CN110370280A

CN110370280A - Feedback, system and the computer readable storage medium of robot behavior

Info

Publication number: CN110370280A
Application number: CN201910679847.XA
Authority: CN
Inventors: 欧阳建军
Original assignee: Shenzhen Tbz Technology Co Ltd
Current assignee: Shenzhen Tbz Technology Co Ltd
Priority date: 2019-07-25
Filing date: 2019-07-25
Publication date: 2019-10-25
Anticipated expiration: 2039-07-25
Also published as: CN110370280B

Abstract

The present invention discloses feedback, system and the computer readable storage medium of robot behavior, wherein the feedback of robot behavior, comprising: detection obtains robot manipulation's information；According to robot manipulation's information, behaviour control instruction corresponding with robot manipulation's information is generated；It is instructed according to behaviour control, control robot executes robot behavior corresponding with robot manipulation's information；Real-time detection robot executes operating status when robot behavior, generates state parameter information according to operating status；According to robot manipulation's information and state parameter information, the instruction of behavior feedback adjustment is generated；It is instructed according to behavior feedback adjustment, adjusts robot behavior in real time.Technical solution of the present invention aims to solve the problem that robot in the prior art and human interaction's effect are poor, the inflexible stiff problem of behavior implementation procedure.

Description

Feedback, system and the computer readable storage medium of robot behavior

Technical field

The present invention relates to robotic technology field more particularly to a kind of feedback of robot behavior, system and Computer readable storage medium.

Background technique

With the development of science and technology with the raising of human living standard, it is the mankind that robot, which gradually enters into huge numbers of families, The home services such as amusement, teaching and housekeeping are provided.Above-mentioned service, existing machine are provided to the mankind in order to more effectively facilitate People generally requires and human interaction, and complicated human work is realized according to human commands.

Existing home services are mostly the robot of pre-programmed with robot, need using it is preceding in robot it is pre- Control program is finished, the robot is then allowed to execute various services according to the control program of precompile；Or it obtains when in use User instruction is matched with the instruction in the control program of precompile, is referred to controlling robot according to the mankind by user instruction It enables and executes corresponding operation behavior, to realize interacting for robot and the mankind, and then realize increasingly complex human work.

However above-mentioned robot executes operation behavior according to human commands, realizes robot and human interaction, it is whole mutual Dynamic effect is poor, and the implementation procedure of behavior is often inflexible stiff.

Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill Art.

Summary of the invention

The main purpose of the present invention is to provide the feedback of robot, system and computer-readable storage mediums Matter, it is intended to which robot entirety interaction effect is poor in the prior art for solution, the inflexible stiff technical problem of the implementation procedure of behavior.

To achieve the above object, the invention proposes a kind of feedbacks of robot behavior, including following step It is rapid:

Detection obtains robot manipulation's information；

According to robot manipulation's information, behaviour control instruction corresponding with robot manipulation's information is generated；

It is instructed according to behaviour control, control robot executes robot behavior corresponding with robot manipulation's information；

Real-time detection robot executes operating status when robot behavior, generates state parameter letter according to operating status Breath；

According to robot manipulation's information and state parameter information, the instruction of behavior feedback adjustment is generated；

It is instructed according to behavior feedback adjustment, adjusts robot behavior in real time.

Preferably, the step of detection obtains robot manipulation's information, comprising:

External voice data are obtained, is matched from external voice data according to default phonetic feature and obtains robot voice Operation information；

Detection obtains the robot application operation information of robot application terminal transmission；

And the robot touch parameter of touch sensor transmission in robot is obtained, it is touched and is joined according to the robot Number generates robot touch operation information；

According to robot manipulation's information, the step of behaviour control corresponding with robot manipulation's information instructs, packet are generated It includes:

According to robot voice operation information, behaviour control instruction corresponding with robot voice operation information is generated；

According to robot application operation information, behaviour control instruction corresponding with robot application operation information is generated；

And it according to robot touch operation information, generates behaviour control corresponding with robot touch operation information and refers to It enables.

Preferably, the feedback of the robot behavior obtains the machine of robot application terminal transmission in detection Before the step of device people's application operating information, further includes: setting is stored with the compiling instruction database of default compiling instruction；

The detection obtains the step of robot application operation information of robot application terminal transmission, comprising:

Obtain robot manipulation's program that robot application terminal is sent, wherein robot manipulation's program is answered for robot The operation sequence that the user detected with terminal generates according to default compiling compiling of instruction；

According to robot application operation information, behaviour control instruction corresponding with robot application operation information is generated Step, comprising:

According to the corresponding behaviour control instruction of robot manipulation's Program Generating, executed and robot behaviour with controlling robot Make the corresponding robot behavior of program.

Preferably, operating status when real-time detection robot execution robot behavior generates state according to operating status The step of parameter information, comprising:

The current pose of real-time detection robot obtains attitude parameter information according to current pose；

According to robot manipulation's information and state parameter information, the step of behavior feedback adjustment instructs is generated, comprising:

According to attitude parameter information and robot manipulation's information, corresponding gesture feedback adjustment instruction is generated.

Preferably, it is instructed according to behaviour control, control robot executes robot corresponding with robot manipulation's information row For the step of, comprising:

According to behaviour control instruct in audio operation instruction, control robot audio-frequence player device play and audio The corresponding audio-frequency information of operational order；

And according to behaviour control instruct in display operation instruct, control robot display equipment show with show The corresponding display information of operational order；

The step of being instructed according to behavior feedback adjustment, adjusting robot behavior in real time, comprising:

According to gesture feedback adjustment instruction, the robot motion of robot is adjusted in real time.

In addition, to achieve the above object, the present invention also provides a kind of feedback control system of robot behavior, the machines The feedback control system of people's behavior includes:

Operate detection module, message processing module, state feedback module and behaviour control module；Wherein, operation detection mould Block is connected with message processing module, and state feedback module is connected with message processing module, message processing module also with behaviour control Module is connected；

Detection module is operated, obtains robot manipulation's information for detecting；

Message processing module, for generating behavior control corresponding with robot manipulation's information according to robot manipulation's information System instruction；

Behaviour control module, for being instructed according to behaviour control, control robot executes corresponding with robot manipulation's information Robot behavior；

State feedback module executes operating status when robot behavior for real-time detection robot, according to operation shape State generates state parameter information, and state parameter information is fed back to message processing module；

Message processing module is also used to generate behavior feedback adjustment according to robot manipulation's information and state parameter information Instruction；

Behaviour control module is also used to be instructed according to behavior feedback adjustment, adjusts robot behavior in real time.

Preferably, detection module is operated, comprising:

Speech detection submodule, application control submodule and touch detection submodule, speech detection submodule, using control System module and touch detection submodule are connected with message processing module respectively；Wherein,

Speech detection submodule, for obtaining external voice data, according to default phonetic feature from external voice data Matching obtains robot voice operation information, robot voice operation information is sent to message processing module, so that at information It manages module and corresponding behaviour control instruction is generated according to robot voice operation information；

Application control submodule obtains the robot application operation information of robot application terminal transmission for detecting, will Robot application operation information is sent to message processing module, so that message processing module is according to robot application operation information Generate corresponding behaviour control instruction；

And touch detection submodule, parameter is touched for obtaining the robot that touch sensor is sent in robot, Parameter is touched according to the robot and generates robot touch operation information, and robot touch operation information is sent to information Processing module instructs so that message processing module generates corresponding behaviour control according to robot touch operation information.

Preferably, application control submodule, further includes: programming Control unit, programming Control unit are default including being stored with Compile the compiling instruction database of instruction, programming Control unit, the machine generated for obtaining user according to default compiling compiling of instruction People's operation sequence；

Message processing module is also used to according to the corresponding behaviour control instruction of robot manipulation's Program Generating, so that behavior Control module controls robot and executes robot behavior corresponding with robot manipulation's program.

Preferably, state feedback module includes:

Attitude detection submodule obtains attitude parameter information for the current pose of real-time detection robot, by posture Parameter information feeds back to message processing module, so that message processing module is according to attitude parameter information and robot manipulation's information Generate corresponding gesture feedback adjustment instruction.

Preferably, behaviour control module, comprising:

Action control submodule, for adjusting the robot motion of robot in real time according to gesture feedback adjustment instruction；

Audio frequency control submodule controls the audio of robot for the audio operation instruction in instructing according to behaviour control Playback equipment plays audio-frequency information corresponding with audio operation instruction；

And display control submodule controls robot for the display operation instruction in instructing according to behaviour control Display equipment show display information corresponding with display operation instruction.

In addition, to achieve the above object, the present invention also provides a kind of computer readable storage medium, the computer can The feedback control procedures that robot behavior is stored on storage medium are read, the feedback control procedures of the robot behavior are located The step of reason device realizes the feedback of robot behavior above-mentioned when executing.

The feedback control technology scheme of robot behavior proposed by the present invention, by detecting robot operation information, according to Robot manipulation's information generates corresponding behaviour control instruction, then controls robot according to behavior control instruction and executes Corresponding robot behavior, meanwhile, real-time detection robot executes the operation conditions when robot behavior, according to the operation State generates state parameter information, and generates feedback adjustment instruction according to the state parameter information, adjusts machine with negative feedback mode Device people's behavior.Through the above steps, this programme can determine operating status of the robot when executing robot behavior in real time, And mistake of the amendment robot when executing robot behavior in real time, so as to robot smoothness and be accurately finished and robot The corresponding robot behavior of operation information, to solve robot in the prior art and human interaction's effect is poor, behavior is held The inflexible stiff problem of row process.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will to embodiment or Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only Some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also The structure that can be shown according to these attached drawings obtains other attached drawings.

Fig. 1 is the flow diagram of the feedback of the first robot behavior provided in an embodiment of the present invention；

Fig. 2 is the flow diagram of the feedback of second of robot behavior provided in an embodiment of the present invention；

Fig. 3 is the flow diagram of the feedback of the third robot behavior provided in an embodiment of the present invention；

Fig. 4 is the schematic diagram of App interactive mode provided in an embodiment of the present invention；

Fig. 5 is a kind of flow diagram of the adjusting method of robot motion provided in an embodiment of the present invention；

Fig. 6 is a kind of schematic diagram of hardware structure running environment provided in an embodiment of the present invention；

Fig. 7 is the structural schematic diagram of the feedback control system of the first robot behavior provided in an embodiment of the present invention；

Fig. 8 is the structural schematic diagram that detection module is operated in a kind of embodiment illustrated in fig. 7 provided by the invention；

Fig. 9 is the structural schematic diagram of application control submodule in a kind of embodiment illustrated in fig. 8 provided by the invention；

Figure 10 is the structural schematic diagram of state feedback module in a kind of embodiment illustrated in fig. 8 provided by the invention.

The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.

Specific embodiment

It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.

Referring to Fig. 1, Fig. 1 is the process of the feedback of the first robot behavior provided in an embodiment of the present invention Schematic diagram, as shown in Figure 1, the feedback of the robot behavior the following steps are included:

S110: detection obtains robot manipulation's information.

In this step, robot manipulation's information is that the operational order sent according to user matches.The application is real It applies and is preset with operation information feature database in example, the operation information in operational order and operation information feature database that user is sent Characteristic matching is carried out, operation information can be extracted from operational order, then (such as to operation information further processing processing Timing sequence process), robot manipulation's information of the embodiment of the present application needs can be obtained.

Wherein, robot manipulation's information can be by wireless communication mode, as bluetooth obtains data from outside and detects It arrives or built-in detection module, closely obtains and detect.

S120: according to robot manipulation's information, behaviour control instruction corresponding with robot manipulation's information is generated.

In this step, after detection obtains robot manipulation's information, it is also necessary to further locate to robot manipulation's information Reason, is converted into the control information that can operate robot behavior, i.e. behavior control instruction, can realize the control to robot System.Presupposed information-instruction features library in the embodiment of the present application, wherein including that robot manipulation's information refers to behaviour control Respective feature and corresponding relationship are enabled, then generates the process of behaviour control instruction, it may be assumed that according in presupposed information-instruction features library Feature and corresponding relationship, match robot operation information and the instruction of corresponding behaviour control, and to the obtained behavior control of matching Processing is further processed in system instruction, to accurately obtain behaviour control instruction corresponding with robot manipulation's information.

S130: instructing according to behaviour control, and control robot executes robot corresponding with robot manipulation's information row For.

In this step, after obtaining behaviour control instruction, special control module is needed to send the control to robot Instruction, specifically to control the behavior of robot；It controls robot and executes robot behavior corresponding with robot manipulation's information, It needs to generate from robot from current operating conditions to the optimum operation path for executing robot behavior, then controls robot Robot behavior corresponding with user's operation information is executed along the optimum operation path, so that robot process performing process Remarkable fluency.In addition, proxy program of the control module as entire control equipment and robot, while taking on therebetween The function of communication.

S140: real-time detection robot executes operating status when robot behavior, generates state ginseng according to operating status Number information.

In this step, robot can constantly adjust self-operating state in process performing control instruction, with reach with The corresponding purpose operating status of robot manipulation's information, and the process of robot adjustment self-operating state may deviate and reach To the optimum operation path of purpose operating status, causes robot stiff stiff when executing operating process, asked to solve this Topic, this step need the operating status of examinations robot, generate state parameter information according to the operating status.

S150: according to robot manipulation's information and state parameter information, the instruction of behavior feedback adjustment is generated.

It in this step, include the current operating status of robot, robot manipulation's packet in state parameter information Need to operate the final behavior that robot reaches containing user；It, can by comparing state parameter information and robot manipulation's information Enough know that robot current operating conditions deviate the degree for executing the optimal path of robot behavior, to generate feedback adjustment Instruction, corrects the current behavior of robot, changes the operating status of robot, so that robot operation more remarkable fluency, The process for allowing robot to execute robot behavior is more stable and accurate.

S160: it is instructed according to behavior feedback adjustment, adjusts robot behavior in real time.

Robot provided by the present application is transformable robot, has movement and deformation component；It in this step, can root According to feedback adjustment instruct in exercise data, the movement for controlling transformable robot and deformation component are according to above-mentioned exercise data Corresponding actions are executed, such as " deformation ".

Technical solution provided in an embodiment of the present invention is believed by detecting robot operation information according to the robot manipulation Breath generates corresponding behaviour control instruction, then controls robot according to behavior control instruction and executes corresponding robot row For, meanwhile, real-time detection robot executes the operation conditions when robot behavior, generates state ginseng according to the operating status Number information, and feedback adjustment instruction is generated according to the state parameter information, with negative-feedback regu- lation robot behavior.By above-mentioned Step, this programme can determine operating status of the robot when executing robot behavior in real time, and the robot of amendment in real time exists Mistake when robot behavior is executed, with smoothness and is accurately finished robot behavior corresponding with robot manipulation's information, from And solves robot in the prior art and human interaction's effect is poor, the inflexible stiff problem of behavior implementation procedure.

In the feedback of robot behavior shown in Fig. 1, robot manipulation's information mentioned above include from The robot voice operation information that the voice data that user sends extracts, the robot application behaviour obtained from application terminal Make different types of robot manipulation such as information and the robot touch operation information detected from the carry-on sensor of robot Information.In order to realize the detection to above-mentioned variety classes robot manipulation information, embodiment as shown in Figure 2 is implemented shown in Fig. 1 Step S110 in example: detection obtains robot manipulation's information, comprising:

S111: external voice data are obtained, is matched from external voice data according to default phonetic feature and obtains robot Voice operating information.

In this step, voice data-operation information feature database is preset in the embodiment of the present application, is stored with voice behaviour Make the corresponding relationship of information characteristics and voice data and operation information；It is by the voice data-operation information feature database The voice operating information characteristics in external voice data can be extracted, corresponding robot voice operation information is then matched to. It wherein, might not only include the voice data of permission user itself since external voice data may be excessively noisy, therefore, Voice operating information characteristics include the voice attribute and the crucial words of operation of permission user itself in the application；Such as: permission is used The voice attributes such as audio, volume and the tone color at family.In addition, since the external voice data itself are used to operate robot, because Voice operating feature in this present embodiment also will include operating crucial words, specifically, including operation robot concrete behavior Keyword and keyword etc., such as control the keyword that robot is walked with specific speed.

S112: the robot application operation information that robot application terminal is sent is obtained.

In this step, robot application operation information is that the user that detection obtains uses the machine of application terminal transmission People's operation information.Such as the user's operation cell phone application that this equipment detects, it is answered by the robot that the modes such as bluetooth are transmitted Use operation information.

Wherein, it realizes in the hardware device of the present embodiment the method and is provided with bluetooth module, which is double blue Tooth module can be realized the communication between this hardware device and robot application terminal by double bluetooth modules, including receive The robot application operation information.Also with double bluetooth modules, this hardware also can be realized by Bluetooth transmission mode and set The standby information transmission between robot.

S113: the robot touch operation information of touch sensor transmission in robot is obtained.

In this step, to realize that the step can be at key position (such as the robot rear molding position, head of robotic surface The positions such as portion, shoulder) setting touch point, touch sensor then is set in the touch detection point, is obtained by the touch sensor It takes robot to touch parameter, then obtains corresponding robot touch operation information by detecting the touch parameter.Wherein, machine Device people touches parameter, including parameters such as the position for touching robot, the duration for touching robot, the dynamics for touching robot.Root Parameter is touched according to above-mentioned robot and generates robot touch operation information, and the robot touch operation information is then controlled into machine Device people executes respective feedback operation, can obtain and the good Interactive Experience of user.

It is opposite with above-mentioned robot voice operation information, robot application operation information and robot touch operation information It answers, step 120 in embodiment illustrated in fig. 1: according to robot manipulation's information, generating behavior corresponding with robot manipulation's information Control instruction, comprising:

S121: it according to robot voice operation information, generates behaviour control corresponding with robot voice operation information and refers to It enables.

In this step, the embodiment of the present application presets voice operating-behaviour control instruction features library, is stored with voice The corresponding relationship of operation information feature and voice operating information and behaviour control instruction.Detecting robot voice operation After information, the preset voice operating information in the voice operating information and feature database is subjected to characteristic matching, according to corresponding relationship Lookup obtains corresponding behaviour control instruction.By the above process, robot and user is enabled to realize that voice is handed over Mutually, user-friendly, improve the experience effect of user.

Specifically, after obtaining external environment voice data, robot is generated according to the external environment voice data Then voice operating information generates corresponding behaviour control according to the voice operating information and instructs, then controlled by the behavior Instruction adaptation interaction feedback data, and control robot according to the interaction feedback data and complete respective feedback, such as control machine The audio-frequence player device of people plays audio-frequency information corresponding with audio operation instruction, and control robot shows that equipment display corresponds to Display information.

For example, voice operating-behaviour control instruction features library in the application prestores text information, volume etc. pair The information answered.This step related voice detection module receives " deformation " sound that user issues, and passes through speech text extraction algorithm Extract the characteristic value of " deformation " text information in " deformation " sound of user's sending, and " deformation " text that will be extracted The characteristic value of information, matching " becomes in pre-saving the operation of information corresponding to text information-behaviour control instruction features library " deformation " phonetic control command corresponding to shape " text information is achieved in " deformation " voice control for identifying that user issues Instruction, so that programmable deformation sports robot can make deformed movement.

S122: it according to robot application operation information, generates behaviour control corresponding with robot application operation information and refers to It enables.

Such as: hardware device obtains the operation data that the user that application terminal is sent is inputted based on clicking operation, then originally Hardware device enters APP interactive mode, after entering the APP interactive mode, detects the behaviour that is applied according to the operation data Make information, determine the corresponding default interactive mode of application operating information, generates and answer after entering accordingly default interactive mode With the corresponding behaviour control instruction of operation information.Wherein, specifically default interactive mode includes intelligence programming mode, stunt mould Formula, online fistfight mode, intelligence development pre-educational pattern etc. are respectively used to realize that intelligent custom programming, control robot execute accordingly Stunt, the fistfight of control robot and control robot realize intelligence development early education function etc..Wherein, under special-effect mode, Neng Goujie It receives user and various movements is completed by mobile phone A pp real-time control machine people, for example, passing through the behaviour for obtaining user mobile phone App input Make real-time control robot carry out " stunt ", " unique skill ", " show ", " deformation ", " multimachine performance ", " dancing with sound ", " rocking bar " and The instruction such as " all directions walking ", and complete the above various movements.Under online fistfight mode, user can be received and pass through mobile phone A pp Real-time control machine people " fistfight ", for example, by obtain user mobile phone App input operation selection " online fistfight " or " freely grappling " has the timesharing of victory or defeat also with audio output during fistfight.In addition, can be received under intelligence development pre-educational pattern User pushes local online content, such as nursery rhymes, story, encyclopaedia or national literature resource by mobile phone A pp operation, passes through robot Bluetooth system receive audio and play user selection audio data content.

In this step, robot application operation information is that the user that detection obtains uses the machine of application terminal transmission People's operation information.After getting robot application operation information, corresponding row is generated according to the robot application operation information For control instruction, control robot can be operated according to the application terminal of user and executes corresponding behavior, user is facilitated to carry out terminal Operation, improves the experience effect of user.

S123: it according to robot touch operation information, generates behaviour control corresponding with robot touch operation information and refers to It enables.

To realize the step, touch operation information-behaviour control instruction features library can be preset, this feature inventory contains touching Touch the feature and its corresponding relationship of operation information and behaviour control instruction.When detecting robot touch operation information, according to The feature of the touch operation information instructs with behaviour control and carries out characteristic matching, obtains matching with the touch operation information Then behaviour control instruction controls robot according to behavior control instruction and executes corresponding machine people behavior.

Technical solution provided by the embodiments of the present application, the voice data sent by obtaining user, what application terminal issued Operational order and robot touch parameter, can respectively correspond detection and obtain robot voice operation information, robot application behaviour Make information and robot touch operation information, and then generates corresponding behaviour control instruction respectively according to above- mentioned information, and then control Robot processed executes behavior corresponding with the voice operating of user, application operating instruction and touch parameter, so that user's acquisition is good Good Interactive Experience.

In addition, user interacts with robot for convenience, robot is freely controlled convenient for user, robot is allowed to execute spy Determine function, improves the usage experience of user, as shown in figure 3, " intelligence programming mode " settable in the present embodiment, in " the intelligence Under programming mode ", user oneself can be programmed, so that freely controlling robot according to user intention executes respective behavior.Fig. 3 The feedback for the robot behavior that illustrated embodiment provides is based on embodiment illustrated in fig. 2, and embodiment illustrated in fig. 3 provides Robot behavior feedback in, other than each step shown in Fig. 2, further comprise the steps of:

S210: setting is stored with the compiling instruction database of default compiling instruction.

In this step, it is stored with default compiling instruction in the compiling instruction database, user if desired programming Control machine people Operation directly can freely write program using the default compiling instruction in the compiling instruction database, so that robot is according to user Customized operation executes respective behavior.Wherein, which includes that the default compiling of the forms such as text or figure refers to It enables, user can directly utilize the default compiling instruction, customized robot manipulation's program, then by obtaining on application terminal The customized robot manipulation's program of the user is taken, corresponding behaviour control instruction is generated, and then controls robot and realizes and be somebody's turn to do The corresponding robot behavior of the customized robot manipulation's program of user.Specific robot behavior such as host control, logic The functions such as operation and variable operation.

Accordingly, in the present embodiment, in former embodiment illustrated in fig. 2

Former step: the robot application operation information that robot application terminal is sent is obtained, comprising:

S220: robot manipulation's program that robot application terminal is sent is obtained, wherein robot manipulation's program is to use Family is generated according to the default compiling compiling of instruction in above-mentioned compiling instruction database.

In this step, the default compiling instruction compiled in instruction database includes the forms such as text or figure, in this way, user is straight The corresponding figure of dragging is connect, that is, can customize and generate robot manipulation's program, robot execution is then controlled and is grasped with the robot Make the corresponding robot behavior of information, operating process is simple and efficient.

Former step: according to robot application operation information, behaviour control corresponding with robot application operation information is generated The step of instruction, comprising:

S230: instructing according to the corresponding behaviour control of robot manipulation's Program Generating, to control robot execution and machine The corresponding robot behavior of people's operation sequence.

In this step, since robot manipulation's program is that the customized compiling of user generates, robot is executed and the machine The corresponding behaviour control instruction of device people's operation sequence, can control robot and execute highly difficult movement, and realize specific function Energy.

Such as: under intelligence programming mode, the content of text that can be inputted according to user generates corresponding robot manipulation's journey Sequence regenerates corresponding behaviour control instruction, so that robot realizes respective host control according to behavior control instruction, patrols Collect the functions such as operation and variable operation.

Specifically, under intelligence programming mode, user can self-programming realization " deformation-advance " function.As shown in figure 4, control The mode interacted between control equipment and application terminal is App interactive mode.After detecting that user enters App interactive mode, inspection User's specific mode to be entered is surveyed, such as when detecting that user clicks to enter the operation interface of " intelligence programming mode ", meeting Show that corresponding program editor area, application terminal can detect robot manipulation's program that user edits in program editor area, specifically Ground, application terminal can input " contents of program " entrance according to user and make the default programming interactive mode that respective quadrature mutually reflects. In the default programming interactive mode, the movement of redeformation after detecting that user writes a robot advance: application terminal Control instruction area in haul out " program starts " square to screen among editing area, program execute when, " program can be first carried out Instruction block under beginning " square is hauled out " advance " square in movement instruction area, is connect in " program starts " square in the following, again " deformation " square is hauled out in movement instruction area, is connect in " advance " square in the following, that last detects that user clicks execution When key, robot manipulation's program of above-mentioned " advance-deformation " can be passed through bluetooth by the intelligence programming unit in application terminal Module is sent to corresponding control equipment, and the message processing module execution controlled in equipment should " advance-deformation " robot manipulation's journey Sequence, and then robot is controlled by behaviour control module and completes " advance-deformation " movement, i.e. each moving component of robot is held The movement of row " first advancing, then redeformation ".Wherein, moving component includes that each limbs that robot can obtain or joint are fixed Hardware configuration.

It should be noted that the intelligence programming unit under above-mentioned intelligence programming mode includes by compiling area, unique skill programming mould Block, control module, logic module, variable module, action module, sound module and light modules；Wherein, the machine in the application Device artificially may be programmed sports robot, can be realized fistfight function and trick play functionality, correspondingly, unique skill programming module can basis User, which compiles, generates fistfight " unique skill ", to increase robot interaction effect.

Robot can be carried out certainly by the intelligence programming unit in application terminal and the bluetooth module in application terminal Definition programming, because being preset with compiling instruction database, which includes multiple modules and various forms of instruction icons, Therefore each module in intelligence programming unit has corresponding instruction icon, and instruction icon can be dragged to compiling area by user It is compiled and executes.Start for example, the instruction figure in control module indicates program, touch and the instruction icon such as start；Logic mould Instruction figure in block indicate " if ", the instruction such as " circulation " icon.Also, user, which can save the program of compiling to compiling, to be referred to It enables in library.For example, user, which can customize, writes corresponding operating program in unique skill programming module, can be protected after the completion of writing In the presence of compiling in instruction database and renaming, directly uses, make when grappling so as to the online fistfight of lower secondary control robot or freely For " unique skill ".Unique skill programming can download to the processor storage unit of robot itself by Bluetooth system output data, It is continued to use in other occasions such as stunt, remote control or online fistfights.It is compiled in addition, user can imagine according to oneself Movement, sound and light can be modified and be deleted to every instruction sequences in compiling, to realize specific kinetic.

In addition, robot pose is a kind of important robot operating status.Realize the feedback to robot behavior Control, such as control robot " deformation ", detection robot pose are essential.In order to realize the detection to robot pose, Robot behavior is adjusted according to robot pose, present invention also provides a kind of feedbacks of robot behavior, specifically As shown in figure 5, in the embodiment shown in fig. 5, the step in former embodiment illustrated in fig. 1: real-time detection robot executes robot Operating status when behavior generates state parameter information according to operating status, comprising:

S310: the current pose of real-time detection robot obtains attitude parameter information according to current pose.

S320: according to attitude parameter information and robot manipulation's information, corresponding gesture feedback adjustment instruction is generated.

S330: according to gesture feedback adjustment instruction, the robot motion of robot is adjusted in real time.

Current pose by detecting robot can determine the state that robot is presently in, such as " humanoid " or " vehicle Shape ", the states such as " falling down " or " standing ".Specifically, pass through the vehicle shape of real-time detection robot currently become or the appearances such as humanoid It the postures such as falls down and stands locating for state and robot, determine the action mode that robot is presently in；Then according to inspection The robot current pose measured generates attitude parameter information, which is sent to relevant information processing mould Block generates corresponding gesture feedback according to the attitude parameter information and former robot operation information by message processing module and adjusts Instruction, then control the corresponding motion-control module of robot and generate gesture feedback adjustment instruction, to control each of robot Movable part is completed to act with the adjustment that robot pose is adapted.

Wherein, the current pose of robot can be obtained by being set to the potentiometer induction with robot.For example, can 2 independent potentiometers are set with robot, and each angle has the AD value of corresponding size, each movement on potentiometer And its corresponding posture has the AD value of corresponding size.By AD value size each on sampling robot potentiometer, be able to confirm that and Whether correction robot current time is in " humanoid " posture.Additionally it is possible to which an inspection of falling down is arranged on machine human body Sensor is surveyed, detection sensor of falling down connect with Bluetooth system, signaled by acquiring the detection sensor, determine machine Whether people is in " falling down " posture.When determining that current time robot is in " standing " or " falling down " posture, according to " standing It is vertical " the corresponding AD value matching of posture of perhaps " falling down " pose adjustment ginseng corresponding with " standing " or " falling down " posture Number, and pose adjustment parameter is sent to corresponding message processing module, corresponding gesture feedback adjustment instruction is generated, by believing It ceases processing module and the gesture feedback adjustment instruction is sent to motion-control module, it is anti-according to the behavior by motion-control module The moving component of feedback adjustment instruction control robot makes respective feedback.Wherein, the form of feedback include: sound, movement and Expression etc..

In technical solution provided by the embodiments of the present application, robot pose is one kind of robot operating status, robot Movement of the posture, that is, robot under a certain determining time can be according to the robot by obtaining robot pose in real time The movement for wanting robot to reach that posture and robot manipulation's information are included, the current action of feedback regulation robot, So that robot smoothness and accurately execution predetermined action corresponding with the operation information of user.

In addition, the embodiment of the present application also provides a kind of feedback of robot behavior, the feedback Include:

According to behaviour control instruct in audio operation instruction, control robot audio-frequence player device play and audio The corresponding audio-frequency information of operational order.

According to behaviour control instruct in display operation instruction, the display equipment for controlling robot is shown and display operation Instruct corresponding display information.

And according to gesture feedback adjustment instruction, the robot motion of robot is adjusted in real time.

Audio-frequency information and display information etc. are played by control robot, the interactivity between user and environment can be enhanced Can, the entertainment of robot is improved, such as realize robot to the education intelligence development functions of user.

Specifically, after the sound for receiving user's sending, the sound of user can be extracted by specific extraction algorithm Sound characteristic value in sound or in ambient sound, by the voice control in the characteristic value extracted and preset speech pattern library System instruction matched, and then identify user issue sound in voice operating information, identify user in voice module After voice operating information in the sound of sending, behaviour control instruction corresponding with the voice operating information is generated, is then led to It crosses behavior control instruction and is sent to each behaviour control module, such as be sent to motion-control module, display module or audio Output module, each module are adapted to friendship with robot after receiving corresponding behaviour control instruction, according to behaviour control instruction Mutual feedback data, and control robot according to interaction feedback data and complete respective feedback, such as control robot sounding, control machine Device people shows corresponding information and adjusts robot motion.

Technical solution provided by the embodiments of the present application realizes each control based on external environment voice data and user Operation, the automatic environment-identification voice data that detects simultaneously generate behaviour control instruction, according to working as behaviour control instruction and robot The preceding corresponding interaction feedback data of state parameter Auto-matching, and programmable deformation sports machine is controlled according to interaction feedback data Device people completes corresponding interaction feedback movement, improves and interacts performance between robot and user and environment, enhances robot Entertainment, and reached the education puzzle effect by robot for user.

Same design based on above method embodiment, the embodiment of the present invention also proposed the feedback control of robot behavior System processed, for realizing the above method of the invention, since the principle that the system embodiment solves the problems, such as is similar to method, because This at least has all beneficial effects brought by the technical solution of above-described embodiment, and this is no longer going to repeat them.

Fig. 6 is referred to, Fig. 6 is a kind of schematic diagram of hardware structure running environment provided in an embodiment of the present invention.The present invention Embodiment carries the feedback control system of robot behavior.As shown in Figure 10, the feedback control system of the robot behavior, Include:

Power-supply system 001, the power-supply system 001 can be lithium battery or power management chip.

Bluetooth system 002, the Bluetooth system 002 can be bluetooth serial chip, which can be realized whole The communication of a feedback control system and external equipment, such as feedback control system and application terminal, feedback control system and robot Between information exchange.

Processor system 003, the processor system 003 can be miniature control unit MCU.

2.4G system 004, such as 2.4G family chip, the 2.4G system can be communicated to connect with processor system 003. Specifically, it can be realized the communication of processor system 003 Yu external remote by the 2.4G system.2.4G system 004 is connecing 2.4G signal or code value that user is sent by external remote are received, can be generated according to the 2.4G signal or code value distant Control instruction is controlled, and remote control instruction is sent to processor system 003.Such as: robot has sports fistfight and table The functions such as drill, when the online fistfight of robot or multimachine are performed, 2.4G system need to send to external remote 2.4G signal or Code value realizes interaction.

Wherein,

Bluetooth system 002 is responsible for communication, which includes that touch detection signal inputs device 0021, balance inspection It surveys signal and inputs device 0022, audio signal output device 0023, RGB_Led shows signal output device 0024.Wherein, it puts down Weighing apparatus detection signal inputs device 0022, for inputting the attitude parameter of robot.

Processor system 003 includes: attitude detection device 0031, speech recognition device 0032, movement control device 0033.Wherein, movement control device 0033 includes: integral type steering engine controller part 00331, DC motor controller part 00332。

2.4G system 004 includes remote control communication device 0041.

Bluetooth system 002 can be in communication with each other with processor system 003,2.4G system 004 and 003 energy of processor system Enough it is in communication with each other.

Processor system 003 further includes having memory, the feedback of the robot behavior in the above-mentioned each embodiment of the application It controls program storage in memory, and can be run on processor system 003, wherein the feedback of the robot behavior It controls when program is executed by processor system 003 and realizes the anti-of the robot behavior as described in any of the above-described technical solution The step of presenting control method.

For the following Fig. 7-figure of each realization module of the feedback of above-mentioned robot behavior in processing system 003 Shown in 10.

Fig. 7 is referred to, Fig. 7 is the knot of the feedback control system of the first robot behavior provided by the embodiments of the present application Structure schematic diagram.As shown in fig. 7, the feedback control system of the robot behavior, comprising:

Operate detection module 110, message processing module 120, state feedback module 130 and behaviour control module 140；Its In, operation detection module 110 is connected with message processing module 120, state feedback module 130 and 120 phase of message processing module Even, message processing module 120 is also connected with behaviour control module 140；

Detection module 110 is operated, obtains robot manipulation's information for detecting；

Message processing module 120, for generating corresponding behaviour control instruction according to robot manipulation's information；

Behaviour control module 140, for being instructed according to behaviour control, control robot is executed and robot manipulation's information Corresponding robot behavior；

State feedback module 130 executes operating status when robot behavior for real-time detection robot, according to fortune Row state generates state parameter information, and state parameter information is fed back to message processing module；

Message processing module 120 is also used to generate behavior feedback according to robot manipulation's information and state parameter information Adjustment instruction；

Behaviour control module 140 is also used to be instructed according to behavior feedback adjustment, adjusts robot behavior in real time.

Technical solution provided in an embodiment of the present invention, operation detection module 110 detect robot operation information, then believe It ceases processing module 120 and corresponding behaviour control instruction is generated according to robot manipulation's information, then behaviour control module 140 Robot, which is controlled, according to behavior control instruction executes corresponding robot behavior, meanwhile, state feedback module 130 is examined in real time Operation conditions when robot executes the robot behavior is surveyed, message processing module 120, which generates state according to the operating status, joins Number information, behaviour control module 140 generates feedback adjustment according to the state parameter information and instructs, with negative-feedback regu- lation robot Behavior.By above-mentioned feedback control procedure, this programme can determine operation shape of the robot when executing robot behavior in real time State, and mistake of the amendment robot when executing robot behavior in real time, so as to robot smoothness and be accurately finished and machine The corresponding robot behavior of device people's operation information, to solve robot in the prior art and human interaction's effect is poor, behavior The inflexible stiff problem of implementation procedure.

As shown in figure 8, embodiment as one preferred, in the present embodiment, the operation in former embodiment illustrated in fig. 7 Detection module 110, comprising:

Speech detection submodule 111, application control submodule 112 and touch detection submodule 113, speech detection submodule Block 111, application control submodule 112 and touch detection submodule 113 are connected with message processing module 120 respectively；Wherein,

Speech detection submodule 111 will for matching to obtain robot voice operation information according to default phonetic feature Robot voice operation information is sent to message processing module 120, so that message processing module 120 is grasped according to robot voice Make information and generates corresponding behaviour control instruction；

Application control submodule 112 obtains the robot application operation letter of robot application terminal transmission for detecting Breath, is sent to message processing module 120 for robot application operation information, so that message processing module 120 is answered according to robot Corresponding behaviour control instruction is generated with operation information；

And touch detection submodule 113, the robot touching that touch sensor is sent in robot is obtained for detecting Operation information is touched, robot touch operation information is sent to message processing module 120, so that 120 basis of message processing module Robot touch operation information generates corresponding behaviour control instruction.

Technical solution provided by the embodiments of the present application obtains the voice number that user sends by speech detection submodule 111 According to application control submodule 112 obtains the operational order that application terminal issues and touch detection submodule 113 obtains machine People touches parameter, can respectively correspond detection and obtain robot voice operation information, robot application operation information and robot Touch operation information, and then generate according to above- mentioned information corresponding behaviour control instruction respectively, so control robot execute with The voice operating of user, application operating instruction behavior corresponding with parameter is touched, so that user obtains good Interactive Experience.

As shown in figure 9, embodiment as one preferred, in the present embodiment, former application control submodule shown in Fig. 8 Block 112, further includes:

Programming Control unit 1121, programming Control unit 1121 include the compiling instruction database for being stored with default compiling instruction, Programming Control unit 1121, the robot generated on application terminal 200 according to default compiling compiling of instruction for obtaining user Operation sequence；

Message processing module 120 is also used to according to the corresponding behaviour control instruction of robot manipulation's Program Generating, so that Behaviour control module 140 controls robot and executes robot behavior corresponding with robot manipulation's program.

It, should by the way that compiling instruction database is arranged in programming Control unit 1121 in technical solution provided by the embodiments of the present application Preset compiling instruction is stored in compiling instruction database.If desired user programs freely to control robot 300 and execute corresponding behaviour Make, directly can freely write program in robot application terminal 200 using the compiling instruction in the compiling instruction database, make Respective behavior can be executed according to the customized operation of user by obtaining robot 300.The default compiling compiled in instruction database instructs packet The forms such as text or figure are included, in this way, user directly drags corresponding figure, that is, can customize and generate robot manipulation's program, Then control robot 300 executes robot behavior corresponding with robot manipulation's information, and operating process is simple and efficient.By It is that the customized compiling of user generates, therefore the execution of robot 300 is corresponding with robot manipulation's program in robot manipulation's program Behaviour control instruction, robot can be controlled and execute highly difficult movement, and realize specific function.

Embodiment as one preferred, as shown in Figure 10, the state feedback module 130 in former embodiment illustrated in fig. 8 are wrapped It includes:

Attitude detection submodule 131 obtains attitude parameter information for the current pose of real-time detection robot 300, Attitude parameter information is fed back into message processing module 120, so that message processing module is according to attitude parameter information and robot Operation information generates corresponding gesture feedback adjustment instruction.

Accordingly, the behaviour control module 140 in former embodiment, comprising:

Action control submodule 141, for according to gesture feedback adjustment instruction, the robot for adjusting robot in real time to be dynamic Make；

Audio frequency control submodule 142 controls robot for the audio operation instruction in instructing according to behaviour control Audio-frequence player device plays audio-frequency information corresponding with audio operation instruction；

And display control submodule 143 controls machine for the display operation instruction in instructing according to behaviour control The display equipment of people shows display information corresponding with display operation instruction.

In technical solution provided by the embodiments of the present application, robot appearance is obtained by attitude detection submodule 131 in real time State, action control submodule 141 can include to need robot according to the robot pose and robot manipulation's information 300 movements to be achieved, the current action of feedback regulation robot can make robot 300 smooth and accurately execute and use The corresponding predetermined action of the operation information at family.In addition, setting audio frequency control submodule 142 and display control submodule 143, energy Enough each control operations realized based on external environment data and user, it is automatic to detect environment-identification data and generate behaviour control Instruction, according to the corresponding interaction feedback data of current state parameter Auto-matching of behaviour control instruction and robot 300, and It controls robot 300 according to interaction feedback data to complete accordingly to issue the movement such as voice and display image, to improve machine Performance is interacted between people and user and environment, enhances the entertainment and intelligence of robot, improves the experience effect of user Fruit.

User's hair can also be identified according to volume extraction algorithm by operating the speech detection submodule 111 in detection module 110 The size of wave volume or ambient sound volume out generates volume according to volume and reacts interactive information, may be programmed and become The message processing module 120 of shape sports robot can react interactive information generation volume interactive controlling according to above-mentioned volume and refer to It enables, such as controls the instruction of robot " deformation ", control motion control submodule 141 or audio frequency control submodule 142 and display Control submodule 143 controls robot and responds interaction feedback.

Specifically, message processing module 120 can be the dual core processor for including a piece of 32 MCU.

For example, speech detection submodule 111 identify user issue sound in " deformation " voice operating information it Afterwards, " deformation " voice operating information of identification is sent to above-mentioned dual core processor, dual core processor is according to " deformation " voice Operation information handles to obtain " deformation " phonetic control command, which is sent to and is acted with " deformation " Adaptable action control submodule 141.

Action control module 141 receive message processing module 120 transmission " deformation " phonetic control command after, Interaction feedback data are adapted to according to the phonetic control command and programmable deformation sports robot, and according to interaction feedback data Control programmable deformation sports robot completes the respective feedback of deformation.

Then, the shape that attitude detection submodule 131 can determine that robot is presently in by detecting robot pose State, such as " humanoid " or " vehicle shape ", " falling down " or " standing " etc. specifically pass through currently becoming for real-time detection robot It the postures such as falls down and stands locating for the postures such as " vehicle shape " or " humanoid " and robot, determine that robot is presently in dynamic Operation mode；Then according to the robot current pose detected, attitude parameter information is generated, which is sent It is corresponding with former robot operation information generation according to the attitude parameter information by message processing module to message processing module 120 Gesture feedback adjustment instruction, then control the behaviour control module 140 of robot and controlled according to the gesture feedback adjustment instruction Each movable part of robot is completed to act with the adjustment that robot pose is adapted, so that robot completes glibly " deformation " behavior.

It should be noted that each movement of robot and deformation component are can be hard with movable each limbs or joint etc. Part structure.

In addition, in order to realize that " deformation " etc. acts, in the feedback control system of robot behavior provided in an embodiment of the present invention In system, behaviour control module 140 can include that angle detection unit, proportional-integral-differential pid algorithm unit and motor execute Unit, wherein angle detection unit is for detecting the rotation angle for being built in structural integrity formula steering engine in robot, waist rotation Gyration and waist pull rod angle；Pid algorithm unit is used to pass through according to rotation angle the behavior of pid algorithm calculating robot Movement；Motor execution unit can execute corresponding actions by motor control machine people according to above-mentioned behavior act.

Specifically, when robot does " deformation " movement, message processing module 120 receives external " deformation " operation information When, " deformation " control instruction is regenerated, transmission refers to behaviour control module 140, examines by the angle in behaviour control module 140 It surveys unit judges robot and is currently at " humanoid " still " vehicle shape ", carry out another state further according to current state, to execute " deformation " behavior, such as control robot become " vehicle shape " state from " humanoid " state.

In addition, a kind of computer readable storage medium is also claimed in the application, deposited on the computer readable storage medium The feedback control procedures for containing robot behavior are realized when the feedback control procedures of the robot behavior are executed by processor The step of any one of stating the feedback of robot behavior.

It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer journey Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the present invention The form of embodiment.Moreover, it wherein includes the calculating of computer usable program code that the present invention, which can be used in one or more, The computer journey implemented in machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of sequence product.

The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions each in flowchart and/or the block diagram The combination of process and/or box in process and/or box and flowchart and/or the block diagram.It can provide these computers Processor of the program instruction to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices To generate a machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute For realizing the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram Device.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works, so that instruction stored in the computer readable memory generation includes The manufacture of command device, the command device are realized in one box of one or more flows of the flowchart and/or block diagram Or the function of being specified in multiple boxes.

These computer program instructions can also be loaded into computer or other programmable data processing devices, so that counting Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer Or the instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or box The step of function of being specified in figure one box or multiple boxes.

It should be noted that in the claims, any reference symbol between parentheses should not be configured to power The limitation that benefit requires.Word "comprising" does not exclude the presence of component or step not listed in the claims.Before component Word "a" or "an" does not exclude the presence of multiple such components.The present invention can be by means of including several different components Hardware and realized by means of properly programmed computer.In the unit claims listing several devices, these Several in device, which can be, to be embodied by the same item of hardware.Word first, second, and third makes With not indicating any sequence.These words can be construed to title.

Although preferred embodiments of the present invention have been described, once a person skilled in the art knows basic wounds The property made concept, then additional changes and modifications may be made to these embodiments.It is wrapped so the following claims are intended to be interpreted as It includes preferred embodiment and falls into all change and modification of the scope of the invention.

Obviously, various changes and modifications can be made to the invention without departing from of the invention by those skilled in the art Spirit and scope.In this way, if these modifications and changes of the present invention belongs to the model of the claims in the present invention and its equivalent technologies Within enclosing, then the present invention is also intended to include these modifications and variations.

Claims

1. a kind of feedback of robot behavior characterized by comprising

Detection obtains robot manipulation's information；

It is instructed according to the behaviour control, controls the robot and execute robot row corresponding with robot manipulation's information For；

Robot described in real-time detection executes the operating status when robot behavior, generates state according to the operation state Parameter information；

It is instructed according to the behavior feedback adjustment, adjusts the robot behavior in real time.

2. the feedback of robot behavior according to claim 1, which is characterized in that the detection obtains machine The step of people's operation information, comprising:

External voice data are obtained, is matched from the external voice data according to default phonetic feature and obtains robot voice behaviour Make information；

And the robot touch parameter of touch sensor transmission in robot is obtained, it is raw that parameter is touched according to the robot At robot touch operation information；

It is described that the step of behaviour control corresponding with robot manipulation's information instructs is generated according to robot manipulation's information, Include:

According to the robot voice operation information, generates behaviour control corresponding with the robot voice operation information and refer to It enables；

According to the robot application operation information, generates behaviour control corresponding with the robot application operation information and refer to It enables；

And according to the robot touch operation information, generate behavior control corresponding with the robot touch operation information System instruction.

3. the feedback of robot behavior according to claim 2, which is characterized in that obtain robot in detection Before the step of robot application operation information that application terminal is sent, further includes: setting is stored with the volume of default compiling instruction Translate instruction database；

Obtain robot manipulation's program that robot application terminal is sent, wherein robot manipulation's program is the machine The program that the user that people application terminal detects generates according to the default compiling compiling of instruction；

It is described according to robot application operation information, generate behaviour control corresponding with the robot application operation information and instruct The step of, comprising:

According to the corresponding behaviour control instruction of robot manipulation's Program Generating, executed and the machine with controlling the robot The corresponding robot behavior of device people's operation sequence.

4. the feedback of robot behavior according to claim 1, which is characterized in that the real-time detection machine The step of people executes the operating status when robot behavior, generates state parameter information according to the operation state, comprising:

The current pose of robot described in real-time detection obtains attitude parameter information according to the current pose；

It is described according to robot manipulation's information and state parameter information, the step of generating the instruction of behavior feedback adjustment, comprising:

According to the attitude parameter information and robot manipulation's information, corresponding gesture feedback adjustment instruction is generated.

5. the feedback of robot behavior according to claim 4, which is characterized in that described according to behaviour control Instruction controls the step of robot executes robot behavior corresponding with robot manipulation's information, comprising:

According to the audio operation instruction in behaviour control instruction, the audio-frequence player device for controlling the robot plays and institute It states audio operation and instructs corresponding audio-frequency information；

And according to the behaviour control instruction in display operation instruct, control the robot display equipment show and The display operation instructs corresponding display information；

It is described to be instructed according to behavior feedback adjustment, the step of adjusting the robot behavior in real time, comprising:

According to the gesture feedback adjustment instruction, the robot motion of the robot is adjusted in real time.

6. a kind of feedback control system of robot behavior characterized by comprising

Operate detection module, message processing module, state feedback module and behaviour control module；Wherein, the operation detects mould Block is connected with the message processing module, and the state feedback module is connected with the message processing module, the information processing Module is also connected with the behaviour control module；

The operation detection module obtains robot manipulation's information for detecting；

The message processing module, for generating corresponding with robot manipulation's information according to robot manipulation's information Behaviour control instruction；

The behaviour control module controls the robot and executes and the robot for being instructed according to the behaviour control The corresponding robot behavior of operation information；

The state feedback module executes the operating status when robot behavior for real-time detection robot, according to institute It states operating status and generates state parameter information, the state parameter information is fed back into the message processing module；

The message processing module is also used to generate behavior feedback according to robot manipulation's information and state parameter information Adjustment instruction；

The behaviour control module is also used to be instructed according to the behavior feedback adjustment, adjusts the robot behavior in real time.

7. the feedback control system of robot behavior according to claim 6, which is characterized in that the operation detects mould Block, comprising:

Speech detection submodule, application control submodule and touch detection submodule, the speech detection submodule, application control Submodule and touch detection submodule are connected with the message processing module respectively；Wherein,

The speech detection submodule, for obtaining external voice data, according to default phonetic feature from the external voice number Robot voice operation information is obtained according to middle matching, the robot voice operation information is sent to the information processing mould Block instructs so that the message processing module generates corresponding behaviour control according to the robot voice operation information；

The application control submodule obtains the robot application operation information of robot application terminal transmission for detecting, will The robot application operation information is sent to the message processing module, so that the message processing module is according to the machine People's application operating information generates corresponding behaviour control instruction；

And the touch detection submodule, parameter, root are touched for obtaining the robot that touch sensor is sent in robot Parameter is touched according to the robot and generates robot touch operation information, the robot touch operation information is sent to described Message processing module, so that the message processing module generates corresponding behaviour control according to the robot touch operation information Instruction.

8. the feedback control system of robot behavior according to claim 7, which is characterized in that

The application control submodule, further includes: programming Control unit, the programming Control unit include being stored with default compiling The compiling instruction database of instruction, the programming Control unit, for obtaining user according to the default compiling compiling of instruction generation Robot manipulation's program；

The message processing module is also used to according to the corresponding behaviour control instruction of robot manipulation's Program Generating, so that Behaviour control module control robot executes robot behavior corresponding with robot manipulation's program.

9. the feedback control system of robot behavior according to claim 6, which is characterized in that the state feedback module Include:

Attitude detection submodule obtains attitude parameter information for the current pose of robot described in real-time detection, by the appearance State parameter information feeds back to the message processing module, so that the message processing module is according to the attitude parameter information and machine Device people's operation information generates corresponding gesture feedback adjustment instruction.

10. the feedback control system of robot behavior according to claim 9, which is characterized in that the behaviour control mould Block, comprising:

Action control submodule, for according to the gesture feedback adjustment instruction, the robot for adjusting the robot in real time to be dynamic Make；

Audio frequency control submodule controls the robot for instructing according to the audio operation in behaviour control instruction Audio-frequence player device plays audio-frequency information corresponding with audio operation instruction；

And display control submodule controls the machine for instructing according to the display operation in behaviour control instruction The display equipment of people shows display information corresponding with display operation instruction.

11. a kind of computer readable storage medium, which is characterized in that be stored with robot on the computer readable storage medium The feedback control procedures of behavior realize that claim 1-5 appoints when the feedback control procedures of the robot behavior are executed by processor The step of feedback of robot behavior described in one.