CN106378780A - Robot system and method and server for controlling robot - Google Patents
Robot system and method and server for controlling robot Download PDFInfo
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- CN106378780A CN106378780A CN201610921808.2A CN201610921808A CN106378780A CN 106378780 A CN106378780 A CN 106378780A CN 201610921808 A CN201610921808 A CN 201610921808A CN 106378780 A CN106378780 A CN 106378780A
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- robot
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- assignment instructions
- task
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The embodiment of the invention discloses a robot system which comprises a server and at least one robot, wherein the server and the robot communicate with each other through a wireless link or a wire link; the robot is used for sending collected surrounding environmental information to the server; the server is used for receiving a task instruction, getting an action sequence and motion parameters of all actions in the action sequence according to the task instruction and the environmental information, and sending the motion parameters of the actions in the action sequence to the robot one by one according to the sequence of the actions in the action sequence; and the robot is used for performing corresponding actions according to the received motion parameters. The robot system provided by the embodiment of the invention separates a task planning step from the robot body, puts the task planning step in the charge of the server, can meet various concurrent highly real-time and highly reliable computation requirements in a task performing process of the robot, enables the robot to finish more tasks that are more complicated, improves intelligence of the robot, and enlarges the application service scene of the robot.
Description
Technical field
The present invention relates to robotics, more particularly, to a kind of robot system, the method kimonos of control robot
Business device.
Background technology
With social progress, robot will become the important force of Future Society productive life, it will penetrates into each
The each industry of row plays important force and effect.
Most robot is all to install computer, sensor and human-computer interaction device on robot body at present
(as mike, touch screen, button, image recognizer etc.).Complete such as voice using the computer carrying on robot body
The task functions such as identification, robot motion instruction planning, image recognition, man-machine interaction.Due to the finite volume of robot, it is taken
It is impossible to efficiently accurately complete series of complex or substantial amounts of calculating and storage, machine limited by the computing capability of the computer carrying
The degree of intelligence of people receives serious restriction, this restrict robot further intelligent development and service application scenarios
Expand further.
Content of the invention
In view of this, the invention provides the method server of a kind of robot system, control robot, can solve the problem that
In prior art, the computing capability of robot is limited, constrains robot further intelligent development and service application scenarios
The problem expanded further.
Robot system provided in an embodiment of the present invention, including：Server；Also include：At least one robot；
Communicated by wireless link or wire link between described server and described robot；
Described robot, for collection environmental information about, and described environmental information is sent to described server；
Described server, for receiving assignment instructions, and according to described assignment instructions and described environmental information, obtains action
The kinematic parameter of each action in sequence and described action sequence；
Described server, is additionally operable to the order according to each action in described action sequence, one by one by described action sequence
In the kinematic parameter of each action be sent to described robot；
Described robot, is additionally operable to execute corresponding action according to the kinematic parameter receiving.
Preferably, described robot, is additionally operable to send status information to described server；
Described server, is additionally operable to adjust the action of described robot according to described status information.
Preferably, described server, is additionally operable to preserve described environmental information and described action sequence；
Described server, is additionally operable to preserve the kinematic parameter of each action in described action sequence.
Preferably, also include：At least one human-computer interaction device；
Communicated by wireless link or wire link between described server and described human-computer interaction device；
Described human-computer interaction device, for receiving described assignment instructions, and described assignment instructions is sent to described service
Device；
Described human-computer interaction device, is additionally operable to receive command for stopping, and described command for stopping is sent to described server；
Described server, is additionally operable to, according to described command for stopping, control the stopping action of described robot.
Preferably, described server, is additionally operable to for described action sequence, described status information and task status to be sent to institute
State human-computer interaction device, described task status includes the execution shape of each action in described environmental information and described action sequence
State, described execution state includes successful execution, is carrying out and waits pending；
Described human-computer interaction device, is additionally operable to show in described motion sequence, described status information and described action sequence
The execution state of each action.
The method controlling robot provided in an embodiment of the present invention, is applied to server, described server and robot it
Between by wireless link or wire link communication；Methods described, including：
Receive assignment instructions, and obtain the environmental data around described robot；
According to described assignment instructions and described environmental data, obtain each action in action sequence and described action sequence
Kinematic parameter；
According to the order of each action in described action sequence, one by one the motion of each action in described action sequence is joined
Number is sent to described robot, so that described robot executes corresponding action according to the kinematic parameter receiving.
Preferably, also include：
Receive the status information of described robot；
According to described status information, adjust the action of described robot.
Preferably, described server is also connected with human-computer interaction device；
Described according to described assignment instructions with described environmental data, obtain each in action sequence and described action sequence
The kinematic parameter of action, specifically includes：
Identify described assignment instructions；
The assignment instructions that will identify that are sent to described human-computer interaction device so that described human-computer interaction device show described
The assignment instructions identifying；
When not receiving the false command that described human-computer interaction device sends, obtain from the described assignment instructions identifying
Take the key message of task, described key message includes task place, task action and task result；
According to described key message and described environmental data, obtain each in described action sequence and described action sequence
The kinematic parameter of action.
Provided in an embodiment of the present invention control robot server, between server and robot pass through wireless link or
Wire link communicates；Described server, including：Data reception module, action planning module data sending module；
Described data reception module, for receiving assignment instructions, and obtains the environmental data around robot；
Described action planning module, for according to described environmental data and described assignment instructions, obtain action sequence and
The kinematic parameter of each action in described action sequence；
Described data transmission blocks, for the order according to each action in described action sequence, one by one by described action
In sequence, the kinematic parameter of each action is sent to described robot, so that described robot is held according to the kinematic parameter receiving
The corresponding action of row.
Preferably, also include：Action control module；
Described data reception module, is additionally operable to receive the status information of described robot；
Described action control module, for according to described status information, adjusting the action of described robot.
Preferably, described server is also connected with human-computer interaction device；
Described action planning module, specifically includes：Identification submodule, sending submodule, receiving submodule, extracting sub-module
With planning submodule；
Described identification submodule, for identifying described assignment instructions；
Described sending submodule, the assignment instructions for will identify that are sent to described human-computer interaction device, so that described
Human-computer interaction device show described in the assignment instructions that identify；
Described receiving submodule, for receiving the false command that described human-computer interaction device sends；
Described extracting sub-module, for not receiving, when described receiving submodule, the mistake that described human-computer interaction device sends
From the assignment instructions identifying, during instruction, obtain the key message of task, the key message of described task include task place,
Task action and task result；
Described planning submodule, for according to described key message and described environmental data, obtain described action sequence with
And in described action sequence each action kinematic parameter.
Compared with prior art, the present invention at least has advantages below：
Robot system provided in an embodiment of the present invention, by the assignment instructions robot of human-computer interaction device receive user
After environmental information around getter, assignment instructions are sent to server to complete instruction identification and mission planning step.Clothes
After business device identification mission instruction acquisition environmental information about at robot, according to environmental information and identifying of task
Instruction, obtains the motion ginseng that robot completes each action in action sequence that this assignment instructions need to carry out and action sequence
Number.Afterwards, the kinematic parameter of this action is sent to robot, machine according to the order of each action in action sequence by server
People completes the task indicated by assignment instructions according to the kinematic parameter receiving.Robot system provided in an embodiment of the present invention,
Mission planning step is separated from robot body, is responsible for by server, the process that robot executes task can be tackled
In the real-time and highly reliable calculating demand of all kinds of concurrent height.Meanwhile, all kinds of algorithms server having, can integrate multiple many
The environmental data of sample, and various mission requirements can be dealt with so that robot can complete more more complicated tasks, improve machine
The intellectuality of device people, expands the application service scene of robot.
Brief description
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of existing robot framework；
The structural representation of the robot system embodiment that Fig. 2 provides for the present invention；
Fig. 3 is the structural representation of human-computer interaction device in robot system provided in an embodiment of the present invention；
The schematic flow sheet of the embodiment of the method for the control robot that Fig. 4 provides for the present invention；
The structural representation of the server example of the control robot that Fig. 5 provides for the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention it is clear that described embodiment is only this
Invent a part of embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art exist
The every other embodiment being obtained under the premise of not making creative work, broadly falls into the scope of protection of the invention.
Machine man-hour needs many software and hardware functional modules to cooperate to accomplish a task with coordinating, these work(
Module can often there is complicated dependence and synchronized relation each other.Therefore, these functional modules allow for quickly
Ground, in real time complete calculate and analyze.If a key function module can not be rapidly completed computing and ensure real-time, it will lead
Cause subsequently a series of function to be not timely completed or continue, ultimately result in mission failure, more seriously then can lead to personnel's property
(such as real time collision detection functional module fails to complete at the appointed time to calculate, then can lead to touching of machine and personnel for loss
Hit, cause the people injured).
And robot is in execution positioning, map structuring, article crawl, location navigation, image recognition, motion planning etc. immediately
During functional module, need to take substantial amounts of computing resource and storage resource.Fig. 1 shows existing robot framework.Big at present
Partial machine is to install some control devices, executor's equipment and several computers on its body to plan machine per capita
The various actions of people.Now, the action of robot and service function for convenience, these computers are generally all more compact, cause
The computing capability making robot is poor it is impossible to enough efficiently accurately complete series of complex and substantial amounts of calculating and storage.This system
Yue Liao robot further intelligent development and service application scenarios expand.
Additionally, the Man Machine Interface equipment of setting has mike, photographic head, touch screen, remote sensing in existing robot
Button etc..In existing robot, these equipment are all integrally fixed on robot body.So problems can be led to,
As robot walk remote after, robot for the order (as voice, gesture instruction) of user resolution accuracy decline to a great extent it is impossible to
Operation robot simultaneously monitors state of robot etc..
For this reason, the invention provides a kind of robot system, after human-computer interaction device obtains assignment instructions, by task
Instruction is sent to server.Afterwards, server obtains environmental data about by robot, and on this basis, planning
Moving line and specific action parameter, after making robot whole actions in having executed action sequence, the task that can complete refers to
The indicated task of order.During work, server keeps the connection with human-computer interaction device and robot.Human-computer interaction device connects
Receive and upload onto the server after the assignment instructions of user, environment also uploads onto the server robot monitor in real time about.Clothes
All of complex calculation (as location navigation, motion planning, visual identity etc.) is responsible for by business device.Server is according to assignment instructions and machine
The surrounding of device people, the moving line of planning robot guiding in real time robot move, and robot is according to the finger of server
Order completes the task indicated by assignment instructions.The robot system that the present invention provides, makes human-computer interaction device, server and machine
This three of human body can cooperate, learn from other's strong points to offset one's weaknesses, resources advantage is shared, the preferably more efficient task of completing robot
Planning, allows the robot to complete more more complicated actions, expands the application scenarios of robot.
Based on above-mentioned thought, understandable for enabling the above objects, features and advantages of the present invention to become apparent from, with reference to
Accompanying drawing is described in detail to the specific embodiment of the present invention.
System embodiment：
Referring to Fig. 2, this figure is the structural representation of the robot system embodiment that the present invention provides.
The system of the control robot that the present embodiment provides, including：Server 10；Also include：At least one robot 20；
Communicated by wireless link or wire link between described server 10 and robot 20；
For example, robot 20 can be set up by built-in or external 3G/4G mixed-media network modules mixed-media, WIFI module and bluetooth module etc.
Wireless link is communicated with server 10.When server 10 is located locally, also can set up between server 10 and robot 20
Wire link is communicated.It is understood that when being embodied as, those skilled in the art can be according to practical situation, concrete choosing
Select the communication mode between server 10 and robot 20.
Described robot 20, for collection environmental information about, and described environmental information is sent to described service
Device 10；
It should be noted that robot 20 monitors environment about, server 10 by the induction apparatuss arranging thereon
Control robot 20 mobile on this basis.Specifically, robot 20 is equipped with photographic head to obtain holding of current task
Row environment.The performing environment that photographic head can also be got by server 10 is as the feedback of tasks carrying, constantly regulate task
Practice condition.Robot 20 also can be equipped with radar (as laser radar etc.) to survey and draw map environment about in real time；Take
Carry gyroscope and accelerometer, the mass motion situation current to control robot 20；Carry GPS to carry out the positioning of robot
And navigation.
Therefore, in one example, robot 20, are additionally operable to send status information to described server 10；Described service
Device 10, is additionally operable to adjust the action of described robot 20 according to described status information.
It is understood that above-mentioned status information includes the translational speed of robot 20, the pose in each joint of robot 20
With the dump energy of robot 20 etc..When being embodied as, the status information related to current execution action is sent by robot 20
To server 10.Then, server 10 can enable robot 20 according to the action of these status information real-time adjustment robots 20
Enough preferably completing indicated by assignment instructions of tasks.
Also, it should be noted for ensureing the accuracy to assignment instructions identification in subsequent operation, robot 20 collects
After various data, simple preliminary treatment (enhancing of such as image and fall can be carried out on the computer on robot 20 carries
Make an uproar and radar data matching etc.), then pass through communication module (3G/4G mixed-media network modules mixed-media, WIFI module and bluetooth module etc.)
It is sent to server 10.
Described server 10, is additionally operable to receive assignment instructions, and according to described assignment instructions and described environmental information, obtains
The kinematic parameter of each action in action sequence and described action sequence；
Described server 10, is additionally operable to the order according to each action in described action sequence, one by one by described action sequence
In row, the kinematic parameter of each action is sent to described robot 20；
It is understood that server 10 can control multiple stage robot 20 simultaneously.
Robot 20, is additionally operable to execute corresponding action according to the kinematic parameter receiving.
For example, when assignment instructions are " please the water tumbler on the desk of parlor being given me ", robot 20 needs to execute " going to parlor "
This subtask.First, the action sequence that server 10 obtains according to the environmental data around robot 20 be " pass by bedroom-
Enter " and the first kinematic parameter and the second action parameter.First kinematic parameter is used for controlling robot 20 to execute and " passes by sleeping
Room " This move, the second kinematic parameter is used for controlling robot execution " entering " This move.Kinematic parameter include acceleration,
Movement time, angular acceleration etc..Secondly, the first kinematic parameter is first sent to robot 20 by server 10, holds in robot 20
Go after " passing by bedroom " This move, then the second kinematic parameter has been sent to robot 20.Robot 20 is connected to server 10
After the kinematic parameter sending, it is analyzed in conjunction with robot 20 feature of itself (such as carrying out the anti-solution of the inverse motion of mechanical arm, by speed
Command Resolution is to wheel speed etc.), then executed by actuator.Actuator potentially includes mobile chassis, allows robot 20
Can move；Mechanical arm and Dextrous Hand, allow robot 20 complete specific tasks details etc..
Need exist for illustrating, due to when operation robot 20 completes task, substantial amounts of algorithm need to be used, such as voice
Set algorithm, image recognition algorithm, machine learning algorithm, strengthen learning algorithm, movement navigation algorithm, space planning algorithm etc.
Deng, these algorithms, to calculate complicated, species various.Therefore, various multiple needed for the action of control robot 20 in order to be efficiently completed
Miscellaneous parallel computation, the computer cluster that server 10 can be made up of multiple computers.At this moment, store in server 10
Parameter needed for the algorithm of magnanimity and various calculating.For same task, server 10 can be with different methods and calculation
Method computing simultaneously, after obtaining multiple tasks program results, chooses the superior from program results, to obtain more preferable robot 20
Tasks carrying process and result.
It is understood that mission planning step is separated from robot 20 body, it is responsible for by server 10, can
During reply robot 20 execution task, the real-time and highly reliable calculating demand of all kinds of concurrent height.Simultaneously on server 10
All kinds of algorithms being stored with and various parameters, can integrate diversified environmental data, and can deal with various mission requirements,
Enable robot 20 to complete more more complicated tasks, improve the intellectuality of robot 20, expand robot 20
Application service scene.
In one example, the robot system that the present embodiment provides, also includes：At least one human-computer interaction device 30；
Communicated by wireless link or wire link between described server 10 and described human-computer interaction device 30；
For example, human-computer interaction device 30 can be by built-in or external 3G/4G mixed-media network modules mixed-media, WIFI module and bluetooth module
Communicated with server 10 etc. setting up wireless link.When server 10 is located locally, server 10 and human-computer interaction device
Wire link also can be set up between 30 communicated.It is understood that when being embodied as, those skilled in the art can be according to reality
Situation, the communication mode between specifically chosen human-computer interaction device 30 and server 10.
Described human-computer interaction device 30, for receiving described assignment instructions, and described assignment instructions is sent to described clothes
Business device 10；
It is understood that human-computer interaction device 30 can control multiple stage robot motion by server 10.Server 10
The signal from multiple human-computer interaction devices 30 can be received, control different robots 20 to move respectively.When multiple man-machine interactions
When device 30 controls a robot 20 simultaneously, need to ensure that the instruction of multiple human-computer interaction devices 30 does not conflict.
Need exist for illustrate, human-computer interaction device 30 can be special control device can also be smart mobile phone,
The mobile terminals such as panel computer, touch screen computer, Intelligent worn device.Human-computer interaction device 30 is mainly responsible for the man-machine friendship of user
Mutually, 10 are uploaded onto the server after the assignment instructions of receive user, request server 10 carries out instruction analysis, scheduling of resource and machine
The steps such as people's control.
It is understood that assignment instructions are received using human-computer interaction device 30, can prevent between user and robot 20
Distant when, robot 20 is for not high the asking of resolution accuracy of the assignment instructions (as voice, gesture instruction) of user
Topic.User directly can send assignment instructions by human-computer interaction device 30 and control robot 20.
Human-computer interaction device 30 is internal includes a large amount of man-machine interaction assemblies, in the exemplified human-computer interaction device 30 of Fig. 3
The concrete structure in portion.Specifically, human-computer interaction device 30 can be instructed by the natural language that mike receives from user, or
(as user can control the movement of robot 20 by cell phone) is instructed by the body-sensing of gyroscope receive user, or logical
Cross gesture instruction or figure's instruction of photographic head receive user.User also can directly transmit assignment instructions by touch screen and button
Control robot 20.Here, for ensureing the accuracy to assignment instructions identification in subsequent operation, human-computer interaction device 30 is receiving
To after assignment instructions, assignment instructions can be carried out with preliminary integration and process (as noise reduction, right is filtered to natural language instruction
Figure's instruction carries out image enhaucament etc.) after, will by communication module (3G/4G mixed-media network modules mixed-media, WIFI module and bluetooth module etc.)
Assignment instructions after integration is processed are sent to server 10.
Described human-computer interaction device 30, is additionally operable to receive command for stopping, and described command for stopping is sent to described service
Device 10；
Described server 10, after being additionally operable to according to described command for stopping, controls the stopping action of described robot 20.
It is understood that for ensureing the requirement action according to user for the robot 20, or the safety of guarantee robot 20, using
Family can control robot stopping action by human-computer interaction device 30.
Additionally, the message Real-time Feedback that server 10 also can be sent by human-computer interaction device 30 is to user.These message have
Body may include the implementation status of task and the state of robot 20 etc..
At this moment, in one example, described server 10, is additionally operable to for described action sequence and task status to be sent to institute
State human-computer interaction device 30, described task status includes the execution of each action in described environmental information and described action sequence
State, described execution state includes successful execution, is carrying out and waits pending；
Described human-computer interaction device 30 shows the execution state of each action in described motion sequence and described action sequence.
When server 10 receives the status information of robot 20 feedback, described server 10, it is additionally operable to described shape
State information is sent to described human-computer interaction device 30；Described human-computer interaction device, is additionally operable to show described status information.
Afterwards, user can control according to the motion sequence of human-computer interaction device 30 display, status information and execution state
Robot stopping action.
For example, when executing " going to parlor " this subtask, server 10 by action sequence " pass by bedroom-enter " and
Task status is sent to human-computer interaction device 30 and shows.At this moment, human-computer interaction device 30 shows task sequence and " pass by sleeping
The execution state of each action in room-enter ", the surrounding of robot 20 and action sequence.When robot " passes by execution
During this basic acts of bedroom ", user finds to occur suddenly a barrier on robot motion's route by human-computer interaction device 30
Hinder thing, robot 20 operation troubles may be led to.User can send command for stopping by human-computer interaction device 30 and control machine
People 20 stops mobile work.It is understood that user also can intervene to the action of robot 20 according to the idea of oneself,
This will not enumerate.The dump energy of robot 20 also can be sent to human-computer interaction device 30 and show, to carry by server 10
Show that user is that robot 20 charges.
Can be seen that from the example above, after removing barriers if it is intended to robot 20 continue executing with before step, need
Again the action of planning robot 20, repeating part has obtained the calculating process of program results, expends the time.
Therefore, in another example, execute the efficiency of task in order to improve robot 20, enable robot 20 faster
Preferably complete task, described server 10, it is additionally operable to preserve described environmental information and described action sequence；
Described server 10, is additionally operable to preserve the kinematic parameter of each action in described action sequence.
So, the program results before server 10 can directly be transferred, controls robot execution assignment instructions indication again
Showing of task.
Need exist for illustrating, because each machine existing is controlled using independent computer on body per capita and deposits
Storage, this make multiple machine human world real-time communication and mutually shared information etc. relatively difficult to achieve.The ground that for example robot A sweep is arrived
Figure, is difficult to share to robot B, robot C and robot D etc..If robot A wants shared data it is necessary to individually and machine
People B, robot C and robot D communication, and also to ensure that the coordinate system of four robots is identical simultaneously.And, all machines
The data of individual human all updates at any time, thus be more difficult to ensure synchronization after information ageing.Such as image recognition again, machine
People A, robot B, robot C and robot D may can pass through neural network learning whenever and wherever possible to new characteristics of image, but
These characteristics of image are but difficult in several machine human world Real-Time Sharing, reduce the learning efficiency and the service quality of robot cluster.
At this moment, using server 10, the environmental data obtaining is preserved from robot 20 and the good task dispatching of various planning can solve
State problem.
For example, a knowledge data base is set in server 10 for storing data and the experience of robot 20.Data can
The three-dimensional map data getting in the task of execution including some robots 20.Server 10 can be by these three-dimensional map numbers
Merge according to integrating, form more huge global map three-dimensional information.Meanwhile, also stored for robot 20 in knowledge data base
Previous experiences.Controlling each robot 20 after executing each subtask, all related mission bit stream can stored and know
Know in storehouse, form experience accumulation.When running into same or similar task later, the control robot that server 10 can be faster and better
20 complete this task.Various parameters also can be stored in knowledge data base, identification feature that such as recognizer is formed to different objects,
To parameters such as different user Habit Preference features.
Also, it should be noted an information database also can be arranged in server 10 being used for store all kinds of states and pipe
Reason information.For example whole service system software, hardware, device resource distribution situation；The authority of each user and resource quota；Often
All kinds of states (as electricity, use time, maintenance etc.) of individual robot, model, service area and the letter such as ability, position
Breath；Information such as the service role scheduling with the overall situation etc. are lined up in current service.
Hereinafter will illustrate, the robot system that above-described embodiment provides, the specific workflow in practical operation.
When user is on human-computer interaction device 30, issue one against mike and " please the water tumbler on the desk of parlor has been taken
To me " voice command after, human-computer interaction device 30 record and this voice command is carried out noise reduction etc. process.Man-machine interaction fills
After noise around putting 30 eliminates, send after voice command is compressed to server 10.
After server 10 receives voice command, call the speech recognition algorithm that several distinct methods are realized, simultaneously from letter
It is loaded into user's corresponding information and authority in breath data base.Afterwards, search out the language feature of relative users from knowledge data base
Parameter, sends into speech recognition algorithm in the lump.Several complicated speech recognition algorithms computer different in server 10 respectively
Upper concurrent operation, voice command is converted into written order, sends into voting procedure.The text results to several conversions for the voting procedure
Carry out Fuzzy Processing, do not find to exist notable difference between these results, then send into the execution of next step analysis program.Otherwise
According to conjecture, transformation result transmission is given people interactive device 20 and shows, allow user therefrom to select or correct the result of identification.Service
Device 10 is according to the feedback of user, re -training speech recognition parameter, and is stored in knowledge base, to improve the accurate of follow-up identification
Rate.
Secondly, server 10 recalls some semantic analysis algorithms, and literal order is analyzed.If there is ambiguity, issue
People's interactive device 20 shows and notifies user to correct.If there is not ambiguity, analyze syntax, and generate as requested place,
The key messages such as action, result, generate action sequence.In this example, robot 20 is needed to be firstly moved to parlor and then lock
The water tumbler of desk, finally searching top, carries out target crawl, and moves to user.
In order to complete mobile task, the cartographic information that server 10 has transferred whole family from knowledge data base (wherein wraps
Include the information such as obstacle), and radar information is read in real time from robot 20.Using instant location algorithm, in server 10
In quickly calculate the current location of robot 20, and the gap of current location and target location.If then calling stem algorithm
Generate different mobile route planning, after have selected an optimal path from the path that algorithms of different generates, according to optimum
Path obtains the kinematic parameter of each action in action sequence, and sends corresponding kinematic parameter in real time to robot 20, to control
Robot 20 completes the task of user's instruction.
After robot 20 moves to parlor, the visual identity image of robot 20 is transferred to server 10, by clothes
The knowledge data base of business device 10 storage and various algorithm, server 10 can recognize the cup on desk and desk, and by regarding
Feel that servo guided robot 20 is moved precisely to by desk in the case of collisionless.Finally in visual system, visual spatial attention
The dexterous crawl water tumbler of robot 20 is completed under algorithm, the cooperation of Mechanical transmission test algorithm.Last using navigation algorithm and
Radar, controls robot 20 to reach the position at user place, controls robot that water tumbler is sent to user there.
In whole process, with per family can on human-computer interaction device 30 current location of supervisory-controlled robot 20, state with
And the step that robot 20 currently executes.And, user can intervene action (the such as desk of robot 20 when being necessary
On have during two water tumblers can specify take some or to control robot to stop mobile etc.).
The robot system that the present embodiment provides, is obtained by the assignment instructions robot of human-computer interaction device receive user
After environmental information around device, assignment instructions are sent to server to complete instruction identification and mission planning step.Server
After identification mission instruction acquisition environmental information about at robot, referred to identifying of task according to environmental information
Order, obtains the kinematic parameter that robot completes each action in action sequence that this assignment instructions need to carry out and action sequence.
Afterwards, the kinematic parameter of this action is sent to robot, robot according to the order of each action in action sequence by server
Kinematic parameter according to receiving completes the task indicated by assignment instructions.The robot system that the present embodiment provides, by task
Planning step is separated from robot body, is responsible for by server, can tackle all kinds of during robot execution task
The real-time and highly reliable calculating demand of concurrent height.Meanwhile, all kinds of algorithms server having, can integrate diversified ring
Border data, and various mission requirements can be dealt with so that robot can complete more more complicated tasks, improve robot
Intellectuality, expands the application service scene of robot.
The system of the control robot being provided based on above-described embodiment, the embodiment of the present invention additionally provides a kind of control machine
The method of people.
Embodiment of the method：
Referring to Fig. 4, this figure is the schematic flow sheet of the embodiment of the method for control robot that the present invention provides.
The present embodiment provide control robot method, be applied to server, described server respectively with robot it
Between by wireless link or wire link communication.
It is understood that server can be the server described in said system embodiment.For example, robot can lead to
Cross built-in or external 3G/4G mixed-media network modules mixed-media, WIFI module and bluetooth module etc. and set up wireless link and communicated with server.
When server is located locally, server also can be set up wire link with the machine human world and be communicated.It is understood that it is concrete
During enforcement, those skilled in the art can communication mode according to practical situation, between specifically chosen server and robot.
The method of the control robot that the present embodiment provides, including：
S401：Receive assignment instructions, and obtain the environmental data around described robot；
Need exist for illustrating, server is by the induction apparatuss of setting in robot come the ring around monitoring robot
Border, and control robot to move on this basis.Now, robot is equipped with photographic head to obtain the execution of current task
Environment.The performing environment that photographic head can also be got by server as the feedback of tasks carrying, the holding of constantly regulate task
Row situation.Robot also can be equipped with radar (as laser radar etc.) to survey and draw map environment about in real time；Carry gyro
Instrument and accelerometer, the mass motion situation current to control robot；Carry GPS to carry out positioning and the navigation of robot.
Therefore, in one example, the method for the control robot that the present embodiment provides, also includes：Receive described machine
The status information of people；According to described status information, adjust the action of described robot.
It is understood that above-mentioned status information includes the translational speed of robot, the pose in each joint of robot and machine
Dump energy of device people etc..When being embodied as, the status information related to current execution action is sent to server by robot.
Then, server can allow the robot to preferably complete task according to the action of these status information real-time adjustment robots
The indicated task of instruction.
S402：According to described assignment instructions and described environmental data, obtain every in action sequence and described action sequence
The kinematic parameter of individual action；
In one example, described server is also connected with human-computer interaction device.Now, server can obtain at robot
Take the assignment instructions that family sends, such as user is by instruction of the touch screen in robot or button triggering etc..Server also may be used
So that the assignment instructions that user sends to be obtained on human-computer interaction device.The control device that human-computer interaction device can be special also may be used
To be the mobile terminals such as smart mobile phone, panel computer, touch screen computer, Intelligent worn device.
Step S402 specifically includes step S4021-S4023：
S4021：Identify described assignment instructions；
Need exist for illustrating, server can call the phonetic order that speech recognition algorithm identification receives, calling figure
As gesture instruction that recognizer identification receives etc..
After step S4021, may also include：The assignment instructions that will identify that are sent to described human-computer interaction device, so that
Described human-computer interaction device show described in the assignment instructions that identify；
Correctly execute the task indicated by assignment instructions, the life that server will identify that for robot in guarantee subsequent operation
Order is sent to human-computer interaction device and shows.After user determines that identification is correct, then follow-up according to the assignment instructions execution identifying
Step, when user sends the false command of instruction identification mistake through human-computer interaction device, then terminates flow process.Server needs again
Receive assignment instructions to complete corresponding task.
S4022：When not receiving the false command that described human-computer interaction device sends, refer to from described identifying of task
The key message of task is obtained, described key message includes task place, task action and task result in order；
S4023：According to described key message and described environmental data, obtain described action sequence and described action sequence
In each action kinematic parameter.
For example, when assignment instructions are " please the water tumbler on the desk of parlor being given me ", key message is " parlor " " desk "
" water tumbler " " gives me ".At this time, it may be necessary to robot moves to parlor and then the water tumbler of locking desk, finally searching top, carry out
Target captures, and moves to user.
For completing the task indicated by assignment instructions, server generates the action sequence of robot movement according to environmental data
Row.
Need exist for illustrating, due to when operation robot completes task, need to use substantial amounts of algorithm, such as voice sets
Other algorithm, image recognition algorithm, machine learning algorithm, enhancing learning algorithm, movement navigation algorithm, space planning algorithm etc.,
The calculating of these algorithms is complicated, species is various.Therefore, in order to be efficiently completed control needed for robot motion various complicated simultaneously
Row calculates, the computer cluster that server can be made up of multiple computers.At this moment, store the calculation of magnanimity in server
Method, and the parameter that various calculating is required.For same task, server can be with different methods and the same luck of algorithm
Calculate, obtain multiple tasks program results (including the kinematic parameter of action sequence and each action).Afterwards, can be from program results
Choose the superior, to obtain more preferable robot task implementation procedure and result.
It is understood that mission planning step is separated from robot body, it is responsible for by server, can tackle
During robot execution task, the real-time and highly reliable calculating demand of all kinds of concurrent height.It is stored with server simultaneously
All kinds of algorithms and various parameters, can integrate diversified environmental data, and can deal with various mission requirements so that machine
People can complete more more complicated tasks, improves the intellectuality of robot, expands the application service scene of robot.
S403：According to the order of each action in described action sequence, one by one by each action in described action sequence
Kinematic parameter is sent to described robot, so that described robot executes corresponding action according to the kinematic parameter receiving.
After robot is connected to the kinematic parameter of server transmission, the feature in conjunction with robot itself is analyzed (such as carrying out
The inverse motion of mechanical arm is anti-to be solved, speed command decomposes wheel speed etc.), then executed by actuator.Actuator may
Including mobile chassis, robot can be moved；Mechanical arm and Dextrous Hand, allow robot complete specific tasks details etc..
The method of the control robot that the present embodiment provides, after receiving assignment instructions, identification mission instruction simultaneously slave
Environmental information about is obtained at device people.Afterwards, according to environmental information and the assignment instructions identifying, obtain robot and complete
The kinematic parameter of each action in action sequence that this assignment instructions need to be carried out and action sequence.Afterwards, according to action sequence
In the order of each action the kinematic parameter of this action is sent to robot, so that robot completes indicated by assignment instructions
Task.The method of the control robot that the present embodiment provides, mission planning step is separated from robot body, by taking
Business device is responsible for, and can tackle the real-time and highly reliable calculating demand of all kinds of concurrent height during robot execution task.Meanwhile, take
All kinds of algorithms that have on business device, can integrate diversified environmental data, and can deal with various mission requirements so that machine
Device people can complete more more complicated tasks, improves the intellectuality of robot, expands the application service scene of robot.
The system and method for the control robot being provided based on above-described embodiment, the embodiment of the present invention additionally provides a kind of control
The server of robot processed.
Referring to Fig. 5, this figure is the structural representation of the server example of control robot that the present invention provides.
It should be noted that being communicated by wireless link or finite link between server and robot；
The server of the control robot that the present embodiment provides, including：Data reception module 100, action planning module 200
Data sending module 300；
Described data reception module 100, for receiving assignment instructions, and obtains the environmental data around described robot；
Described action planning module 200, for according to described environmental data and described assignment instructions, obtain action sequence with
And in described action sequence each action kinematic parameter；
Described data transmission blocks 300, for the order according to each action in described action sequence, one by one will be described dynamic
The kinematic parameter making each action in sequence is sent to described robot, so that described robot is according to the kinematic parameter receiving
Execute corresponding action.
In one example, the server of the control robot that the present embodiment provides, also includes：Action control module 400；
Described data reception module 100, is additionally operable to receive the status information of described robot；
Described action control module 400, for according to described status information, adjusting the action of described robot.
In another example, described server also can be connected with human-computer interaction device；
Now, described action planning module 200, specifically includes：Identify submodule, sending submodule, receiving submodule, carry
Take submodule and planning submodule；
Described identification submodule, for identifying described assignment instructions；
Described sending submodule, the assignment instructions for will identify that are sent to described human-computer interaction device, so that described
Human-computer interaction device show described in the assignment instructions that identify；
Described receiving submodule, for receiving the false command that described human-computer interaction device sends；
Described extracting sub-module, for not receiving, when described receiving submodule, the mistake that described human-computer interaction device sends
From the assignment instructions identifying, during instruction, obtain the key message of task, the key message of described task include task place,
Task action and task result；
Described planning submodule, for according to described key message and described environmental data, obtain described action sequence with
And in described action sequence each action kinematic parameter.
Additionally, the server controlling robot that the present embodiment provides, also include：Flow ends module (is not shown in figure
Go out)；
Described data transmission blocks 300, the assignment instructions being additionally operable to will identify that are sent to described human-computer interaction device and show
Show；
Described Flow ends module, for when receiving the false command that described human-computer interaction device sends, terminating stream
Journey.
Need exist for illustrating, the server of the control robot shown in Fig. 5 is and the control robot shown in Fig. 4
The device corresponding to method, concrete methods of realizing with shown in Fig. 3 control robot method similar, reference Fig. 4 shown in
Control robot method in description, repeat no more here.
It should be noted that each embodiment is described by the way of going forward one by one in this specification, each embodiment emphasis is said
Bright is all the difference with other embodiment, between each embodiment identical similar portion mutually referring to.
Also, it should be noted herein, such as first and second or the like relational terms are used merely to one
Entity or operation are made a distinction with another entity or operation, and not necessarily require or imply between these entities or operation
There is any this actual relation or order.And, term " inclusion ", "comprising" or its any other variant are intended to contain
Comprising of lid nonexcludability, wants so that including a series of process of key elements, method, article or equipment and not only including those
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element that limited by sentence "including a ..." it is not excluded that
Also there is other identical element including in the process of described key element, method, article or equipment.
The step of the method in conjunction with the embodiments described herein description or algorithm can directly be held with hardware, processor
The software module of row, or the combination of the two is implementing.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, depositor, hard disk, moveable magnetic disc, CD-ROM or technology
In known any other form of storage medium in field.
The above, be only presently preferred embodiments of the present invention, and not the present invention is made with any pro forma restriction.Though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention.Any it is familiar with those skilled in the art
Member, without departing under technical solution of the present invention ambit, can be utilized the methods and techniques content of the disclosure above to the present invention
Technical scheme makes many possible variations and modification, or the Equivalent embodiments being revised as equivalent variations.Therefore, every without departing from
The content of technical solution of the present invention, according to the present invention technical spirit to any simple modification made for any of the above embodiments, equivalent
Change and modification, all still fall within the range of technical solution of the present invention protection.
Claims (11)
1. a kind of robot system is it is characterised in that include：Server；Also include：At least one robot；
Communicated by wireless link or wire link between described server and described robot；
Described robot, for collection environmental information about, and described environmental information is sent to described server；
Described server, for receiving assignment instructions, and according to described assignment instructions and described environmental information, obtains action sequence
Kinematic parameter with each action in described action sequence；
Described server, is additionally operable to the order according to each action in described action sequence, one by one will be every in described action sequence
The kinematic parameter of individual action is sent to described robot；
Described robot, is additionally operable to execute corresponding action according to the kinematic parameter receiving.
2. robot system according to claim 1 it is characterised in that
Described robot, is additionally operable to send status information to described server；
Described server, is additionally operable to adjust the action of described robot according to described status information.
3. according to claim 1 control robot system it is characterised in that
Described server, is additionally operable to preserve described environmental information and described action sequence；
Described server, is additionally operable to preserve the kinematic parameter of each action in described action sequence.
4. robot system according to claim 2 is it is characterised in that also include：At least one human-computer interaction device；
Communicated by wireless link or wire link between described server and described human-computer interaction device；
Described human-computer interaction device, for receiving described assignment instructions, and described assignment instructions is sent to described server；
Described human-computer interaction device, is additionally operable to receive command for stopping, and described command for stopping is sent to described server；
Described server, is additionally operable to, according to described command for stopping, control the stopping action of described robot.
5. robot system according to claim 4 it is characterised in that
Described server, is additionally operable to for described action sequence, described status information and task status to be sent to described man-machine interaction
Device, described task status includes the execution state of each action in described environmental information and described action sequence, described holds
Row state includes successful execution, is carrying out and waits pending；
Described human-computer interaction device, is additionally operable to show each in described motion sequence, described status information and described action sequence
The execution state of action.
6. a kind of method controlling robot, it is characterised in that being applied to server, is passed through between described server and robot
Wireless link or wire link communication；Methods described, including：
Receive assignment instructions, and obtain the environmental data around described robot；
According to described assignment instructions and described environmental data, obtain the fortune of each action in action sequence and described action sequence
Dynamic parameter；
According to the order of each action in described action sequence, one by one the kinematic parameter of each action in described action sequence is sent out
Give described robot, so that described robot executes corresponding action according to the kinematic parameter receiving.
7. the method controlling robot according to claim 6 is it is characterised in that also include：
Receive the status information of described robot；
According to described status information, adjust the action of described robot.
8. the method controlling robot according to claim 6 is it is characterised in that described server is also filled with man-machine interaction
Put connection；
Described according to described assignment instructions with described environmental data, obtain each action in action sequence and described action sequence
Kinematic parameter, specifically include：
Identify described assignment instructions；
The assignment instructions that will identify that are sent to described human-computer interaction device, so that described human-computer interaction device shows described identification
The assignment instructions going out；
When not receiving the false command that described human-computer interaction device sends, obtain from the described assignment instructions identifying and appoint
The key message of business, described key message includes task place, task action and task result；
According to described key message and described environmental data, obtain each action in described action sequence and described action sequence
Kinematic parameter.
9. a kind of server controlling robot is it is characterised in that pass through wireless link or wired between server and robot
Link communication；Described server, including：Data reception module, action planning module data sending module；
Described data reception module, for receiving assignment instructions, and obtains the environmental data around robot；
Described action planning module, for according to described environmental data and described assignment instructions, obtaining action sequence and described
The kinematic parameter of each action in action sequence；
Described data transmission blocks, for the order according to each action in described action sequence, one by one by described action sequence
In the kinematic parameter of each action be sent to described robot, so that described robot is according to the kinematic parameter execution phase receiving
The action answered.
10. the server controlling robot according to claim 9 is it is characterised in that also include：Action control module；
Described data reception module, is additionally operable to receive the status information of described robot；
Described action control module, for according to described status information, adjusting the action of described robot.
11. according to claim 9 control robots servers it is characterised in that described server also with man-machine friendship
Mutually device connects；
Described action planning module, specifically includes：Identification submodule, sending submodule, receiving submodule, extracting sub-module and rule
Small rowboat module；
Described identification submodule, for identifying described assignment instructions；
Described sending submodule, the assignment instructions for will identify that are sent to described human-computer interaction device, so that described man-machine
Interactive device show described in the assignment instructions that identify；
Described receiving submodule, for receiving the false command that described human-computer interaction device sends；
Described extracting sub-module, for not receiving, when described receiving submodule, the false command that described human-computer interaction device sends
When, obtain the key message of task from the assignment instructions identifying, the key message of described task includes task place, task
Action and task result；
Described planning submodule, for according to described key message and described environmental data, obtaining described action sequence and institute
State the kinematic parameter of each action in action sequence.
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| JP2022087019A (en) * | 2020-11-30 | 2022-06-09 | ネイバーラボス コーポレーション | Method and cloud server for controlling robot providing service in connection with service application |
| JP7353341B2 (en) | 2020-11-30 | 2023-09-29 | ネイバーラボス コーポレーション | A method for controlling a robot that provides services in conjunction with a service application and a cloud server |
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