WO2018023232A1 - Method for moving robot according to sound and robot - Google Patents
Method for moving robot according to sound and robot Download PDFInfo
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- WO2018023232A1 WO2018023232A1 PCT/CN2016/092545 CN2016092545W WO2018023232A1 WO 2018023232 A1 WO2018023232 A1 WO 2018023232A1 CN 2016092545 W CN2016092545 W CN 2016092545W WO 2018023232 A1 WO2018023232 A1 WO 2018023232A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Definitions
- the invention belongs to the field of electronic technology, and in particular to a method for moving a robot according to sound and a robot.
- Robot is a machine that automatically performs work. . It can accept human command, run pre-programmed procedures, or follow principles based on artificial intelligence techniques. Action. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work.
- robots can do things that people do not want to do, liberate people from toxic, harmful, high temperature or dangerous environments.
- robots It is possible to do things that human beings can't do well. For example, in the automobile production line, we see that workers hold more than one hundred kilograms of welding tongs every day. They weld thousands of points a day, and they repeat the labor. On the one hand, he is very tired, but The quality of the products is still very low.
- robots can do the work that humans can't do. This is also a very important reason for the development of robots. For example, people know about space. When people can't go, they call robots.
- control type which can be controlled by wired or wireless remote sensing, especially wireless remote sensing control by sending information control
- stress type which is turned or moved by satisfying certain conditions. For example, if the robot hits the wall, it cannot move forward and turn.
- control operation is complicated, and it is necessary to be very familiar with the controller.
- the current method for robot movement is relatively simple, and the operation is complicated.
- the user's control experience on the robot is not good, and it is necessary to provide a method for controlling the moving direction of the robot.
- the embodiment of the invention provides a method for moving a robot according to sound, and the purpose is that the current robot moves in a relatively simple manner, and the operation is relatively complicated, and the user's control experience on the robot is not good, and it is required to provide a controllable robot moving direction. Methods.
- the present invention is achieved by a method of moving a robot based on sound, comprising the steps of:
- An embodiment of the present invention further provides a robot, including:
- a recording unit for recording a sound intensity threshold of the contrast environment and a preset environment detection range
- a detecting unit wherein the input end is connected to the output end of the recording unit, and is configured to detect, within the preset environment detecting range, whether a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment;
- a mobile unit whose input end is connected to the output end of the detecting unit, for detecting that a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment within the preset environment detection range , moving to the sound.
- the invention intuitively controls the moving direction of the robot by using an applause, a vocal pen, etc., thereby simplifying the operation of the control robot and improving the user's control experience with the robot.
- FIG. 1 is a schematic flow chart of a method for moving a robot according to sound according to an embodiment of the present invention
- FIG. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.
- FIG. 1 is a schematic flow chart of a method for moving a robot according to sound according to an embodiment of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown.
- step S101 a sound intensity threshold of the contrast environment is recorded, and a preset environment detection range is recorded.
- the current ambient overall sound intensity is A decibel
- the contrast sound intensity threshold is N decibels higher than the current ambient sound intensity in the current environment, and is generally A.
- the sound intensity of N decibels is added, and the sound intensity threshold varies depending on the current environment.
- the preset environment detection range may be centered on the body, and a range of a certain radius, for example, a robot-centered radius of 1 m may be preset.
- step S102 in the preset environment detection range, detecting whether a sound higher than the sound intensity threshold of the contrast environment occurs in the current environment; if not, proceeding to step S103, maintaining the original state; Then, the process proceeds to step S104, and the sound is moved.
- a change in the sound intensity centered on the robot and having a radius of 1 m is detected. If there is no sound higher than the preset sound intensity threshold A plus N decibels, the robot does not move; if a sound higher than the preset sound intensity threshold A plus N decibel appears, the robot moves in the direction of the sound.
- the invention intuitively controls the moving direction of the robot by using an applause, a vocal pen, etc., thereby simplifying the operation of the control robot and improving the user's control experience with the robot.
- FIG. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention, where the robot includes:
- a recording unit 21 configured to record a sound intensity threshold of the contrast environment, and a preset environment detection range
- the detecting unit 22 is connected to the output end of the recording unit 21 for detecting whether a sound intensity threshold higher than the contrast environment is present in the current environment within the preset environment detection range. sound;
- a mobile unit 23 whose input end is connected to the output end of the detecting unit 22, for detecting that a sound intensity threshold higher than the contrast environment occurs within the current environment within the preset environment detection range When the sound is heard, it moves to the sound.
- the working principle is: the recording unit 21 records the sound intensity threshold of the contrast environment, and the preset environment detection range; within the preset environment detection range, the detecting unit 22 detects whether the current environment is higher than the current environment. a sound that contrasts a sound intensity threshold of the environment; when detecting a sound that is higher than a sound intensity threshold of the contrast environment within the current environment within the preset environment detection range, the moving unit 23 moves toward the sound .
- the invention intuitively controls the moving direction of the robot by using an applause, a vocal pen, etc., thereby simplifying the operation of the control robot and improving the user's control experience with the robot.
Abstract
The present invention belongs to the technical field of electronics. A method for moving a robot according to a sound and a robot, the method comprising: recording a control environment sound intensity threshold and a preset environment detection range (S101); detecting, within the preset environment detection range, if a sound that exceeds the control environment sound intensity threshold occurs in a current environment (S102); if no, maintaining an original state (S103); if yes, moving toward the sound (S104). A movement direction of a robot may be controlled in an intuitive manner by means of making a sound, such as clapping or calling, thereby simplifying operations needed to control the robot and improving the user experience when controlling the robot.
Description
本发明属于电子技术领域，尤其是涉及一种根据声音移动机器人的方法以及机器人。 The invention belongs to the field of electronic technology, and in particular to a method for moving a robot according to sound and a robot.
机器 人（Robot）是自动执行工作的机器 装置
。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以 人工智能 技术制定的原则 纲领
行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作。 Robot is a machine that automatically performs work.
. It can accept human command, run pre-programmed procedures, or follow principles based on artificial intelligence techniques.
Action. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work.
机器人有三个方面是我们必要去发展的：第一，机器人可以干人不愿意干的事情，把人从有毒的、有害的、高温的或危险的，这样的环境中解放出来；第二，机器人可以干人类不好干的活，比方说在汽车生产线上我们看到工人天天拿着一百多公斤的焊钳，一天焊几千个点，就重复性的劳动，一方面他很累，但是产品的质量仍然很低；第三，机器人可以干人类干不了的活，这也是非常重要的机器人发展的一个理由，比方说人们对太空的认识，人上不去的时候，叫机器人上天，上月球，以及到海洋，进入到人体的小机器人，以及在微观环境下，对原子分子进行搬迁的机器人，都是人们不可达的工作。因此，大力发展以机器人，有助于推动
制造业 提质增效，对于促进装备制造业产业升级，为经济发展注入强劲动力具有重要 意义 。
There are three aspects of robots that we must develop: First, robots can do things that people do not want to do, liberate people from toxic, harmful, high temperature or dangerous environments. Second, robots It is possible to do things that human beings can't do well. For example, in the automobile production line, we see that workers hold more than one hundred kilograms of welding tongs every day. They weld thousands of points a day, and they repeat the labor. On the one hand, he is very tired, but The quality of the products is still very low. Thirdly, robots can do the work that humans can't do. This is also a very important reason for the development of robots. For example, people know about space. When people can't go, they call robots. The moon, as well as the small robots that enter the ocean, enter the human body, and the robots that relocate atomic molecules in the microscopic environment, are unreachable jobs. Therefore, vigorous development of robots helps to promote
Improving quality and efficiency in the manufacturing industry is of great significance for promoting the upgrading of the equipment manufacturing industry and injecting strong momentum into economic development.
现在的机器人移动一般有两种方式：一种是控制式，可以通过有线或者无线遥感控制，尤其是无线遥感控制通过发送信息控制；另一种是应激式，通过满足一定条件后转向或者移动，比如，机器人碰到墙壁后无法前进而进行转向。但是，上述两种方式控制式和应激式都比较单一，而且控制式操作比较复杂，需要非常熟悉控制器。
There are generally two ways to move robots today: one is control type, which can be controlled by wired or wireless remote sensing, especially wireless remote sensing control by sending information control; the other is stress type, which is turned or moved by satisfying certain conditions. For example, if the robot hits the wall, it cannot move forward and turn. However, the above two modes of control and stress are relatively simple, and the control operation is complicated, and it is necessary to be very familiar with the controller.
综上，针对于当前机器人移动的方式较为单一，而且操作比较复杂，用户对机器人的控制体验不佳，需要提供一种能够控制机器人移动方向的方法。
In summary, the current method for robot movement is relatively simple, and the operation is complicated. The user's control experience on the robot is not good, and it is necessary to provide a method for controlling the moving direction of the robot.
本发明实施例提供了一种根据声音移动机器人的方法，目的在于针对于当前机器人移动的方式较为单一，而且操作比较复杂，用户对机器人的控制体验不佳，需要提供一种能够控制机器人移动方向的方法。
The embodiment of the invention provides a method for moving a robot according to sound, and the purpose is that the current robot moves in a relatively simple manner, and the operation is relatively complicated, and the user's control experience on the robot is not good, and it is required to provide a controllable robot moving direction. Methods.
本发明是这样实现的：一种根据声音移动机器人的方法，包括以下步骤： The present invention is achieved by a method of moving a robot based on sound, comprising the steps of:
记录对比环境的声音强度阈值，以及预设的环境检测范围； Record the sound intensity threshold of the contrast environment and the preset environment detection range;
在所述预设的环境检测范围内，检测当前的环境内，是否出现高于所述对比环境的声音强度阈值的声音； Detecting, within the preset environment detection range, whether a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment;
若否，保持原状； If not, remain as it is;
若是，向所述声音移动。 If so, move to the sound.
本发明实施例还提供了一种机器人，包括： An embodiment of the present invention further provides a robot, including:
记录单元，检测单元，移动单元，其中: Recording unit, detecting unit, mobile unit, wherein:
记录单元，用于记录对比环境的声音强度阈值，以及预设的环境检测范围； a recording unit for recording a sound intensity threshold of the contrast environment and a preset environment detection range;
检测单元，其输入端与所述记录单元的输出端连接，用于在所述预设的环境检测范围内，检测当前的环境内，是否出现高于所述对比环境的声音强度阈值的声音；
a detecting unit, wherein the input end is connected to the output end of the recording unit, and is configured to detect, within the preset environment detecting range, whether a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment;
移动单元，其输入端与所述检测单元的输出端连接，用于当在所述预设的环境检测范围内，检测当前的环境内，出现高于所述对比环境的声音强度阈值的声音时，向所述声音移动。
a mobile unit, whose input end is connected to the output end of the detecting unit, for detecting that a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment within the preset environment detection range , moving to the sound.
该发明通过使用拍掌、叫声笔等发出声响的方式，直观的控制机器人的移动方向，从而简化控制机器人的操作，提升用户对机器人的控制体验。
The invention intuitively controls the moving direction of the robot by using an applause, a vocal pen, etc., thereby simplifying the operation of the control robot and improving the user's control experience with the robot.
图1是本发明实施例提供的一种根据声音移动机器人的方法的流程示意图； 1 is a schematic flow chart of a method for moving a robot according to sound according to an embodiment of the present invention;
图2是本发明实施例提供的机器人的结构示意图。 FIG. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
图1是发明实施例提供的一种根据声音移动机器人的方法的流程示意图，为了便于说明，只示出了与本发明实施例相关的部分。
1 is a schematic flow chart of a method for moving a robot according to sound according to an embodiment of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown.
在步骤S101中，记录对比环境的声音强度阈值，以及预设的环境检测范围。 In step S101, a sound intensity threshold of the contrast environment is recorded, and a preset environment detection range is recorded.
在本实施例中，以机器人移动为例，如，当前环境总体声音强度为A分贝，所述对比声音强度阈值为在当前环境中且比当前环境的声音强度高出N分贝，总体上为A加N分贝的声音强度，该声音强度阈值根据当前环境不同而不同。
In this embodiment, taking the robot movement as an example, for example, the current ambient overall sound intensity is A decibel, and the contrast sound intensity threshold is N decibels higher than the current ambient sound intensity in the current environment, and is generally A. The sound intensity of N decibels is added, and the sound intensity threshold varies depending on the current environment.
预设的环境检测范围可以是以机体为中心的，一定半径的范围，如，可以预设以机器人为中心，半径1m的范围。
The preset environment detection range may be centered on the body, and a range of a certain radius, for example, a robot-centered radius of 1 m may be preset.
在步骤S102中，在所述预设的环境检测范围内，检测当前的环境内，是否出现高于所述对比环境的声音强度阈值的声音；若否，则进入步骤S103中，保持原状；若是，则进入步骤S104中，向所述声音移动。
In step S102, in the preset environment detection range, detecting whether a sound higher than the sound intensity threshold of the contrast environment occurs in the current environment; if not, proceeding to step S103, maintaining the original state; Then, the process proceeds to step S104, and the sound is moved.
如，检测以机器人为中心，半径1m范围内的声音强度的变化。若没有出现高于预设声音强度阈值A加N分贝的声音，则机器人不移动；若出现了高于预设声音强度阈值A加N分贝的声音，则机器人向声音的方向移动。
For example, a change in the sound intensity centered on the robot and having a radius of 1 m is detected. If there is no sound higher than the preset sound intensity threshold A plus N decibels, the robot does not move; if a sound higher than the preset sound intensity threshold A plus N decibel appears, the robot moves in the direction of the sound.
该发明通过使用拍掌、叫声笔等发出声响的方式，直观的控制机器人的移动方向，从而简化控制机器人的操作，提升用户对机器人的控制体验。
The invention intuitively controls the moving direction of the robot by using an applause, a vocal pen, etc., thereby simplifying the operation of the control robot and improving the user's control experience with the robot.
图2是本发明实施例提供的一种机器人的结构示意图，该机器人包括： 2 is a schematic structural diagram of a robot according to an embodiment of the present invention, where the robot includes:
记录单元21，检测单元22，移动单元23，其中: Recording unit 21, detecting unit 22, moving unit 23, wherein:
记录单元21，用于记录对比环境的声音强度阈值，以及预设的环境检测范围； a recording unit 21, configured to record a sound intensity threshold of the contrast environment, and a preset environment detection range;
检测单元22，其输入端与所述记录单元21的输出端连接，用于在所述预设的环境检测范围内，检测当前的环境内，是否出现高于所述对比环境的声音强度阈值的声音；
The detecting unit 22 is connected to the output end of the recording unit 21 for detecting whether a sound intensity threshold higher than the contrast environment is present in the current environment within the preset environment detection range. sound;
移动单元23，其输入端与所述检测单元22的输出端连接，用于当在所述预设的环境检测范围内，检测当前的环境内，出现高于所述对比环境的声音强度阈值的声音时，向所述声音移动。
a mobile unit 23, whose input end is connected to the output end of the detecting unit 22, for detecting that a sound intensity threshold higher than the contrast environment occurs within the current environment within the preset environment detection range When the sound is heard, it moves to the sound.
其工作原理是：记录单元21记录对比环境的声音强度阈值，以及预设的环境检测范围；在所述预设的环境检测范围内，检测单元22检测当前的环境内，是否出现高于所述对比环境的声音强度阈值的声音；当在所述预设的环境检测范围内，检测当前的环境内，出现高于所述对比环境的声音强度阈值的声音时，移动单元23向所述声音移动。
The working principle is: the recording unit 21 records the sound intensity threshold of the contrast environment, and the preset environment detection range; within the preset environment detection range, the detecting unit 22 detects whether the current environment is higher than the current environment. a sound that contrasts a sound intensity threshold of the environment; when detecting a sound that is higher than a sound intensity threshold of the contrast environment within the current environment within the preset environment detection range, the moving unit 23 moves toward the sound .
该发明通过使用拍掌、叫声笔等发出声响的方式，直观的控制机器人的移动方向，从而简化控制机器人的操作，提升用户对机器人的控制体验。
The invention intuitively controls the moving direction of the robot by using an applause, a vocal pen, etc., thereby simplifying the operation of the control robot and improving the user's control experience with the robot.
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalents, and improvements made within the spirit and scope of the present invention should be included in the scope of the present invention. Inside.
Claims (2)
- 一种根据声音移动机器人的方法，其特征在于，所述方法包括如下步骤： A method of moving a robot according to sound, characterized in that the method comprises the following steps:记录对比环境的声音强度阈值，以及预设的环境检测范围；Record the sound intensity threshold of the contrast environment and the preset environment detection range;在所述预设的环境检测范围内，检测当前的环境内，是否出现高于所述对比环境的声音强度阈值的声音；Detecting, within the preset environment detection range, whether a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment;若否，保持原状；If not, remain as it is;若是，向所述声音移动。If so, move to the sound.
- 一种机器人，其特征在于，所述机器人包括：A robot, characterized in that the robot comprises:记录单元，检测单元，移动单元，其中:Recording unit, detecting unit, mobile unit, wherein:记录单元，用于记录对比环境的声音强度阈值，以及预设的环境检测范围；a recording unit for recording a sound intensity threshold of the contrast environment and a preset environment detection range;检测单元，其输入端与所述记录单元的输出端连接，用于在所述预设的环境检测范围内，检测当前的环境内，是否出现高于所述对比环境的声音强度阈值的声音；a detecting unit, wherein the input end is connected to the output end of the recording unit, and is configured to detect, within the preset environment detecting range, whether a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment;移动单元，其输入端与所述检测单元的输出端连接，用于当在所述预设的环境检测范围内，检测当前的环境内，出现高于所述对比环境的声音强度阈值的声音时，向所述声音移动。a mobile unit, whose input end is connected to the output end of the detecting unit, for detecting that a sound higher than a sound intensity threshold of the contrast environment occurs in the current environment within the preset environment detection range , moving to the sound.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021108991A1 (en) * | 2019-12-03 | 2021-06-10 | 深圳市大疆创新科技有限公司 | Control method and apparatus, and movable platform |
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