlling the robot to execute a second preset action; and controlling the robot to execute a second preset action according to the action response mode, wherein the action response mode of the robot comprises a first mode, and in the first mode, after receiving a control instruction, the robot stops executing the first preset action and starts executing the second preset action.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot and a motion control method and device thereof.
Background
Along with the improvement of the quality of life of people and the development of robot technology, people have more and more demands on intelligent robots, and robots with various functions, such as a floor sweeping robot, a meal delivery robot, a nursing robot and the like, are born by the people. However, these robots can only provide specific services, are single in action, mechanical, low in interaction amount with people, and have no additional functions, and cannot respond to the needs of people in time.
The intelligent robot has the advantages of great multifunction and single function, low intelligent degree, less external signals capable of being processed, deviation from service types, generally once-programmed action in the action aspect, no pause in the middle or need to be done again when the action is started again after the pause. The feeling of people is rigid, and the interaction with people cannot be reflected. If an instruction is sent in the process of executing the action of the robot, the robot cannot respond immediately and can only respond after the current action is completely finished, and after the action is finished, the distance instruction is sent for a long time, the robot cannot execute the instruction again, a user is not tired, and the like, so the response speed of the robot is low, and the user experience is poor.
Aiming at the problem of slow response speed of the robot in the related art when the robot executes the action, an effective solution is not provided at present.
Disclosure of Invention
The invention mainly aims to provide a robot and a motion control method and device thereof, and aims to solve the problem that the response speed of the robot is low when the robot executes motions.
In order to achieve the above object, according to one aspect of the present invention, there is provided a robot motion control method including: when the robot executes a first preset action, acquiring an action response mode of the robot, wherein the action response mode is a response mode of the robot to a control instruction; receiving a control instruction, wherein the control instruction is an instruction for controlling the robot to execute a second preset action; and controlling the robot to execute a second preset action according to the action response mode, wherein the action response mode of the robot comprises a first mode, and in the first mode, after receiving the control instruction, the robot stops executing the first preset action and starts executing the second preset action.
Further, the controlling the robot to perform the second preset action according to the action response mode includes: acquiring a first preset action sequence of the robot, wherein the first preset action sequence is a first preset action sequence executed by the robot and at least comprises one action; judging the execution state of the action of the robot in a first preset action sequence, wherein the execution state comprises the execution start and the execution neutralization completion; if the execution state of the action of the robot in the sequence of the first preset action is judged to be in execution, controlling the robot to execute a second preset action; and if the execution state of the action of the robot in the sequence of the first preset action is judged to be the execution start and the execution completion, the robot is not controlled to execute the second preset action.
Further, the step of judging the execution state of the motion of the robot in the sequence of the first preset motion comprises the following steps: acquiring identification information of an action execution state of the robot in a first preset action sequence; and determining the action execution state of the robot in the first preset action sequence according to the identification information.
Further, the action response mode further comprises a second mode, and the controlling the robot to execute a second preset action according to the action response mode comprises: acquiring a first preset action sequence of the robot, wherein the first preset action sequence is a first preset action sequence executed by the robot and at least comprises one action; and after the execution of the action in the sequence of the first preset action of the robot is finished, controlling the robot to execute a second preset action.
Further, the robot includes a controller and a sensor, and receiving the control instruction includes: receiving a control instruction input by a user; or receiving a control instruction generated by the controller, wherein the controller generates the control instruction according to the signal acquired by the sensor.
Further, the sensor is a sensor for detecting an obstacle, and receiving the control instruction generated by the controller includes: the robot detects obstacles on the running road of the robot through a sensor; when the sensor detects an obstacle on the running road of the robot, the controller generates an instruction for avoiding the obstacle; the robot receives an instruction to avoid the obstacle.
Further, receiving the control instruction includes receiving a voice control instruction.
In order to achieve the above object, according to another aspect of the present invention, there is also provided a robot motion control apparatus including: the robot control system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a motion response mode of the robot when the robot executes a first preset motion, and the motion response mode is a response mode of the robot to a control instruction; the receiving unit is used for receiving a control instruction, wherein the control instruction is an instruction for controlling the robot to execute a second preset action; and the control unit is used for controlling the robot to execute a second preset action according to the action response mode, wherein the action response mode of the robot comprises a first mode, and in the first mode, after receiving the control instruction, the robot stops executing the first preset action and starts executing the second preset action.
Further, the control unit includes: the robot comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a sequence of first preset actions of the robot, the sequence of the first preset actions is a sequence of the first preset actions executed by the robot, and the sequence of the first preset actions at least comprises one action; the judging module is used for judging the execution state of the action of the robot in a first preset action sequence, wherein the execution state comprises the execution start and the execution neutralization completion; and the control module is used for controlling the robot to execute a second preset action when judging that the execution state of the action of the robot in the sequence of the first preset action is in execution, and not controlling the robot to execute the second preset action when judging that the execution state of the action of the robot in the sequence of the first preset action is in execution start and execution completion.
Further, the first obtaining module comprises: the acquisition submodule is used for acquiring identification information of an action execution state of the robot in a first preset action sequence; and the determining submodule is used for determining the action execution state of the robot in the first preset action sequence according to the identification information.
Further, the motion response mode further includes a second mode, and the control unit includes: the robot comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a sequence of first preset actions of the robot, the sequence of the first preset actions is a sequence of the first preset actions executed by the robot, and the sequence of the first preset actions at least comprises one action; and the second control module is used for controlling the robot to execute a second preset action after the action in the sequence of the first preset action of the robot is executed.
Further, the robot includes a controller and a sensor, and the receiving unit includes: the first receiving module is used for receiving a control instruction input by a user; or the second receiving module is used for receiving the control instruction generated by the controller, wherein the controller generates the control instruction according to the signal acquired by the sensor.
Further, the sensor is a sensor for detecting an obstacle, and the second receiving module includes: the detection submodule is used for enabling the robot to detect obstacles on the robot running path through the sensor; the generating submodule is used for generating an instruction for avoiding the obstacle through the controller when the sensor detects the obstacle on the running road of the robot; and the receiving submodule is used for receiving the command of avoiding the obstacle through the robot.
In order to achieve the above object, according to another aspect of the present invention, there is also provided a robot including the robot motion control apparatus of the present invention.
According to the invention, when the robot executes a first preset action, an action response mode of the robot is obtained, wherein the action response mode is a response mode of the robot to a control instruction; receiving a control instruction, wherein the control instruction is an instruction for controlling the robot to execute a second preset action; and controlling the robot to execute a second preset action according to the action response mode, wherein the action response mode of the robot comprises a first mode, and in the first mode, after receiving the control instruction, the robot stops executing the first preset action and starts executing the second preset action, so that the problem of low response speed of the robot when executing the action is solved, and the effect of improving the response speed of the robot when executing the action is further achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a robot motion control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of robot motion control according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of robot motion control according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a robot motion control model according to an embodiment of the present invention; and
fig. 5 is a schematic diagram of a robot motion control apparatus according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides a robot action control method.
Fig. 1 is a flowchart of a robot motion control method according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102: and when the robot executes a first preset action, acquiring an action response mode of the robot.
The robot may be a wheeled robot, for example, an omni-directional wheeled robot or a differential mobile platform wheeled robot, or a biped robot. The first preset action may be one action or a series of actions, for example, a sequence of actions of 5 meters advance. The action response mode is a response mode of the robot to the control command, the action response mode is also a mood mode of the robot, or a personality mode, for example, the mood blur of the robot can be happy or unhappy, and the response mode of the robot to the command is different in different action response modes of the robot, for example, in the happy mode, the response of the robot to the received command is faster, the action can be switched and executed faster, and in the unhappy mode, the response of the robot to the command is not so fast, the current action may be continued to be executed until the current action is finished.
The motion response mode may include a plurality of modes, and the motion response mode may be a preset mode, for example, the motion response mode may also be a charming mode. In each mode, the response mode of the robot to the instructions is different, the specific response mode of the robot to each instruction can be preset and stored, and can also be adjusted and set in the running process of the robot, and optionally, the data of each action response mode is stored in the memory.
Step S104: and receiving a control instruction.
The control instruction is an instruction for controlling the robot to execute a second preset action, the second preset action may be "dancing" or an instruction for approaching a certain object, and the control instruction may be a control instruction sent by a user, for example, the user sends a voice instruction to let the robot dance. The control command may be a control command generated by the controller, wherein the controller generates the control command according to a signal collected by the sensor, for example, during the operation of the robot, the sensor detects an obstacle on the operation path of the robot, and then the controller analyzes and processes the generated control command. When the sensor detects an obstacle on the robot running road, the data of the detected obstacle is sent to the controller, then the controller generates an obstacle avoiding instruction and sends the obstacle avoiding instruction to the robot, for example, the controller sends the obstacle avoiding instruction to a processor of the robot, and the robot receives the obstacle avoiding instruction.
The control command receiving may be a voice control command receiving, or a digital control command receiving via a wireless network.
Step S106: and controlling the robot to execute a second preset action according to the action response mode.
The action response mode of the robot comprises a first mode, and in the first mode, after the robot receives the control command, the robot stops executing the first preset action and starts executing the second preset action in the process of executing the first preset action. The first mode may be an open center mode, and in the open center mode, after receiving the control command during the process of executing the first preset action, the robot can stop executing the current first preset action, and immediately execute the second preset action according to the control command, without waiting until all the current actions are finished and then executing the control command.
For example, when the motions are packaged, one motion of the robot is decomposed into a plurality of small motions, and the robot can be immediately switched to a second preset motion when each small motion is executed, for example, if the robot is in a 'happy' emotional mode, and if the robot is walking, when the owner sends a 'dancing' instruction to the robot, the robot can immediately stop the current walking motion and turn to the dancing motion.
Alternatively, controlling the robot to perform the second preset action according to the action response mode may be: in a first mode, acquiring a first preset action sequence of the robot, wherein the first preset action sequence is a first preset action sequence executed by the robot and at least comprises one action; judging the execution state of the action of the robot in a first preset action sequence, wherein the execution state comprises the execution start and the execution neutralization completion; and if the execution state of the action of the robot in the sequence of the first preset action is judged to be in execution, controlling the robot to execute a second preset action, and if the execution state of the action of the robot in the sequence of the first preset action is judged to be in execution start and execution completion, not controlling the robot to execute the second preset action.
For example, the action currently being performed by the robot includes a sequence of a plurality of actions, that is, includes a plurality of small actions, where each small action includes three execution states, execution starts, execution neutralizes execution completes, if the robot is in an emotional mode of "happy", the current action may be stopped to switch to the second preset action when the execution state is in execution, if the execution state is execution start and execution completes, the switch to the second preset action may not be immediately made, but the actions in the sequence of the execution actions are continued, and the switch to the second preset action may be made at the execution state of the next execution.
Optionally, the determining the execution state of the motion of the robot in the sequence of the first preset motion comprises: acquiring identification information of an action execution state of the robot in a first preset action sequence; and determining the action execution state of the robot in the first preset action sequence according to the identification information. When the execution state of the robot in the first preset sequence of actions is determined, the current action execution state of the robot may be determined by acquiring identification information of the action execution state of the robot, for example, when the identification information of the action execution state of the robot is MOT _ STAR, the identification information during execution is MOT _ DO, and the identification information after execution is MOT _ IDLE, the master control system of the robot may determine which action execution state the current operation state of the robot is by acquiring the identification information of the action execution state during the operation of the robot. The identification information of the action execution may also be other types of identification information, e.g. numbers, etc.
Optionally, the motion response mode further includes a second mode, and controlling the robot to execute a second preset motion according to the motion response mode includes: acquiring a first preset action sequence of the robot, wherein the first preset action sequence is a first preset action sequence executed by the robot and at least comprises one action; and after the execution of the action in the sequence of the first preset action of the robot is finished, controlling the robot to execute a second preset action.
The second preset mode may be an inattentive mode or an angry mode, and in the second mode, the robot does not immediately respond after receiving the control command, but continues to execute the action in the current action sequence until all actions in the current action sequence are executed, and then does not respond to the control command. That is, the packaged small actions are all finished and then the control command is responded. When judging whether all the actions in the current action sequence are finished, the judgment can be carried out by acquiring the identification information of the action execution state.
In an alternative embodiment, the robot can respond accordingly according to a received instruction, for example, after a voice module of the robot receives an order from the owner, "the voice module controls the state of the robot to move to the owner," but in the process of walking, other information may be received, for example, the distance sensor detects the information of an obstacle or the voice acquisition module receives an order of dancing "from the owner, which requires the robot to stop the current walking action, switch to the action corresponding to the instruction, avoid the obstacle or" dance ". In the traditional robot motion control, the robot motion package is a series of complete motions, the series of motions must be finished before stopping or switching to the next motion, and after the series of motions is executed, the owner may have been impatient or have issued several commands. The robot can not determine which command of the master is executed when the robot executes the command of the master again, so that the response speed of the robot is slow, and the user experience is poor. In the embodiment of the invention, one or more action response modes are set for the robot, namely, the mood mode of the robot can be two, namely, the happy mode and the unhappy mode, wherein in the happy mode, the action being executed by the robot can be decomposed into a plurality of small actions, and in the execution process of each small action, after the instruction of a host is received, the current action can be immediately stopped, and the instruction is turned to be executed. For example, when the owner gives a dancing command to the robot while the robot is walking, the robot can immediately stop the current walking motion and turn to the dancing motion.
The robot action control method provided by the embodiment of the invention can receive various external information, control the self action according to a specific scene, process and make a decision and make a proper response, so that the action of the robot is smoother and more flexible, and the real-time interaction with the outside is realized.
The embodiment adopts a mode of acquiring the action response mode of the robot when the robot executes a first preset action, wherein the action response mode is the response mode of the robot to a control command; receiving a control instruction, wherein the control instruction is an instruction for controlling the robot to execute a second preset action; and controlling the robot to execute a second preset action according to the action response mode, wherein the action response mode of the robot comprises a first mode, and in the first mode, after the robot receives the control instruction, the robot stops executing the first preset action and executes the second preset action in the process of executing the first preset action, so that the problem of low response speed of the robot when executing the action is solved, and the effect of improving the response speed of the robot when executing the action is achieved.
Fig. 2 is a schematic diagram of robot motion control according to a first embodiment of the present invention, as shown in fig. 2, in the process of executing a motion by the robot, three motion execution states are included, each motion execution state has different identification information, for example, the identification information of all motion execution start is MOT _ STAR, the identification information in execution is MOT _ DO, the identification information of execution completion is MOT _ IDLE, and a state value is different at the time of switching of each motion execution state in a program for controlling the operation of the robot, for example, when the robot is switched from execution start to execution, the state value becomes MOT _ is _ done; when the robot is shifted from execution to execution end, the state value becomes! mot _ is _ ding; when the robot is shifted from the end of execution to the start of the next action execution, the state value changes to CMD! 0. Wherein, CMD! When the robot does a certain action, other sensors still receive signals, so the master control system needs to know the current action state of the robot in real time, the master control system monitors the current action state in real time, when the action state is MOT _ DO, the robot can switch to the next action, and if a new instruction is received under the condition that the current state value is not MOT _ DO, the robot continues to execute the current action without switching.
Fig. 3 is a schematic diagram of robot motion control according to a second embodiment of the present invention, and as shown in fig. 3, the walking of the robot can be divided into three small motions, WK _ FST, WK _ ONE, WK _ LST, each of which has three states: the execution starts, the execution neutralizes and the execution ends, the identification information is IDLE, STAR and DO, if the master sends a control instruction, namely a command, in the walking process of the robot, the robot can immediately detect which execution state the current self action is in, immediately switch from the current small action and execute the command of the master, so that the robot can give timely feedback and response to people, the master can feel the vitality of the robot, the robot is more like a human little partner, and the user experience is improved.
Fig. 4 is a schematic diagram of a robot motion control model according to an embodiment of the present invention.
The robot operating system includes, but is not limited to, the following functional modules: a master control system module; a motion control module; a voice acquisition processing module; an image acquisition processing module; a force sensitive module; a distance measurement module; an audio playing module; interfaces to other sensors. The voice module, the motion control module, the force sensing module and the distance measuring module are connected and communicated with a main control board through Universal Asynchronous Receiver/Transmitter (UART) interfaces, the input interface can also be an input interface of a camera, and the main control board can be a main control board in a main control system module; the Audio playing module is connected with the main control board through an Audio (Audio) interface for communication; the image acquisition processing module is connected with the main control board through a USB interface for communication. The main control module receives data collected by various sensors through a UART interface and a USB interface, processes and makes a decision, and outputs corresponding actions and sound. The action control model of the robot comprises input, processing, decision and output, wherein the input can be input through interfaces of a plurality of sensors, the master control system module processes the input signals and then generates decision signals, and the output of the robot is controlled through the decision signals, for example, the output can be action and sound.
The robot motion control method of the embodiment of the invention can also be applied to robots in other fields, such as mechanical arms and the like, wherein the communication and control with external intelligent equipment can also be expanded to other actuators or execution devices with communication modules.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
Embodiments of the present invention provide a robot motion control apparatus, which may be used to execute a robot motion control method according to an embodiment of the present invention.
Fig. 5 is a schematic view of a robot motion control apparatus according to an embodiment of the present invention, as shown in fig. 5, the apparatus including:
the acquiring unit 10 is configured to acquire a motion response mode of the robot when the robot executes a first preset motion, where the motion response mode is a response mode of the robot to a control instruction.
The receiving unit 20 is configured to receive a control instruction, where the control instruction is an instruction for controlling the robot to execute a second preset action.
And the control unit 30 is configured to control the robot to execute a second preset action according to the action response mode, where the action response mode of the robot includes a first mode, and in the first mode, after receiving the control instruction, the robot stops executing the first preset action and starts executing the second preset action.
Optionally, the control unit 30 comprises: the robot comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a sequence of first preset actions of the robot, the sequence of the first preset actions is a sequence of the first preset actions executed by the robot, and the sequence of the first preset actions at least comprises one action; the judging module is used for judging the execution state of the action of the robot in a first preset action sequence, wherein the execution state comprises the execution start and the execution neutralization completion; and the control module is used for controlling the robot to execute a second preset action when judging that the execution state of the action of the robot in the sequence of the first preset action is in execution, and not controlling the robot to execute the second preset action when judging that the execution state of the action of the robot in the sequence of the first preset action is in execution start and execution completion.
Optionally, the first obtaining module includes: the acquisition submodule is used for acquiring identification information of an action execution state of the robot in a first preset action sequence; and the determining submodule is used for determining the action execution state of the robot in the first preset action sequence according to the identification information.
Optionally, the motion response mode further includes a second mode, and the control unit 30 includes: the robot comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a sequence of first preset actions of the robot, the sequence of the first preset actions is a sequence of the first preset actions executed by the robot, and the sequence of the first preset actions at least comprises one action; and the second control module is used for controlling the robot to execute a second preset action after the action in the sequence of the first preset action of the robot is executed.
Optionally, the robot comprises a controller and a sensor, and the receiving unit 20 comprises: the first receiving module is used for receiving a control instruction input by a user; or the second receiving module is used for receiving the control instruction generated by the controller, wherein the controller generates the control instruction according to the signal acquired by the sensor.
Optionally, the sensor is a sensor for detecting an obstacle, and the second receiving module includes: the detection submodule is used for enabling the robot to detect obstacles on the robot running path through the sensor; the generating submodule is used for generating an instruction for avoiding the obstacle through the controller when the sensor detects the obstacle on the running road of the robot; and the receiving submodule is used for receiving the command of avoiding the obstacle through the robot.
In the embodiment, the obtaining unit 10 is adopted to obtain an action response mode of the robot when the robot executes a first preset action, wherein the action response mode is a response mode of the robot to a control instruction; the receiving unit 20 receives a control command, wherein the control command is a command for controlling the robot to execute a second preset action. The control unit 30 controls the robot to execute a second preset action according to the action response mode, wherein the action response mode of the robot includes a first mode, and in the first mode, after receiving the control instruction, the robot stops executing the first preset action and starts executing the second preset action, so that the problem of slow response speed of the robot when executing the action is solved, and the effect of improving the response speed of the robot when executing the action is achieved.
The embodiment of the invention also provides a robot, which comprises the robot action control device provided by the embodiment of the invention.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. A robot motion control method is characterized by comprising:
when a robot executes a first preset action, acquiring an action response mode of the robot, wherein the action response mode is a response mode of the robot to a control instruction;
receiving a control instruction, wherein the control instruction is an instruction for controlling the robot to execute a second preset action; and
controlling the robot to execute the second preset action according to the action response mode, wherein the action response mode of the robot comprises a first mode, and in the first mode, after receiving the control instruction, the robot stops executing the first preset action and starts executing the second preset action;
wherein controlling the robot to execute the second preset action according to the action response mode comprises:
acquiring a first preset action sequence of the robot, wherein the first preset action sequence is the first preset action sequence executed by the robot, and the first preset action sequence at least comprises one action;
judging the execution state of the action of the robot in the first preset action sequence, wherein the execution state comprises execution; and
and if the execution state of the action of the robot in the sequence of the first preset action is judged to be in execution, controlling the robot to execute the second preset action.
2. The method of claim 1, wherein the execution state further comprises execution start and execution completion, and wherein controlling the robot to perform the second preset action according to the action response mode further comprises:
and if the execution state of the action of the robot in the sequence of the first preset action is judged to be the execution start and the execution completion, the robot is not controlled to execute the second preset action.
3. The method of claim 2, wherein determining the execution state of the action of the robot in the sequence of the first preset actions comprises:
acquiring identification information of an action execution state of the robot in the first preset action sequence; and
and determining the action execution state of the robot in the first preset action sequence according to the identification information.
4. The method of claim 1, wherein the motion response mode further comprises a second mode, and wherein controlling the robot to perform the second preset motion according to the motion response mode comprises:
acquiring a first preset action sequence of the robot, wherein the first preset action sequence is the first preset action sequence executed by the robot, and the first preset action sequence at least comprises one action; and
and after the execution of the action in the sequence of the first preset action of the robot is finished, controlling the robot to execute the second preset action.
5. The method of claim 1, wherein the robot includes a controller and a sensor, and wherein receiving the control instruction includes:
receiving a control instruction input by a user; or
And receiving a control instruction generated by the controller, wherein the controller generates the control instruction according to the signal acquired by the sensor.
6. The method of claim 5, wherein the sensor is a sensor for detecting an obstacle, and receiving the control instruction generated by the controller comprises:
the robot detects obstacles on the robot running path through the sensor;
when the sensor detects an obstacle on the robot running road, the controller generates an instruction for avoiding the obstacle; and
and the robot receives the command for avoiding the obstacle.
7. The method of claim 1, wherein receiving control instructions comprises receiving voice control instructions.
8. A robot motion control device is characterized by comprising:
the robot control system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a motion response mode of the robot when the robot executes a first preset motion, and the motion response mode is a response mode of the robot to a control instruction;
the robot control system comprises a receiving unit, a control unit and a control unit, wherein the receiving unit is used for receiving a control instruction, and the control instruction is used for controlling the robot to execute a second preset action; and
the control unit is used for controlling the robot to execute the second preset action according to the action response mode, wherein the action response mode of the robot comprises a first mode, and in the first mode, after receiving the control instruction, the robot stops executing the first preset action and starts executing the second preset action;
wherein the control unit includes:
the robot control system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first preset action sequence of the robot, the first preset action sequence is executed by the robot, and the first preset action sequence at least comprises one action;
the judging module is used for judging the execution state of the action of the robot in the first preset action sequence, wherein the execution state comprises execution; and
and the control module is used for controlling the robot to execute the second preset action when the execution state of the action of the robot in the sequence of the first preset action is judged to be in execution.
9. The apparatus according to claim 8, wherein the execution state further includes start of execution and completion of execution, and the control module is further configured to not control the robot to execute the second preset action when it is determined that the execution state of the action of the robot in the sequence of the first preset action is start of execution and completion of execution.
10. The apparatus of claim 9, wherein the first obtaining module comprises:
the acquisition submodule is used for acquiring identification information of an action execution state of the robot in the first preset action sequence; and
and the determining submodule is used for determining the action execution state of the robot in the first preset action sequence according to the identification information.
11. The apparatus of claim 8, wherein the motion response mode further comprises a second mode, and wherein the control unit comprises:
the second obtaining module is used for obtaining a first preset action sequence of the robot, wherein the first preset action sequence is the first preset action sequence executed by the robot, and the first preset action sequence at least comprises one action; and
and the second control module is used for controlling the robot to execute the second preset action after the action in the sequence of the first preset action of the robot is executed.
12. The apparatus of claim 8, wherein the robot comprises a controller and a sensor, and the receiving unit comprises:
the first receiving module is used for receiving a control instruction input by a user; or
And the second receiving module is used for receiving the control instruction generated by the controller, wherein the controller generates the control instruction according to the signal acquired by the sensor.
13. The apparatus of claim 12, wherein the sensor is a sensor for detecting an obstacle, and the second receiving module comprises:
the detection submodule is used for enabling the robot to detect obstacles on the robot running path through the sensor;
the generation submodule is used for generating an instruction for avoiding the obstacle through the controller when the sensor detects the obstacle on the robot running road; and
and the receiving submodule is used for receiving the command for avoiding the obstacle through the robot.
14. A robot comprising the robot motion control device according to any one of claims 8 to 13.
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| CN201610817291.2A CN107813306B (en) | 2016-09-12 | 2016-09-12 | Robot and motion control method and device thereof |
| PCT/CN2017/091975 WO2018045808A1 (en) | 2016-09-12 | 2017-07-06 | Robot and motion control method and device therefor |
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| CN110297432B (en) * | 2018-03-21 | 2021-07-02 | 北京猎户星空科技有限公司 | Robot action sequence generation method, device and system |
| CN110442086A (en) * | 2018-05-02 | 2019-11-12 | 深圳市优必选科技有限公司 | A kind of robot and its method of movement switching |
| CN111267087A (en) * | 2018-12-04 | 2020-06-12 | 北京猎户星空科技有限公司 | Method, device, equipment and storage medium for generating and executing action molecules |
| CN111267088A (en) * | 2018-12-04 | 2020-06-12 | 北京猎户星空科技有限公司 | Method, device, equipment and storage medium for executing action molecules |
| CN111267085A (en) * | 2018-12-04 | 2020-06-12 | 北京猎户星空科技有限公司 | Method, device, equipment and storage medium for executing action molecules |
| CN112656986A (en) * | 2020-12-29 | 2021-04-16 | 东莞市李群自动化技术有限公司 | Robot-based sterilization method, apparatus, device, and medium |
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| CN107813306A (en) | 2018-03-20 |
| WO2018045808A1 (en) | 2018-03-15 |
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