CN109159134A - A kind of robot control method and robot - Google Patents
A kind of robot control method and robot Download PDFInfo
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- CN109159134A CN109159134A CN201811173214.3A CN201811173214A CN109159134A CN 109159134 A CN109159134 A CN 109159134A CN 201811173214 A CN201811173214 A CN 201811173214A CN 109159134 A CN109159134 A CN 109159134A
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
Robot control method and robot provided by the invention, applied to field of intelligent control technology, this method is accompanied and attended in acquisition after order, order of accompanying and attending to is parsed first, determine that leads pet outdoor activity leads route according to order of accompanying and attending to, this, which leads, contains initial position and final position in route, and it reaches home the mobile route of position from initial position, it determines after leading route, control the location information for leading tool that robot obtains pet, and according to the positional information, control mechanical arm leads tool described in grasping, i.e. by leading tool to draw pet, then i.e. controllable robot leads route mobile according to described, realize that robot accompanies and attends to pet outdoor activity, to effectively be accompanied and attended to instead of owner to pet, ensuring can be often with pet outdoor activity, simultaneously, save pet owner when Between.
Description
Technical field
The invention belongs to field of intelligent control technology more particularly to a kind of robot control methods and robot.
Background technique
With the development of robot technology, more and more industries or work begin to use robot, to improve work effect
Rate or the occupancy for reducing human resources.In terms of daily life, robot, which is similarly obtained, to be widely applied, than if any cleaning
Robot, the robot that old man, child are guarded etc..
Due to the accelerating rhythm of life, the time of pet owner companion pet is fewer and fewer, is accompanied and attended to pet using robot
Demand it is further strong, therefore, need that pet owner companion pet, and the robot with pet outdoor activity can be replaced.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of robot control method and robot, instead of owner to doting on
Object is accompanied and attended to, and pet outdoor activity can be led, and saves the time of pet owner, and concrete scheme is as follows:
In a first aspect, the present invention provides a kind of robot control method, this method comprises:
Acquisition is accompanied and attended to order；
It accompanies and attends to described in parsing order, determination leads route, wherein described to lead route include initial position and terminal position
It sets, and reaches the mobile route in the final position from the initial position；
Obtain the location information for leading tool of pet；
According to the positional information, tool is led described in the grasping of control mechanical arm；
Control robot leads route mobile according to described.
Optionally, the control robot leads route mobile according to described, comprising:
Obtain the movement speed of the pet；
Seek the movement speed of the pet and the difference of robot movement speed；
The movement speed that the robot is corrected according to gained difference, obtains erection rate；
It controls the robot and leads route mobile according to described with the erection rate.
Optionally, the control robot leads route mobile with the erection rate according to described, comprising:
Obtain the status signal of the mechanical arm；
If the status signal characterizes the mechanical arm and is in open configuration, controls the robot and stop movement, and
Play default calling voice.
Optionally, it accompanies and attends to described in the parsing order, determination leads route, comprising:
It accompanies and attends to described in extraction and preset in order leads route；
Call preset electronic map；
Route is led described in load in the preset electronic map；
It is described that pet is led to lead route mobile according to described, comprising:
Navigation feature is opened, it is mobile according to the guide of the preset electronic map to control the robot.
Optionally, it accompanies and attends to described in the parsing order, determination leads route, comprising:
It accompanies and attends to described in extraction the target position for including in order；
Determine the current location of the robot；
It generates using the robot current location as initial position, leads road using the target position as final position
Line.
It is optionally, described to obtain order of accompanying and attending to, comprising:
Obtain the order of accompanying and attending to that the mobile terminal established and be wirelessly connected with the robot is sent.
It is optionally, described to obtain order of accompanying and attending to, comprising:
Obtain timing；
When system clock reaches the timing, preset order of accompanying and attending to is called.
Optionally, the robot control method that any one of first aspect present invention provides, further includes:
It obtains pet and checks instruction；
Instruction is checked according to the pet, is opened image collecting device, is obtained the video information of the pet.
Optionally, the robot control method that any one of first aspect present invention provides, further includes:
Obtain reminder time；
When system clock reaches the reminder time, prompting message is issued.
Second aspect, the present invention provide a kind of robot, comprising: running gear, image collecting device, is raised mechanical arm
Sound device, memory and processor；Wherein, the memory is stored with the program executed suitable for the processor, above-mentioned to realize
The step of first aspect described in any item robot control methods.
Based on the above-mentioned technical proposal, robot control method and robot provided by the invention, acquisition accompany and attend to order it
Afterwards, order of accompanying and attending to is parsed first, determines that leads pet outdoor activity leads route according to order of accompanying and attending to, this leads road
It contains initial position and final position in line, and reaches home the mobile route of position from initial position, determination leads road
After line, control robot obtains the location information for leading tool of pet, and according to the positional information, controls mechanical arm
Tool is led described in grasping, i.e., by leading tool to draw pet, then i.e. controllable robot leads route to move according to described
It is dynamic, realize that robot accompanies and attends to pet outdoor activity, to effectively be accompanied and attended to instead of owner to pet, it is ensured that can frequent band dote on
Object outdoor activity, meanwhile, save the time of pet owner.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of robot control method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural block diagram of robot controller provided in an embodiment of the present invention；
Fig. 3 is the structural block diagram of another robot controller provided in an embodiment of the present invention；
Fig. 4 is the structural block diagram of another robot controller provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Fig.1, Fig. 1 is the flow chart of robot control method provided in an embodiment of the present invention, and the embodiment of the present invention mentions
The robot control method of confession can be applied to control robot, be accompanied and attended to pet using robot, lead pet is outgoing to live
It is dynamic, guarantee that pet possesses the better state of mind.Referring to Fig. 1, which may include:
Step S100 obtains order of accompanying and attending to.
After robot booting, in addition to executing set related command, such as power-on self-test, robot is just at any time can be with
Receive the state for order of accompanying and attending to.Optionally, robot control method provided in an embodiment of the present invention can control robot and pass through
Various ways obtain order of accompanying and attending to, specific:
Available to establish the control command for having the mobile terminal of wireless connection to send with robot, which can be with
It is the mobile end that smart phone, PDA (Personal Digital Assistant, palm PC) etc. can run application software
End, also, the application software that order of accompanying and attending to can be sent to robot should be also installed on aforementioned mobile terminal, pet owner is logical
The application software crossed on mobile terminal sends order of specifically accompanying and attending to.Certainly, which is also possible to mating with robot
The dedicated remote controler being arranged.
Wireless connection between mobile terminal and robot can be using WiFi in the prior art, bluetooth, infrared ray letter
Number etc. technologies, the specific radio connection used between mobile terminal and robot, the present patent application is without limitation.
Optionally, the embodiment of the present invention also provides the implementation of default order of accompanying and attending to.Robot obtains pet owner and sets
Fixed timing, and start timing after obtaining timing, when timing time reaches aforementioned timing, calling is deposited
Preset order of accompanying and attending in reservoir.Further, if preset order of accompanying and attending to is not performed effectively after the acquisition, may be used also
It, can be with if default order of accompanying and attending to is not performed effectively always the number for repeating default order of accompanying and attending to is arranged
The default order of accompanying and attending to is abandoned, then waits the order of accompanying and attending to of standby communication terminals transmission.
It is envisioned that can also be to preset to accompany and attend to order and accompany and attend to order setting preferentially by what mobile terminal obtained
Grade, for example, when default order of accompanying and attending to mutually conflicts with the order of accompanying and attending to obtained by mobile terminal, due to being obtained by mobile terminal
Therefore the order of accompanying and attending to obtained the demand current more representative of pet owner can be executed preferentially and be accompanied by what mobile terminal obtained
Finger shield enables.
Step S110, parses order of accompanying and attending to, and determination leads route.
Acquisition is accompanied and attended to after order, and to accompanying and attending to, order is parsed, and is determined according to parsing acquired results and is led pet is outgoing to live
Dynamic leads route.Specifically, leading in route at least should include initial position and final position, and reached from initial position
The mobile route in final position.
Optionally, it accompanies and attends in order comprising leading there are many modes of route.One chain can be only set in order of accompanying and attending to
It is grounded location, after obtaining the order of accompanying and attending to, lead corresponding with the chained address is obtained by the chained address for including in order
Route.Alternatively, comprising needing acquisition to lead the partial parameters of route, such as target address information or moving direction in order of accompanying and attending to
And the contents such as moving distance.
Optionally, it if including to preset to lead route in order of accompanying and attending to, when order is accompanied and attended in parsing, needs to extract and accompany and attend to
Include in order it is default lead route, obtain it is default lead route after, call preset electronic map, and in the electronic map
What middle load extraction obtained leads route, obtains leading route based on what preset electronic map was realized.
Optionally, pet owner can also be mobile by mobile terminal real-time control machine people, thus according to pet owner
Current demand lead pet carry out activity, for example, pet owner can lead pet by the application software installed on mobile phone
Take a walk in cell etc..In this case, accompany and attend to include in order should be target position information, it is contemplated that
It is that the information of the target position should be provided in real time by pet owner.Meanwhile the specific setting of target position should be arranged one
Definite limitation, for example, cannot be apart from robot current location too far, so that robot, which can not generate, effectively leads route etc..
In this case, it needs to extract the target position for including in order of accompanying and attending to, after obtaining target position, into one
The current location for determining robot is walked, then produces using robot current location as initial position, is eventually with target position
Point position leads route.
Optionally, during generation leads route, need to comprehensively consider surrounding enviroment for leading the influence of route.
The shortest mobile route of distance that first can determine robot current location to target position, certainly, distance described herein is most
Short mobile route, not necessarily straight line can also be the shortest mobile route of distance that reference road situation generates.True
After the shortest mobile route of set a distance, need further to obtain the barrier letter in the shortest mobile route of current distance
Breath, on the basis of currently available distance shortest mobile route, hides corresponding barrier, to obtain final lead
Route.
Step S120 obtains the location information for leading tool of pet.
Pet lead tool can be traction rope, bail or other can effectively control pet activity range
Other lead work.
The location information of tool is led to refer mainly to lead what is be arranged on tool to ensure machine for robotic manipulator grasping
Device people can effectively control the location information of the part of pet activity, for example, be arranged in traction rope or bail dedicated for leading
The components such as the annulus drawn.
Lead the acquisition modes of tool location information it is same there are many.Optionally, can by image collecting device, such as
Camera obtains the image for leading tool, and then obtains the location information for leading tool.Optionally, tool can also led
And the sensing device being mutually matched is preset in robot, the specific location for leading tool is known by sensing device.
It is envisioned that the one end for leading tool to be connected with pet, necessarily has built up with pet solid and reliable
Connection, as long as that is, robot controls and leads tool, so that it may the scope of activities of effective limitation pet.
Step S130 is controlled according to location information and is led tool described in mechanical arm grasping.
After acquisition leads the location information of tool, i.e., the mechanical arm of controllable robot, which goes to grasp, leads tool.Machine
The specific implementation form of tool arm, can be any method in the prior art, the present patent application not to mechanical arm and
Mechanical arm grasping leads the mode of tool to be defined.
Step S140, control robot is according to leading route mobile.
Robot mechanical arm grasp pet lead tool after, this means that robot can be by leading work
Effective scope of activities of tool control pet.Then i.e. controllable robot leads route mobile according to above-mentioned, meanwhile, it leads and dotes on
Object leads route movable by this.
Optionally, during leading pet outdoor activity, need to keep the synchronizing moving of robot and pet as far as possible.
Therefore, it is also desirable to obtain the movement speed of pet, and then the movement speed of pet and the difference of robot movement speed is calculated
Value just needs the walking mechanism of robot to improve operating if the speed of pet movement is greater than the mobile speed of robot
Speed improves the movement speed of robot using the sum of gained difference and the current movement speed of robot as erection rate, from
And adapt to the movement speed of pet.Correspondingly, if the movement speed of pet is lower than the movement speed of robot, i.e. gained difference
For negative value, should be added with the current movement speed of robot with the negative value, using the lesser velocity amplitude of obtained numerical value as machine
The erection rate of device people, control walking mechanism reduces the movement speed of robot, to adapt to the rhythm of pet.
Optionally, during controlling robot according to leading route mobile with aforementioned erection rate, should also judge to dote on
Whether object moves together with robot, that is, judges whether pet has shaken off the control of robot, has gone to elsewhere.Specifically
, the status signal of the mechanical arm of robot can be acquired, if collected status signal, shows the manipulator of robot
Arm is in open configuration, illustrates that pet has been extricated from the control of robot, at this time, it may be necessary to which controlling robot stops movement, and broadcasts
Put default calling voice.It is envisioned that default calling voice, which preferably uses, to be doted on to give the pet for having been extricated from control for change as early as possible
The calling audio that owner people prerecords.
Optionally, after open configuration can also being in determining mechanical arm, image collecting device is opened, pet is obtained
Image information, and then judge the specific location of pet, then playing default calling voice.
Optionally, the status signal of mechanical arm can by formed switch provide, can also by relay or its
He realizes sensing device.Any mode that can be characterized manipulator folding condition and send corresponding states signal is all in the prior art
Be it is feasible, the present patent application embodiment not to provide mechanical arm status signal mode limit.
To sum up, it is outgoing that robot pet of accompanying and attending to may be implemented in the robot control method provided through the embodiment of the present invention
Activity, to effectively be accompanied and attended to instead of owner to pet, it is ensured that can be frequent with pet outdoor activity, meanwhile, save pet
The time of owner.
Optionally, to remind pet owner to lead pet outdoor activity, reminder time can also be set.Robot acquisition is doted on
The reminder time of owner people's setting issues prompting message when system clock reaches the reminder time of setting.Specifically, reminding
The concrete form of information, which can be, plays preset audio information, such as pet cry etc. by loudspeaker；Certainly, prompting message is also
It can be the mobile terminals such as the mobile phone to pet owner, PDA or robot dedicated remote control and send reminder message.
Pass through timed reminding pet owner, it is ensured that pet obtains the more regular outdoor activity time, protects pet
Hold the good state of mind.
Optionally, it no matter whether robot leads pet outdoor activity, is not likely in the pet owner of pet at one's side
Wish the state for remotely checking pet, therefore, the embodiment of the present invention, which also provides a kind of pet owner, can remotely check pet-like
The method of state.Pet owner sends pet to robot and checks instruction, robot obtains should by mobile terminal, such as mobile phone
After pet checks instruction, instruction is checked according to the pet, image collecting device, such as camera can be opened, and then obtain and dote on
The video information of object, and it is sent to by wireless network the mobile terminal of pet owner, it checks pet owner remotely and dotes on
The state of object.Certainly, pet owner can also remotely send calling voice, be issued by the loudspeaker of robot, realize long-range
Call pet.
Robot controller provided in an embodiment of the present invention is introduced below, robot control dress described below
The robot control method that may be considered that embodiment provides to realize the present invention is set, the function mould of setting is needed in central equipment
Block frame structure；Be described below content can with above it is cross-referenced.
Fig. 2 is a kind of structural block diagram of robot controller provided in an embodiment of the present invention, and referring to Fig. 2, which can
To include:
It accompanies and attends to command acquisition unit 10, for obtaining order of accompanying and attending to；
Route determination unit 20 is led, for parsing the order of accompanying and attending to, determination leads route, wherein described to lead road
Line includes initial position and final position, and the mobile route in the final position is reached from the initial position；
Location information acquiring unit 30, for obtaining the location information for leading tool of pet；
First control unit 40, for according to the positional information, leading tool described in control mechanical arm grasping；
Second control unit 50 leads route mobile for controlling robot according to described.
Optionally, second control unit 50, for control robot according to it is described lead route mobile when, it is specific to wrap
It includes:
Obtain the movement speed of the pet；
Seek the movement speed of the pet and the difference of robot movement speed；
The movement speed that the robot is corrected according to gained difference, obtains erection rate；
It controls the robot and leads route mobile according to described with the erection rate.
Optionally, second control unit 50 is drawn with the erection rate according to described for controlling the robot
When line of leading the way is mobile, specifically include:
Obtain the status signal of the mechanical arm；
If the status signal characterizes the mechanical arm and is in open configuration, controls the robot and stop movement, and
Play default calling voice.
Optionally, described to lead route determination unit 20, for parsing the order of accompanying and attending to, when determination leads route, tool
Body includes:
It accompanies and attends to described in extraction and preset in order leads route；
Call preset electronic map；
Route is led described in load in the preset electronic map；
It is described that pet is led to lead route mobile according to described, comprising:
Navigation feature is opened, it is mobile according to the guide of the preset electronic map to control the robot.
Optionally, described to lead route determination unit 20, for parsing the order of accompanying and attending to, when determination leads route, tool
Body includes:
It accompanies and attends to described in extraction the target position for including in order；
Determine the current location of the robot；
It generates using the robot current location as initial position, leads road using the target position as final position
Line.
Optionally, the command acquisition unit 10 of accompanying and attending to, for obtain accompany and attend to order when, specifically include:
Obtain the order of accompanying and attending to that the mobile terminal established and be wirelessly connected with the robot is sent.
Optionally, the command acquisition unit 10 of accompanying and attending to, for obtain accompany and attend to order when, specifically include:
Obtain timing；
When system clock reaches the timing, preset order of accompanying and attending to is called.
Optionally, referring to Fig. 3, the structural block diagram of another kind robot controller provided in an embodiment of the present invention, in Fig. 2
On the basis of illustrated embodiment, the device further include:
It checks instruction acquisition unit 60, checks instruction for obtaining pet；
Video acquisition unit 70 opens image collecting device, obtains the pet for checking instruction according to the pet
Video information.
Optionally, referring to fig. 4, the structural block diagram of another robot controller provided in an embodiment of the present invention, in Fig. 2
On the basis of illustrated embodiment, the device further include:
Reminder time acquiring unit 80, for obtaining reminder time；
Information transmitting unit 90, for issuing prompting message when system clock reaches the reminder time.
Optionally, the present patent application embodiment also provides a kind of robot, includes at least: running gear, mechanical arm, figure
As acquisition device, loudspeaker, memory and processor.
Wherein, the memory is stored with the program executed suitable for the processor, any in above-described embodiment to realize
The step of robot control method described in item.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments in the case where not departing from core of the invention thought or scope.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein
Consistent widest scope.
Claims (10)
1. a kind of robot control method, which is characterized in that the described method includes:
Acquisition is accompanied and attended to order；
It accompanies and attends to described in parsing order, determination leads route, wherein it is described that lead route include initial position and final position, with
And the mobile route in the final position is reached from the initial position；
Obtain the location information for leading tool of pet；
According to the positional information, tool is led described in the grasping of control mechanical arm；
Control robot leads route mobile according to described.
2. robot control method according to claim 1, which is characterized in that the control robot is led according to described
Route is mobile, comprising:
Obtain the movement speed of the pet；
Seek the movement speed of the pet and the difference of robot movement speed；
The movement speed that the robot is corrected according to gained difference, obtains erection rate；
It controls the robot and leads route mobile according to described with the erection rate.
3. robot control method according to claim 2, which is characterized in that the control robot is repaired with described
Positive speed leads route mobile according to described, comprising:
Obtain the status signal of the mechanical arm；
If the status signal characterizes the mechanical arm and is in open configuration, controls the robot and stop movement, and play
Default calling voice.
4. robot control method according to claim 1, which is characterized in that order of accompanying and attending to described in the parsing determines
Lead route, comprising:
It accompanies and attends to described in extraction and preset in order leads route；
Call preset electronic map；
Route is led described in load in the preset electronic map；
It is described that pet is led to lead route mobile according to described, comprising:
Navigation feature is opened, it is mobile according to the guide of the preset electronic map to control the robot.
5. robot control method according to claim 1, which is characterized in that order of accompanying and attending to described in the parsing determines
Lead route, comprising:
It accompanies and attends to described in extraction the target position for including in order；
Determine the current location of the robot；
It generates using the robot current location as initial position, leads route using the target position as final position.
6. robot control method according to claim 1, which is characterized in that described to obtain order of accompanying and attending to, comprising:
Obtain the order of accompanying and attending to that the mobile terminal established and be wirelessly connected with the robot is sent.
7. robot control method according to claim 1, which is characterized in that described to obtain order of accompanying and attending to, comprising:
Obtain timing；
When system clock reaches the timing, preset order of accompanying and attending to is called.
8. robot control method according to claim 1-7, which is characterized in that further include:
It obtains pet and checks instruction；
Instruction is checked according to the pet, is opened image collecting device, is obtained the video information of the pet.
9. robot control method according to claim 1-7, which is characterized in that further include:
Obtain reminder time；
When system clock reaches the reminder time, prompting message is issued.
10. a kind of robot characterized by comprising running gear, mechanical arm, image collecting device, loudspeaker, storage
Device and processor；Wherein, the memory is stored with the program executed suitable for the processor, to realize that claim 1-9 appoints
The step of robot control method described in one.
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| CN110677488A (en) * | 2019-09-30 | 2020-01-10 | 青岛海尔科技有限公司 | Path planning method and device for Internet of things system, storage medium and electronic device |
| CN112455570A (en) * | 2020-11-06 | 2021-03-09 | 钱继红 | Sharing robot for pet companion and working method thereof |
| CN112773283A (en) * | 2020-12-25 | 2021-05-11 | 珠海市一微半导体有限公司 | Cleaning robot and intelligent pet accompanying control method and chip of cleaning robot system |
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| CN107750999A (en) * | 2017-10-31 | 2018-03-06 | 朱森 | A kind of control system and method for Full automatic pet robot |
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