CN106022305A - Intelligent robot movement comparing method and robot - Google Patents
Intelligent robot movement comparing method and robot Download PDFInfo
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- CN106022305A CN106022305A CN201610397485.1A CN201610397485A CN106022305A CN 106022305 A CN106022305 A CN 106022305A CN 201610397485 A CN201610397485 A CN 201610397485A CN 106022305 A CN106022305 A CN 106022305A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses an intelligent robot movement comparing method and a robot. The method disclosed in the invention comprises the following steps: current movement behaviors of an interaction object are collected, standard movement behaviors corresponding to the current movement behaviors are obtained, deviation data is obtained after the current movement behaviors are compared with the standard movement behaviors, and multi-modal motion adjusting instructions are generated and output according to the deviation data. According to the method disclosed in the invention, the intelligent robot is enabled to finish movement comparing operation, a user can be instructed to learn and imitate the movement behaviors, execution efficiency of movement behavior learning and imitating can be greatly improved, an application scope of the intelligent robot can be expanded, and user experience of the intelligent robot can be improved.
Description
Technical field
The present invention relates to robot field, in particular relate to a kind of action control methods for intelligent robot with
And robot.
Background technology
In human being's production life process, it is frequently encountered the occasion needing to carry out action behavior study and imitation,
Especially during infant-growth, study and the process of imitation of action behavior are the most essential.But people
Study and when echopraxia, without the guidance of specialty teacher, often do not know whether that action does is
No standard, such as literature and art class are as danced, and the shot of sport category such as golf, in study and echopraxia
When, without supervision, the most easily slack off.This allows for during study and echopraxia,
The effect of teacher is especially prominent.
Along with the development of robotics, the degree of personalizing of intelligent robot improves constantly, intelligent machine
People the most constantly extends in the application of domestic environments.Therefore, the study and imitation in order to improve action behavior efficiency,
Minimizing learning cost, and further expand the range of application of intelligent robot, need one for intelligent robot
Action comparison method.
Summary of the invention
The efficiency of study and imitation in order to improve action behavior, minimizing learning cost, and further expand intelligence
The range of application of robot, the invention provides a kind of action control methods for intelligent robot, described side
Method comprises the following steps:
Gather the current action behavior of interactive object；
Obtain the standard operation behavior corresponding with described current action behavior；
Contrast described current action behavior with described standard operation behavior to obtain deviation data；
Generate and export multi-modal action according to described deviation data and adjust instruction.
In one embodiment, the standard operation behavior corresponding with described current action behavior is obtained, wherein, from advance
The standard operation storehouse put recalls the described standard operation behavior corresponding with described current action behavior, described standard
Maneuver library is configured to store multiple different standard operation behavior.
In one embodiment, described current action behavior is contrasted with described standard operation behavior to obtain variation
According to, wherein, described deviation data comprises the space that described current action behavior differs with described standard operation behavior
Parameter and/or time-parameters.
In one embodiment, described method also includes:
Determine current action contrast scene；
Obtain the standard operation behavior corresponding with described current action behavior, wherein, obtain and contrast with described action
The standard operation behavior of scene matching；
Generate and export multi-modal action according to described deviation data and adjust instruction, wherein, generate and export with
The action of described action contrast scene matching adjusts instruction.
In one embodiment, described method also includes:
Obtain current interaction demand and determine current action contrast scene based on described interaction demand；
Or
Gather the current action behavior of described interactive object and determine current moving based on described current action behavior
Compare scene.
The invention allows for a kind of intelligent robot carrying out action contrast, described robot includes:
Action harvester, its current action behavior being configured to gather interactive object；
Criterion behavior acquisition module, it is configured to obtain the standard operation row corresponding with described current action behavior
For；
Action contrast module, it is configured to contrast described current action behavior with described standard operation behavior to obtain
Deviation data；
Action indicating module, it is configured to generate and export multi-modal action adjustment according to described deviation data and refers to
Show.
In one embodiment, described criterion behavior acquisition module includes:
Standard operation storehouse, it is configured to store multiple different standard operation behavior；
Standard operation call unit, it is configured to recall from described standard operation storehouse and described current action behavior
Corresponding described standard operation behavior.
In one embodiment, described action contrast module is additionally configured to obtain described current action behavior and described mark
The spatial parameters of quasi-action behavior difference and/or time-parameters.
In one embodiment:
Described robot also include contrast scene acquisition module, described contrast scene acquisition module its be configured to determine
Current action contrast scene；
Described criterion behavior acquisition module is configured to obtain and the standard operation row of described action contrast scene matching
For；
Described action indicating module is configured to generate and export the action with described action contrast scene matching and adjusts
Instruction.
In one embodiment, described contrast scene acquisition module is configured that
Obtain current interaction demand and determine current action contrast scene based on described interaction demand；
Or
Current action contrast scene is determined based on described current action behavior.
Method according to the invention it is possible to use intelligent robot execution contrast thus instruct user to complete to move
Making study and the imitation of behavior, it not only substantially increases the study of action behavior and the execution efficiency of imitation and drops
Low executory cost, and extend the range of application of intelligent robot, improve the user's body of intelligent robot
Test.
The further feature of the present invention or advantage will illustrate in the following description.Further, the part of the present invention is special
Levy or advantage will be become apparent by description, or be appreciated that by implementing the present invention.The present invention
Purpose and certain advantages can be come by step specifically noted in description, claims and accompanying drawing
Realize or obtain.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with the present invention
Embodiment be provided commonly for explain the present invention, be not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is method flow diagram according to an embodiment of the invention；
Fig. 2-Fig. 5 is the Part Methods flow chart according to different embodiments of the invention；
Fig. 6 is robot architecture's block diagram according to an embodiment of the invention.
Detailed description of the invention
Embodiments of the present invention are described in detail, whereby the enforcement of the present invention below with reference to drawings and Examples
Personnel can fully understand how application technology means are to solve technical problem for the present invention, and reaches technique effect
Realize process and be embodied as the present invention according to the above-mentioned process that realizes.As long as it should be noted that do not constitute conflict,
Each embodiment in the present invention and each feature in each embodiment can be combined with each other, the technology formed
Scheme is all within protection scope of the present invention.
The efficiency of study and imitation in order to improve action behavior, minimizing learning cost, and further expand intelligence
The range of application of robot, the present invention proposes a kind of action comparison method for intelligent robot.
In the method for the invention, first gather the current action behavior of interactive object and obtain and current action row
For corresponding standard operation behavior；Then contrast current action behavior and standard operation behavior are to obtain variation
According to；Generate and export multi-modal action finally according to deviation data and adjust instruction.
Method based on the present invention, it is not necessary to relying on third party, robot self just can complete the action to people
Instruct, thus while reducing learning cost, improve study and the efficiency of imitation of user action behavior.Especially
It is for child, is possible not only to correct the nonstandard action of child, assists the action learning of parental guidance child,
And child can be avoided to perform dangerous play, the head of a family not when realize see protective function.
Method according to the invention it is possible to use intelligent robot execution contrast thus instruct user to complete to move
Making study and the imitation of behavior, it not only substantially increases the study of action behavior and the execution efficiency of imitation and drops
Low executory cost, and extend the range of application of intelligent robot, improve the user's body of intelligent robot
Test.
Next describe in detail based on accompanying drawing and the most specifically perform flow process.The flow process of accompanying drawing
Step shown in figure can perform in the computer system comprising such as one group of computer executable instructions.Though
The right logical order showing each step in flow charts, but in some cases, can be to be different from herein
Order perform shown or described by step.
In an embodiment of the present invention, as it is shown in figure 1, first gather user's current action behavior (step S110),
Then standard operation behavior (step S110) is obtained.
Here, standard operation behavior is used to do with user's current action behavior and contrasts, briefly, and mark
Quasi-action behavior is exactly a correct model.In an embodiment of the present invention, a set of standard operation behavior is to use
In describing the executions process of a whole set of (one) action in detail, it is included in and performs limb during action behavior
Body is at the particular location (position range) of each timing node.Such as standard set dance movement behavior, its
Comprise the particular location of the body part such as each timing node hands, foot, waist.By contrast standard action behavior
The action behavior current with user, it is possible to understand the difference between the current action behavior of user and correct model
Not.
In an alternative embodiment of the invention, standard operation behavior can also be correct (safety) position of user's limbs
Shifting scope.By the action behavior that contrast standard action behavior is current with user, it is possible to understand user current
Whether action behavior is beyond safety range.
In an alternative embodiment of the invention, standard operation behavior pre-saves.Concrete, such as Fig. 2 institute
Show, be first configured to preserve the standard operation storehouse (step S210) of standard operation behavior, move in the standard of acquisition
During making behavior (step S120), from standard operation storehouse, call standard operation behavior (step S220).
It can be appreciated that user has numerous different action behavior.For different action behaviors, its correspondence
Standard operation behavior is also different.Therefore, the standard operation storehouse constructed in step S210 comprise multiple
Different standard operation behaviors, in step S220, in the multiple standard operation behaviors from standard operation storehouse
Call the action behavior current with user corresponding (for and user current action behavior do and contrast) standard
Action behavior.Concrete, as shown in Figure 1 and Figure 2, in an embodiment of the present invention, in step S120
Step S160 to be performed, acquisition action contrast scene, it is then based on current action contrast scene and obtains
The standard operation behavior being suitable for.That is, from standard operation storehouse, search contrasts, with current action, the mark that scene is mated most
Quasi-action behavior.
Further, in an embodiment of the present invention, robot is by obtaining and analyzing current interaction demand
Determine that action contrasts scene.As it is shown on figure 3, robot obtains current interaction demand (S310), then to working as
Front interaction demand is analyzed (S320), according to analysis result acquisition action contrast scene (S160).One
In embodiment, robot can obtain current interaction demand, also by obtaining direct interaction instruction (S311)
Can first gather outside and interactively enter information (S312), then interactively enter information (S313) by analysis is outside
Obtain current interaction demand.
As a example by concrete application scenarios, user directly can comprise, to robot input, the finger alternately that golf instructs
Order, the interactive instruction that robot instructs by comprising golf determines that current interaction demand is for instructing golf to move
Making, acquisition action contrast scene is contrast user's golf action and standard golf action the most further.
Meanwhile, robot can also gather outside and interactively enter information (current location: golf course；Currently
Topic: golf study etc.), by the analysis of external input information being determined current interaction demand is to instruct
Golf.
Further, in an embodiment of the present invention, robot is by obtaining and analyzing the action row that user is current
For determining that action contrasts scene.As shown in Figure 4, robot gathers user's current action behavior (S410),
Then current action behavior is analyzed (S420), according to analysis result acquisition action contrast scene (S160).
In one embodiment, before performing step S420, robot also performs step S411, gathers outside mutual
Environmental data (such as position, environment, topic etc.), so utilizes outside interactive environment when step S420
Data assistant analysis user's current action behavior.
Further, in an embodiment of the present invention, by action contrast scene, robot does not determines that standard is moved
Make behavior, but the action behavior that direct analysis user is current, search for current with user from standard operation storehouse
The standard operation behavior that action behavior mates most.
Just can contrast user's current action behavior after getting the standard operation behavior for contrasting and standard is moved
Make behavior, as it is shown in figure 1, perform step S130 after step S110 and step S120, thus enter one
Step performs step S140, obtains the deviation data between the current action behavior of user and standard operation behavior.Obtain
After deviation data, robot i.e. can generate according to deviation data and output action adjusts instruction (S150).
In step S140, deviation data is and describes between the current action behavior of user and standard operation behavior
Difference.Robot adjusts the action behavior of oneself according to deviation data instruction user so that the action row of user
Action behavior for being constantly near the mark (constantly reduces the district between the action behavior of user and standard operation behavior
Not), thus reach action director teaching purpose.
Further, during instructing user action behavior, for different interaction demands, robot needs
Make different types of action and adjust instruction.Accordingly, move at the contrast current action behavior of user and standard
During making behavior, adjust instruction demand, deviation data data type to be obtained based on different actions
Also the most different.
Concrete, when robot needs the action behavior of detailed guidance user so that the action of user is the most close
When the action of standard and motion flow, (such as robot instructs user in strict accordance with standard gestures impact height
Golf ball), robot needs to obtain and can describe in detail between the current action behavior of user and standard operation behavior
The deviation data of difference.
Therefore, in an embodiment of the present invention, deviation data comprises current action behavior and standard operation behavior phase
The spatial parameters of difference and/or time-parameters.That is, its deformation trace deviation (special time joint during user's limb motion
Point upper limb body position deviation), velocity of displacement deviation (be displaced to another ad-hoc location from an ad-hoc location
Time consumption deviation).Robot, according to above-mentioned detailed deviation data, analyzes the action behavior of user from details
With the gap between standard operation behavior and make corresponding action adjust instruction.
On the other hand, (such as see in robot when robot is not required to detailed consumer-oriented action behavior
During care of young, it is only necessary to the action behavior of child is limited in a specific actuating range, or
In primary action teaching, it is not strict with user and perfectly follows standard operation), now, robot is also
Need not obtain the detailed data of the difference described between the current action behavior of user and standard operation behavior, only need
Want a parameter substantially.
Further, in conjunction with above-mentioned analysis, robot is obtaining deviation data and is generating corresponding action adjustment
During instruction, need to refer to current action contrast scene.I.e. robot is configured to generate and export contrast with action
(being suitable for interaction demand) action of scene matching adjusts instruction.
In an embodiment of the present invention, as it is shown in figure 5, be configured with action in robot to adjust instruction rule base
(S510).In action adjusts instruction rule base, storage has multiple different action to adjust instruction rule (such as
Dancing Teaching instruction rule, golf instruction instruction rule etc.).Concrete, action adjusts instruction rule and includes
Action adjust instruction demand (need to instruct user to arrive what kind of degree, abecedarian or high-grade student,
Accurately instruction or substantially rough instruction etc.), relevant action adjusts instruction term (different interaction demands is corresponding
Different instruction terms, the term of such as Dancing Teaching and golf instruction just differs) etc. rule settings.
After robot acquisition action contrast scene (S160), the action calling coupling based on action contrast scene is adjusted
Whole instruction rule (S520).It follows that based on action adjust instruction rule perform step S130, S140 with
And S150, ultimately generate and export the action adjustment instruction meeting action adjustment instruction rule.
And as a example by the golf instruction of abecedarian, first robot determines that current action contrast scene is (mutual
Demand) it is golf instruction, from standard operation storehouse, then recall the golf action of standard, and from
Action adjusts in instruction storehouse and calls golf beginners's instruction schedule.Gather the golf action of user and incite somebody to action
The golf action of user contrasts with the golf action of standard, obtains and meets golf beginners
The deviation data of instruction schedule, generates the action adjustment being suitable for golf beginners's instruction schedule according to deviation data
Instruction.
Further, in an embodiment of the present invention, action adjust instruction be multi-modal, its comprise voice,
The multiple different output types such as video, robot motion demonstration.Concrete, as a example by golf instruction, machine
Device people can point out not meet in user action behavior the part of standard golf action behavior in the way of voice
And show in the display device of robot in the way of video frequency output standard operation behavior (standard gestures) (with
And the contrast difference of user's posture and standard gestures).It addition, robot can also utilize self limbs demonstration mark
Quasi-posture and the posture of imitation user, so that teaching is more vivid, improve teaching efficiency.
To sum up, method according to the invention it is possible to use intelligent robot execution contrast thus instruct user
The study of execution behavior and imitation, its study not only substantially increasing action behavior and imitation perform effect
Rate also reduces executory cost, and extends the range of application of intelligent robot, improves intelligent robot
Consumer's Experience.
Method based on the present invention, the invention allows for a kind of intelligent robot carrying out action contrast.?
In one embodiment, as shown in Figure 6, robot include action harvester 610, criterion behavior acquisition module 620,
Action contrast module 630 and action indicating module 640.Wherein:
Action harvester 610 is configured to gather the current action behavior of interactive object；
Criterion behavior acquisition module 620 is configured to obtain the standard operation behavior corresponding with current action behavior；
Action contrast module 630 is configured to contrast current action behavior with standard operation behavior to obtain variation
According to；
Action indicating module 640 is configured to generate and export multi-modal action adjustment according to described deviation data and refers to
Show.
Further, in the present embodiment, criterion behavior acquisition module 620 include standard operation storehouse 621 and
Standard operation call unit 622.Standard operation storehouse 621 is configured to store multiple different standard operation behavior；
Standard operation call unit 622 is configured to recall the standard corresponding with current action behavior from standard operation storehouse and moves
Make behavior.
In the present embodiment, robot also includes contrasting scene acquisition module 650.Contrast scene acquisition module 650
It is configured to determine current action contrast scene.Concrete, in the present embodiment, contrast scene acquisition module 650
Action contrast instruction based on user's input determines current action contrast scene.In other embodiments of the invention
In, contrast scene acquisition module can also enter according to current interaction demand or to the action behavior of active user
Row analysis determines that action contrasts scene.
In the present embodiment, standard operation call unit 622 is configured to current action contrast scene from mark
Quasi-maneuver library 621 calls the standard operation behavior of coupling.In other embodiments of the present invention, standard operation is adjusted
Coupling user directly can be called from standard operation storehouse based on the analysis to current user action behavior with unit
The standard operation behavior of current action behavior.
In the present embodiment, action contrast module 630 is configured to obtain current action behavior and standard operation behavior
The spatial parameters of difference and/or time-parameters (deviation data).Further, action contrast module 630 configures
According to different action contrast scenes adjust the tool of the deviation data (spatial parameters and/or time-parameters) generated
Body type and levels of precision.Accordingly, action indicating module 640 is configured to according to different action contrast fields
Scape generates the action adjustment instruction meeting action contrast scene requirement.
The intelligent robot of the present invention can realize action contrast thus instruct the study of user's execution behavior
And imitation, it not only substantially increases the study of action behavior and the execution efficiency of imitation reducing and performs into
This.Compared to the robot of prior art, the intelligent robot of the present invention have wider application scope and
More excellent Consumer's Experience.
Device embodiment described above is only schematically, the wherein said list illustrated as separating component
Unit can be or may not be physically separate, and the parts shown as unit can be or can also
It not physical location, i.e. may be located at a place, or can also be distributed on multiple NE.Permissible
Select some or all of module therein to realize the purpose of the present embodiment scheme according to the actual needs.Ability
Territory those of ordinary skill, in the case of not paying creative work, is i.e. appreciated that and implements.
While it is disclosed that embodiment as above, but described content is only to facilitate understand the present invention
And the embodiment used, it is not limited to the present invention.Method of the present invention also can have other multiple realities
Execute example.Without departing from the spirit of the present invention, those of ordinary skill in the art are when making according to the present invention
Go out various corresponding change or deformation, but these change accordingly or deform the claim that all should belong to the present invention
Protection domain.
Claims (10)
1. the action control methods for intelligent robot, it is characterised in that described method includes following
Step:
Gather the current action behavior of interactive object；
Obtain the standard operation behavior corresponding with described current action behavior；
Contrast described current action behavior with described standard operation behavior to obtain deviation data；
Generate and export multi-modal action according to described deviation data and adjust instruction.
Method the most according to claim 1, it is characterised in that obtain and described current action behavior pair
The standard operation behavior answered, wherein, recalls corresponding with described current action behavior from preset standard operation storehouse
Described standard operation behavior, described standard operation storehouse is configured to store multiple different standard operation behavior.
Method the most according to claim 1, it is characterised in that contrast described current action behavior and institute
State standard operation behavior to obtain deviation data, wherein, described deviation data comprise described current action behavior with
The spatial parameters of described standard operation behavior difference and/or time-parameters.
4. according to the method according to any one of claim 1-3, it is characterised in that described method also includes:
Determine current action contrast scene；
Obtain the standard operation behavior corresponding with described current action behavior, wherein, obtain and contrast with described action
The standard operation behavior of scene matching；
Generate and export multi-modal action according to described deviation data and adjust instruction, wherein, generate and export with
The action of described action contrast scene matching adjusts instruction.
Method the most according to claim 4, it is characterised in that described method also includes:
Obtain current interaction demand and determine current action contrast scene based on described interaction demand；
Or
Gather the current action behavior of described interactive object and determine current moving based on described current action behavior
Compare scene.
6. can carry out an intelligent robot for action contrast, described robot includes:
Action harvester, its current action behavior being configured to gather interactive object；
Criterion behavior acquisition module, it is configured to obtain the standard operation row corresponding with described current action behavior
For；
Action contrast module, it is configured to contrast described current action behavior with described standard operation behavior to obtain
Deviation data；
Action indicating module, it is configured to generate and export multi-modal action adjustment according to described deviation data and refers to
Show.
Robot the most according to claim 6, it is characterised in that described criterion behavior acquisition module bag
Include:
Standard operation storehouse, it is configured to store multiple different standard operation behavior；
Standard operation call unit, it is configured to recall from described standard operation storehouse and described current action behavior
Corresponding described standard operation behavior.
Robot the most according to claim 6, it is characterised in that described action contrast module also configures that
For obtaining spatial parameters and/or the time-parameters that described current action behavior differs with described standard operation behavior.
9. according to the robot according to any one of claim 6-8, it is characterised in that:
Described robot also include contrast scene acquisition module, described contrast scene acquisition module its be configured to determine
Current action contrast scene；
Described criterion behavior acquisition module is configured to obtain and the standard operation row of described action contrast scene matching
For；
Described action indicating module is configured to generate and export the action with described action contrast scene matching and adjusts
Instruction.
Robot the most according to claim 9, it is characterised in that described contrast scene acquisition module is joined
It is set to:
Obtain current interaction demand and determine current action contrast scene based on described interaction demand；
Or
Current action contrast scene is determined based on described current action behavior.
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| CN107519621A (en) * | 2017-07-20 | 2017-12-29 | 深圳市盛路物联通讯技术有限公司 | Data processing method and relevant device based on Internet of Things |
| CN107953337A (en) * | 2017-12-29 | 2018-04-24 | 深圳市乐幻索尔科技有限公司 | A kind of adjustment of robot motion deviation and store method and system |
| CN109035879A (en) * | 2018-07-26 | 2018-12-18 | 张家港市青少年社会实践基地 | A kind of teenager's intelligent robot teaching method and device |
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| CN110559639A (en) * | 2019-08-02 | 2019-12-13 | 焦作大学 | Robot teaching method for gymnastics movement |
| CN111007902A (en) * | 2019-11-12 | 2020-04-14 | 珠海格力电器股份有限公司 | Mother and infant motion monitoring system and method based on camera and smart home |
| CN112604260A (en) * | 2020-11-16 | 2021-04-06 | 广州博冠智能科技有限公司 | Dance analysis guidance method and device for group dance |
| CN113276117A (en) * | 2021-05-21 | 2021-08-20 | 重庆工程职业技术学院 | Automatic control system of industrial robot |
| CN113877196A (en) * | 2021-09-30 | 2022-01-04 | 深圳市衡泰信科技有限公司 | Man-machine fighting system and method of golf simulator |
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