CN106903688A - A kind of method and device for controlling robot head to move - Google Patents
A kind of method and device for controlling robot head to move Download PDFInfo
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- CN106903688A CN106903688A CN201710038540.2A CN201710038540A CN106903688A CN 106903688 A CN106903688 A CN 106903688A CN 201710038540 A CN201710038540 A CN 201710038540A CN 106903688 A CN106903688 A CN 106903688A
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- head
- control instruction
- robot
- head control
- robot head
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
Abstract
A kind of method and device for controlling robot head to move, wherein, the method includes：Robot head control instruction obtaining step, when the running status of robot head is controlled according to the first head control instruction, if receiving the second head control instruction, the first head control instruction and the second head control instruction are parsed, obtain current corresponding releasing and move conflict control process；Robot head regulating step, performs the motion conflict control process that releases, and export the multi-modal data corresponding with instruction conflict control process is released.This method can be prevented effectively from the influence that the operating to robot head is brought by the conflict between a plurality of head control instruction, so that intelligent robot shows more hommization and to more conform to the use habit of user, and then improve the Consumer's Experience of intelligent robot.
Description
Technical field
The present invention relates to robotics, specifically, be related to a kind of method for controlling robot head to move and
Device.
Background technology
With continuing to develop for science and technology, the introducing of information technology, computer technology and artificial intelligence technology, machine
Industrial circle is progressively walked out in the research of people, gradually extend to the neck such as medical treatment, health care, family, amusement and service industry
Domain.And people for the requirement of robot also conform to the principle of simplicity the multiple mechanical action of substance be promoted to anthropomorphic question and answer, independence and with
The intelligent robot that other robot is interacted, man-machine interaction also just turns into the key factor for determining intelligent robot development.
In interactive process, the head of robot generally needs to be adjusted according to actual interaction scenarios.Therefore, if more
Plus reasonably the running status of robot head is controlled so that robot head can be without any confusion operating be
The technical problem of urgent need to resolve.
The content of the invention
To solve the above problems, the invention provides a kind of method for controlling robot head motion, it includes：
Robot head control instruction obtaining step, the operation of robot head is being controlled according to the first head control instruction
During state, if receiving the second head control instruction, the first head control instruction and the second head control are parsed
System instruction, obtains current corresponding releasing motion conflict control process；
Robot head regulating step, performs and releases motion conflict control process, and export and the releasing instruction conflict
The corresponding multi-modal data of control process.
According to one embodiment of present invention, performing releasing motion conflict control process includes：Receive the second head control
System instruction, then terminate response the first head control instruction, then adjust the machine according to the second head control instruction
Device head part.
According to one embodiment of present invention, performing releasing motion conflict control process includes：If receiving second
Portion's control instruction, then obtain the precedence information of the first head control instruction and the second control instruction, and according to priority
Information adjusts the robot head, the priority letter according to the first head control instruction and the second head control instruction
It is Custom Attributes to cease.
According to one embodiment of present invention, performing releasing motion conflict control process includes：If receiving second
Portion's control instruction, then stop response the first head control instruction, then adjust institute according to the second head control instruction
Robot head is stated, and completes to continue corresponding first control instruction to the corresponding rear of the second head control instruction.
According to one embodiment of present invention, methods described is also parsed to the multi-modal interaction data of user input,
If controlling intent information comprising robot head in analysis result, based on robot head control intent information regulation
The running status of the robot head.
Present invention also offers a kind of device for controlling robot head to move, it includes：
Robot head control instruction acquisition module, it is used to control robot head according to the first head control instruction
Running status when, if receiving the second head control instruction, parse the first head control instruction and described second
Head control instruction, obtains current corresponding releasing and moves conflict control process；
Robot head adjustment module, it is used to perform the motion conflict control process that releases, and output refers to the releasing
The multi-modal data for making conflict control process corresponding.
According to one embodiment of present invention, performing releasing motion conflict control process includes：Receive the second head control
System instruction, then terminate response the first head control instruction, then adjust the machine according to the second head control instruction
Device head part.
According to one embodiment of present invention, performing releasing motion conflict control process includes：If receiving second
Portion's control instruction, then obtain the precedence information of the first head control instruction and the second control instruction, and according to priority
Information adjusts the robot head, the priority letter according to the first head control instruction and the second head control instruction
It is Custom Attributes to cease.
According to one embodiment of present invention, performing releasing motion conflict control process includes：If receiving second
Portion's control instruction, then stop response the first head control instruction, then adjust institute according to the second head control instruction
Robot head is stated, and completes to continue corresponding first control instruction to the corresponding rear of the second head control instruction.
According to one embodiment of present invention, described device is also parsed to the multi-modal interaction data of user input,
If controlling intent information comprising robot head in analysis result, based on robot head control intent information regulation
The running status of the robot head.
It is a plurality of that the method for control robot head motion provided by the present invention causes that intelligent robot is received at the same time
Head control instruction can be combined during head control instruction and determines that corresponding releasing moves conflict control process, so can be effective
The influence that the operating to robot head is brought by the conflict between a plurality of head control instruction is avoided (machine for example occur
The disorderly problem of device head part operating) so that intelligent robot shows more hommization and to more conform to user's
Use habit, and then improve the Consumer's Experience of intelligent robot.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and obtained in claim and accompanying drawing.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing wanted needed for technology description to do simple introduction：
Fig. 1 is that the method for control robot head motion according to an embodiment of the invention realizes schematic flow sheet；
Fig. 2 be it is in accordance with another embodiment of the present invention control robot head motion method realize flow illustrate
Figure；
Fig. 3 is the structural representation of the device of control robot head motion according to an embodiment of the invention.
Specific embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, how the present invention is applied whereby
Technological means solves technical problem, and reaches the implementation process of technique effect and can fully understand and implement according to this.Need explanation
As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
The technical scheme for being formed is within protection scope of the present invention.
Meanwhile, in the following description, many details are elaborated for illustrative purposes, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can be without tool here
Body details or described ad hoc fashion are implemented.
In addition, can be in the such as one group department of computer science of computer executable instructions the step of the flow of accompanying drawing is illustrated
Performed in system, and, although logical order is shown in flow charts, but in some cases, can be with different from herein
Order perform shown or described step.
Existing robot head motion control method can be according to received a certain robot head control instruction
It is controlled come the running status to robot head.However, for existing robot head motion control method, such as
Fruit receives multiple robot head control instructions simultaneously, then due to being likely between different robot head control instructions
In the presence of conflict, so also allowing for robot head control method cannot be according to specific control instruction come to robot head
Running status is controlled, and the disorderly problem of operation occurs so as to cause robot head.
For the above mentioned problem in the presence of prior art, the invention provides a kind of new control robot head motion
Method.The method can perform solution when multiple robot head control instructions are received according to specific control mode
Except motion conflict control process, so as to ensure that the control moved for robot head keeps accurate and effective.
In order to more clearly illustrate realization principle, the reality of the method for control robot head motion provided by the present invention
Existing process and advantage, are further described below in conjunction with different embodiments to the control method.
Embodiment one：
What Fig. 1 showed the method for the control robot head motion that the present embodiment provided realizes schematic flow sheet.
As shown in figure 1, in the present embodiment, the method first head control instruction first in step S101, and in step
The running status of robot head is adjusted in S102 according to above-mentioned first head control instruction.
According to above-mentioned first head control instruction come adjust robot head running status during, the method meeting
Persistently judge whether to receive other head control instructions.
Wherein, if the method have received the second head control instruction in step s 102, then now the method institute
To simultaneously there is two, i.e. the first head control instruction and the second head control instruction in the head control instruction for receiving.Due to
Conflict is likely that there are between different head control instructions, therefore also just cannot be simultaneously according to above-mentioned two head control instruction
It is adjusted come the running status to robot head.
For the problem, as shown in figure 1, the method that the present embodiment is provided now can in step s 103 to above-mentioned first
Head control instruction and the second head control instruction are parsed, and conflict control mistake is moved so as to get current corresponding releasing
Journey.After current corresponding releasing motion conflict control process is determined, the method can perform above-mentioned releasing in step S104
Motion conflict control process, and export corresponding multi-modal data.
It is pointed out that in different embodiments of the invention, according to the first head control instruction and the second head
The analysis result of control instruction, the method can perform different releasing campaign conflict control processes to carry out robot head
Control, the invention is not restricted to this.
For example, in one embodiment of the invention, the method is adjusting robot according to the first head control instruction
During the running status of head, the second head control instruction is also have received, now the method can use interrupt mode
Motion conflict control process is released to perform.Specifically, the method can now terminate the above-mentioned first head control instruction of response, turn
And robot head is adjusted according to above-mentioned second head control instruction.
Specifically, it is assumed that in actual application, robot head is provided with camera, is followed to carry out face,
The method with the machine person as middle main shaft come control robot head go to left side 20 degree of directions.In the process, machine
The microphone array of device people receives the 15 degree of wake-up word sounds for transmitting in right side.Because both controls need to be required to robot head
Portion rotates and carrys out relative users instruction, and both control instructions are clearly the presence of conflict, therefore this method is by Mike's battle array
When row receive the 15 degree of wake-up word sounds for transmitting in right side, current face follow up action will be terminated, and go response to wake up word
The instruction of sound, that is, stop for robot head turning to the 20 degree of directions in left side, but robot head is gone into the 15 degree of directions in right side,
To cause robot head alignment positioned at the user on 15 degree of right side.
Again for example, in another embodiment of the present invention, the method is adjusting machine according to the first head control instruction
During the running status of device head part, the second head control instruction is also have received, now the method can be using preferential
Level mode releases motion conflict control process to perform.Specifically, the method can now obtain above-mentioned first head control instruction
With the precedence information of the second head control instruction, and according to respective precedence information come according to above-mentioned first head control refer to
Make with the second head control instruction adjusting robot head.Wherein, the head control instruction transmitted by modules is preferential
Level can realize definition according to practical application scene, and it belongs to Custom Attributes.
Specifically, it is assumed that in actual application, robot head is provided with camera, is followed to carry out face,
The method with the machine person as middle main shaft come control robot head go to left side 20 degree of directions.In the process, machine
The microphone array of device people receives the 15 degree of wake-up word sounds for transmitting in right side.Now the method will obtain face and follow and wake up
The priority of word sound both instructions, and after priority instruction higher has been performed, then performs another instruction.
Again for example, in one embodiment of the invention, the method is adjusting machine according to the first head control instruction
During the running status of head part, the second head control instruction is also have received, now the method can use pause side
Formula releases motion conflict control process to perform.Specifically, the method can now stop to respond the first head control instruction, then
Robot head is adjusted according to the second head control instruction, and completes the sound to above-mentioned second head control instruction
Should after proceed to respond to above-mentioned first head control instruction.
Specifically, it is assumed that in actual application, robot head is provided with camera, is followed to carry out face,
The method with the machine person as middle main shaft come control robot head go to left side 20 degree of directions.In the process, machine
The microphone array of device people receives the 15 degree of wake-up word sounds for transmitting in right side.The method can stop to follow face, then
Control head goes to the 20 degree of directions in left side, after completing and being located at 20 degree of the left side interaction of the user in direction, the method meeting
Proceed face to follow to control robot head to go to the 20 degree of directions in left side.
Certainly, in other embodiments of the invention, the method can also perform releasing fortune using other rational methods
Dynamic conflict control process, the invention is not restricted to this.
Embodiment two：
What Fig. 2 showed the method for the control robot head motion that the present embodiment provided realizes schematic flow sheet.
As shown in Fig. 2 in the present embodiment, the method obtains the multi-modal interactive number of user input in step s 201 first
According to, and in step S202 to above-mentioned steps S201 in accessed multi-modal interaction data parse, so as to be solved
Analysis result.
After the analysis result for obtaining multi-modal interaction data, the method can determine whether above-mentioned solution in step S203
Whether intent information is controlled in analysis result comprising robot head.Wherein, in the present embodiment, the method can be with step S203
Whether control to anticipate comprising robot head in judging above-mentioned analysis result by the way of keyword detection and semantics recognition
Figure information.Certainly, in other embodiments of the invention, the method can also judge above-mentioned parsing using other rational methods
Intent information is controlled with the presence or absence of robot head in result, the invention is not restricted to this.
If controlling intent information comprising robot head in resulting analysis result in step S202, then the method
The running status of robot head will be adjusted based on above-mentioned robot head control intent information in step S207.
And if controlling intent information not comprising robot head in analysis result resulting in step S202, then should
Method can then be adjusted according to the first head control instruction for getting in step S204 to the running status of robot head
Section.During being adjusted to the running status of robot head according to above-mentioned first head control instruction, the method is also
Can persistently judge whether to receive other head control instructions, for example, judge whether to receive the second head control instruction.
Wherein, if the method have received the second head control instruction in step S204, then now the method institute
To simultaneously there is two, i.e. the first head control instruction and the second head control instruction in the head control instruction for receiving.Due to
Conflict is likely that there are between different head control instructions, therefore also just cannot be simultaneously according to above-mentioned two head control instruction
It is adjusted come the running status to robot head.
Now, the method that the present embodiment is provided now will in step S205 to above-mentioned first head control instruction and
Second head control instruction is parsed, and conflict control process is moved so as to get current corresponding releasing.Work as determining
After preceding corresponding releasing motion conflict control process, the method can perform above-mentioned releasing campaign conflict control mistake in step S206
Journey, and export corresponding multi-modal data.
It is pointed out that in the present embodiment, above-mentioned steps S204's to step S206 implements principle and realization
Process and step S102 in above-described embodiment one to step S104 implement principle and implementation process is similar, therefore herein therefore
Repeated to above-mentioned steps S204 to the related content of step S206.
As can be seen that the method for control robot head motion provided by the present invention causes intelligent machine from foregoing description
Device people can combine head control instruction and determine that corresponding releasing moves conflict when receiving a plurality of head control instruction at the same time
Control process, can so be prevented effectively from by the conflict between a plurality of head control instruction to the operating institute of robot head
The influence (the disorderly problem of robot head operating for example occur) for bringing, so that intelligent robot shows to obtain more human nature
Change and more conform to the use habit of user, and then improve the Consumer's Experience of intelligent robot.
Present invention also offers a kind of device for controlling robot head to move, Fig. 3 shows the device in the present embodiment
Structural representation.
As shown in figure 3, the device that the control robot head that the present embodiment is provided is moved is preferably included：Robot head
Portion control instruction acquisition module 301 and robot head adjustment module 302.Wherein, robot head control instruction acquisition module
301 can obtain corresponding head control instruction, and the head control instruction is transmitted to the robot head tune being attached thereto
Section module 302, is carried out according to the head control instruction with by robot head adjustment module 302 come the state to robot head
Regulation.
For example, after robot head control instruction acquisition module 301 gets the first head control instruction, can by this
One head control instruction is transmitted to the robot head adjustment module 302 being attached thereto, with by robot head adjustment module 302
It is adjusted come the state to robot head according to the first head control instruction.
In the present embodiment, robot head adjustment module 302 according to above-mentioned first head control instruction to robot head
During the state in portion is adjusted, robot head control instruction acquisition module 301 can also persistently judge whether to receive
Other head control instructions, for example, judge whether to receive the second head control instruction.
Wherein, if robot head control instruction acquisition module 301 is not received by other head control instructions, then
Robot head adjustment module 302 is also just instructed during the state to robot head is adjusted in the absence of conflict, because
This its normally above-mentioned first head control instruction can be responded.
And if robot head adjustment module 302 according to above-mentioned first head control instruction to the shape of robot head
During state is adjusted, robot head control instruction acquisition module 301 have received other head control instructions (for example
Second head control instruction), then now robot head control instruction acquisition module 301 will be controlled above-mentioned first head
Instruction and the second head control instruction are parsed, and conflict control process is moved so as to get current corresponding releasing.
Determine it is current it is corresponding connect the dynamic conflict control process of releasing after, robot head control instruction acquisition module
301 can send to robot head adjustment module 302 the current corresponding dynamic conflict control procedural information of releasing.And robot head
Portion's adjustment module 302 can then perform above-mentioned releasing campaign conflict control process, and export corresponding multi-modal data.
It is pointed out that in different embodiments of the invention, robot head control instruction acquisition module 301 and
Robot head adjustment module 302 realizes that the concrete principle and process of its respective function both can be with institutes in above-described embodiment one
The content of elaboration is identical, it is also possible to identical with the content illustrated in above-described embodiment two, therefore herein no longer to robot head
The related content of control instruction acquisition module 301 and robot head adjustment module 302 is repeated.
It should be understood that disclosed embodiment of this invention is not limited to ad hoc structure disclosed herein or treatment step
Suddenly, the equivalent substitute of these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is only used for describing the purpose of specific embodiment, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means special characteristic, the structure for describing in conjunction with the embodiments
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more applications, for the technology of this area
For personnel, in the case of without departing substantially from principle of the invention and thought, hence it is evident that can in form, the details of usage and implementation
It is upper various modifications may be made and without paying creative work.Therefore, the present invention is defined by the appended claims.
Claims (10)
1. a kind of method that control robot head is moved, it is characterised in that including：
Robot head control instruction obtaining step, the running status of robot head is being controlled according to the first head control instruction
When, if receiving the second head control instruction, parse the first head control instruction and second head control refers to
Order, obtains current corresponding releasing and moves conflict control process；
Robot head regulating step, performs the motion conflict control process that releases, and output is controlled with the releasing instruction conflict
The corresponding multi-modal data of process.
2. the method for claim 1, it is characterised in that perform and release motion conflict control process and include：Receive
Two head control instructions, then terminate response the first head control instruction, then adjust according to the second head control instruction
Save the robot head.
3. the method for claim 1, it is characterised in that perform and release motion conflict control process and include：If received
To the second head control instruction, then the precedence information of the first head control instruction and the second control instruction, and root are obtained
The robot head is adjusted according to the first head control instruction and the second head control instruction according to precedence information, it is described
Precedence information is Custom Attributes.
4. the method for claim 1, it is characterised in that perform and release motion conflict control process and include：If received
To the second head control instruction, then stop response the first head control instruction, then refer to according to second head control
The order regulation robot head, and complete to continue corresponding first control to the corresponding rear of the second head control instruction
System instruction.
5. the method as any one of Claims 1 to 4, it is characterised in that methods described is also to the multimode of user input
State interaction data is parsed, if controlling intent information comprising robot head in analysis result, based on the robot
Head control intent information adjusts the running status of the robot head.
6. the device that a kind of control robot head is moved, it is characterised in that including：
Robot head control instruction acquisition module, it is used to control the fortune of robot head according to the first head control instruction
During row state, if receiving the second head control instruction, the first head control instruction and second head are parsed
Control instruction, obtains current corresponding releasing and moves conflict control process；
Robot head adjustment module, it is used to perform the motion conflict control process that releases, and exports and the releasing instruction punching
The corresponding multi-modal data of prominent control process.
7. device as claimed in claim 6, it is characterised in that perform and release motion conflict control process and include：Receive
Two head control instructions, then terminate response the first head control instruction, then adjust according to the second head control instruction
Save the robot head.
8. device as claimed in claim 6, it is characterised in that perform and release motion conflict control process and include：If received
To the second head control instruction, then the precedence information of the first head control instruction and the second control instruction, and root are obtained
The robot head is adjusted according to the first head control instruction and the second head control instruction according to precedence information, it is described
Precedence information is Custom Attributes.
9. device as claimed in claim 6, it is characterised in that perform and release motion conflict control process and include：If received
To the second head control instruction, then stop response the first head control instruction, then refer to according to second head control
The order regulation robot head, and complete to continue corresponding first control to the corresponding rear of the second head control instruction
System instruction.
10. the device as any one of claim 6~9, it is characterised in that described device is also to the multimode of user input
State interaction data is parsed, if controlling intent information comprising robot head in analysis result, based on the robot
Head control intent information adjusts the running status of the robot head.
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| CN201710038540.2A CN106903688B (en) | 2017-01-19 | 2017-01-19 | A kind of method and device of control robot head movement |
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| CN201710038540.2A CN106903688B (en) | 2017-01-19 | 2017-01-19 | A kind of method and device of control robot head movement |
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| KR20120085404A (en) * | 2011-01-24 | 2012-08-01 | 삼성전자주식회사 | Robot controlling system and method for controlling robot |
| CN103885444A (en) * | 2012-12-21 | 2014-06-25 | 联想(北京)有限公司 | Information processing method, mobile electronic equipment and decision-making control equipment |
| CN105116884A (en) * | 2015-07-14 | 2015-12-02 | 上海智臻智能网络科技股份有限公司 | Control method of sweeping robot, server and service system |
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