CN107139172B - Robot control method and device - Google Patents
Robot control method and device Download PDFInfo
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- CN107139172B CN107139172B CN201710353646.1A CN201710353646A CN107139172B CN 107139172 B CN107139172 B CN 107139172B CN 201710353646 A CN201710353646 A CN 201710353646A CN 107139172 B CN107139172 B CN 107139172B
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40424—Online motion planning, in real time, use vision to detect workspace changes
Abstract
The present invention relates to a kind of robot control methods, it include: the control information for receiving control terminal and sending, control information is parsed, obtain goal task information, judge whether directly to be communicated with Current terrestrial sensing device, if, then corresponding current location identity information directly is obtained from Current terrestrial sensing device, current location identity information is matched with sensed activity map, it is positioned and confirms current location, according to current location and goal task information, execute corresponding task operating, task operating includes at least one of moving operation and Job Operations.In addition, additionally providing a kind of robot controller.Then above-mentioned robot control method and device, confirmation that can be real-time quick and positioning robot current location execute corresponding moving operation and Job Operations according to goal task information, complete the task operating of designated position and region.
Description
Technical field
The present invention relates to automation fields, more particularly to a kind of robot control method and device.
Background technique
With the fast development of automated control technology, clean robot obtains development at full speed and is widely applied, but
It is that traditional product is often not ideal enough in terms of cleaning path algorithm and planning, cannot achieve the fixed point in designated position and region
Clean up task.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of robot control method and device, be able to carry out quickly
The fixed point task operating of designated position and region is realized in automatic positioning.
A kind of robot control method, which comprises
Receive the control information that control terminal is sent；
The control information is parsed, goal task information is obtained；
Judge whether directly to be communicated with Current terrestrial sensing device, if so, directly from the Current terrestrial
Sensing device obtains corresponding current induction information, and the current induction information includes current location identity information；
The current location identity information is matched with sensed activity map, is positioned and confirms current location；
According to the current location and the goal task information, corresponding task operating, the task operating are executed
Including at least one of moving operation and Job Operations.
The current induction information further includes corresponding with the Current terrestrial sensing device in one of the embodiments,
Current region range information, before described the step of being matched the current location identity information with sensed activity map also
Include the steps that the step of active probe generates sensed activity map, and the active probe generates sensed activity map includes:
Using the current location identity information as map current base point, according to the map current base point and work as
Forefoot area range information obtains map current base region；
It is moved to any adjacent ground sensing device of the Current terrestrial sensing device, successively obtains next ground
The corresponding newly-increased position identification information of sensing device and newly-increased regional scope information are believed respectively as current newly-increased station location marker
Breath and currently newly-increased regional scope information；According to the map current base point, map current base region, current complimentary bit
Identification information, currently newly-increased regional scope information and corresponding mobile message are set, map is obtained and currently increases point and corresponding newly
Map currently increases region newly, until obtaining corresponding all station location marker information and regional scope information in scope of activities, generates
Sensed activity map.
In one of the embodiments, the method also includes:
If cannot directly be communicated with Current terrestrial sensing device, it is corresponding to receive the Current terrestrial sensing device
The current location identity information that background server is sent.
It is described in one of the embodiments, directly to obtain corresponding current location mark from the Current terrestrial sensing device
Know information the step of include:
In a manner of active inductive communication or feeling of passivity answers communication mode to be communicated with Current terrestrial sensing device, acquisition pair
The current location identity information answered, the active inductive communication mode include Radio Frequency Identification Technology RFID and short-range communication
At least one of NFC mode, it includes piezoelectric transducer, pressure sensor and capacitance sensing that the feeling of passivity, which answers communication mode,
At least one of device induction mode and wireless LAN communication WiFi, bluetooth, ultra long haul low-power consumption wide area network LoRa and base
In at least one of cellular narrowband Internet of Things NB-IoT communication mode.
The goal task information includes that goal task executes Time And Frequency, target is appointed in one of the embodiments,
It is engaged in region and goal task type, it is described according to the current location and the goal task information, execute corresponding
Business operation the step of include:
Time planning traveling time is executed according to the goal task；
Mobile route is planned according to the goal task region and the current location；
It is moved according to the traveling time according to the mobile route, reaches the goal task region；
Frequency planning operating frequency is executed according to the goal task, according to the goal task type projects operation mould
Formula；
Job Operations are executed according to the operating frequency, the work pattern and the goal task region.
In one of the embodiments, the method also includes:
It obtains current task and operates corresponding task operating execution information, and the task operating execution information is back to
The control terminal.
In addition, additionally providing a kind of robot controller, described device includes:
Information receiving module is controlled, for receiving the control information of control terminal transmission；
Goal task data obtaining module obtains goal task information for parsing to the control information；
Judgment module can be communicated directly with Current terrestrial sensing device for judging whether, if so, into
One obtains module；
First obtains module, for directly obtaining corresponding current induction information, institute from the Current terrestrial sensing device
Stating current induction information includes current location identity information；
Current location determining module, for the current location identity information to be matched with sensed activity map, into
Row positions and confirms current location；
Task operating execution module, for executing corresponding according to the current location and the goal task information
Task operating, the task operating include at least one of moving operation and Job Operations.
The current induction information further includes corresponding with the Current terrestrial sensing device in one of the embodiments,
Current region range information, described device further include sensed activity map generation module, the sensed activity map generation module
Include:
Map current base point and map current base Area generation unit, for making the current location identity information
Map current base is obtained according to the map current base point and current region range information for map current base point
Region；
Current newly-increased position identification information and currently newly-increased regional scope information acquisition unit, are used for the Current terrestrial
Any adjacent ground sensing device of sensing device is moved, and the corresponding newly-increased position of next ground sensing device is successively obtained
Identification information and newly-increased regional scope information increase position identification information and currently newly-increased regional scope newly respectively as current
Information；
Sensed activity map generation unit, for according to the map current base point, map current base region, current
Newly-increased position identification information, currently newly-increased regional scope information and corresponding mobile message, obtain map currently increase newly point and
Corresponding map currently increases region newly, until obtaining corresponding all station location marker information and regional scope letter in scope of activities
Breath generates sensed activity map.
The first acquisition module is also used to active induction mode or passive induction mode in one of the embodiments,
It is communicated with Current terrestrial sensing device, obtains corresponding current location identity information, the active inductive communication mode packet
Include at least one of Radio Frequency Identification Technology RFID and short-range communication NFC mode, the feeling of passivity answers the communication mode to include
At least one of piezoelectric transducer, pressure sensor and capacitance sensor induction mode and wireless LAN communication
WiFi, bluetooth, ultra long haul low-power consumption wide area network LoRa and based at least one of cellular narrowband Internet of Things NB-IoT communication
Mode.
In one of the embodiments, the goal task information include goal task execute the time, goal task region,
Goal task executes frequency and goal task type, the task operating execution module include:
Traveling time acquiring unit, for executing time planning traveling time according to the goal task；
Mobile route acquiring unit, for planning mobile road according to the goal task region and the current location
Line；
Moving operation execution unit reaches institute for being moved according to the traveling time according to the mobile route
State goal task region；
Work pattern and operating frequency planning unit, for executing frequency planning operating frequency according to the goal task,
According to the goal task type projects work pattern；
Job Operations execution unit, for according to the operating frequency, the work pattern and the goal task area
Domain executes Job Operations.
Above-mentioned robot control method and device, the control information sent by receiving control terminal carry out control information
Parsing obtains goal task information, judges whether directly to be communicated with Current terrestrial sensing device, if so, directly
Corresponding current induction information is obtained from Current terrestrial sensing device, current induction information includes current location identity information, will
Current location identity information is matched with sensed activity map, is positioned and confirmed current location, according to current location with
And goal task information, execute corresponding task operating, above-mentioned task operating include in moving operation and Job Operations at least
One kind is established respectively by same control terminal and ground sensing device and communicates and cooperate, positioning that can be real-time quick and
Confirm robot current location, corresponding moving operation and Job Operations are then executed according to goal task information, it is fixed to complete
Point job task, overcoming traditional robot cannot achieve Fast Fixed-point task operating in terms of task routing algorithm and planning
Disadvantage.
Detailed description of the invention
Fig. 1 is the applied environment figure of robot control method in one embodiment；
Fig. 2 is the method flow diagram of robot control method in one embodiment；
Fig. 3 is the method flow diagram of robot control method in another embodiment；
Fig. 4 is the method flow diagram that sensed activity map is generated in one embodiment；
Fig. 5 is the method flow diagram of robot control method in one embodiment；
Fig. 6 is the method flow diagram of robot control method in another embodiment；
Fig. 7 is the method flow diagram that robot executes task operating in one embodiment；
Fig. 8 is the structural block diagram that one embodiment has suffered a kind of robot controller；
Fig. 9 is the structural block diagram that another embodiment has suffered a kind of robot controller；
Figure 10 is the structural block diagram of sensed activity map generation module in one embodiment；
Figure 11 is the structural block diagram of task operating execution module in one embodiment；
Figure 12 is a kind of structural block diagram of robot controller in another embodiment.
Specific embodiment
In one embodiment, the application environment of above-mentioned robot control method is as shown in Figure 1, include control terminal 110, machine
Device people 120 and ground sensing device 130, wherein control terminal 110 is able to carry out with robot 120 and communicates, and robot 120 can
It is communicated with ground sensing device 130, wherein ground sensing device 130 is set to the corresponding zone of action of robot 120, shape
At corresponding sensed activity region.
In one embodiment, control terminal 110 can be set in the corresponding structure of robot 120, in order to directly into
Row control input operation.
In one embodiment, as shown in Fig. 2, providing a kind of robot control method, the above method includes:
Step S210 receives the control information that control terminal is sent, and parses to control information, obtains goal task letter
Breath.
Specifically, control terminal can pass through bluetooth, short-range communication NFC (Near Field Communication, NFC)
And the modes such as wireless LAN communication WiFi (Wireless Fidelity, WiFi) are communicated with robot, it can be actively
Control information is sent to robot, robot can also be sent control information to according to the request of robot, wherein control letter
Breath may also include other information, such as system time setting information, start information, end letter in addition to including goal task information
Breath, pause information, translational speed information and recovery information etc..Robot needs further after receiving corresponding control information
It is parsed, obtains corresponding goal task information.
In one embodiment, control terminal is mobile phone, and machine is artificially swept the floor clean robot, and control terminal and robot are in
It in the same local area network, is communicated by WiFi, control terminal generates control information according to the input information of user, controls information
Including goal task information, translational speed information and system time setting information, mobile phone terminal is equipped with corresponding application control
Program APP (Application, APP), by opening corresponding control application APP, mobile phone terminal can show corresponding control
Interface processed can set the movement speed of robot with new destination mission bit stream, be arranged by the input system time and believed
The system time of breath adjustment robot, guarantees synchronous with the holding of control terminal time.Robot passes through master after receiving control information
Control processor is parsed, available corresponding goal task information.
In one embodiment, the form for controlling information is also possible to the forms such as voice and gesture, and above-mentioned APP can lead to
Cross mobile phone control terminal and conversion processing carried out to above-mentioned voice and gesture, obtain goal task information, translational speed information and
System time setting information.
Step S220 judges whether directly to be communicated with Current terrestrial sensing device, if so, entering step
S230。
Specifically, the zone of action in the corresponding preset range of robot is provided with ground sensing device, is formed corresponding
Sensed activity region, when robot is in sensed activity region, then need to judge whether can with it is right in sensed activity region
The Current terrestrial sensing device answered is communicated, if so, entering step S230.
In one embodiment, the zone of action in robot preset range is the land operations area within the scope of a room
Current room is divided into multiple predeterminable area ranges according to preset length and width, then each predeterminable area range by domain
Have unique station location marker information, and be respectively provided with corresponding ground sensing device, the ground sensing device usually can same floor,
Any one ground lay-up in floor tile and carpet combines.
In one embodiment, floor can be set in above-mentioned each predeterminable area range, according to actual needs, can incites somebody to action
Predeterminable area range is configured in proportion with floor area size, for example, each predeterminable area range can only be arranged one
Block floor is provided with above-mentioned ground sensing device on floor, according to actual needs, can will be more abbreviated here as induction floor
A ground sensing device setting incudes floor in same.
In a specific embodiment, robot obtains multiple, at this point, can judge whether respectively can be with for robot
Each ground sensing device is communicated, if so, respectively enteing step S230.
Step S230 directly obtains corresponding current induction information, the current induction letter from Current terrestrial sensing device
Breath includes current location identity information.
Specifically, robot is able to carry out with Current terrestrial sensing device and communicates, then can directly acquire from Current terrestrial
Sensing device obtains corresponding current induction information, and current induction information includes current location identity information, is then saved.
In one specifically embodiment, above-mentioned ground sensing device is NFC sensing device, is set to predeterminable area range
Interior corresponding floor is above-mentioned (here for being only laid with floorboard within the scope of predeterminable area), obtains NFC induction floor, machine
The artificial clean robot of device, clean robot can incude floor with NFC and directly be communicated, and obtain current induction information, when
Preceding induction information not only includes corresponding current location identity information, may also include shape and the floor color on corresponding floor etc.
Information.Wherein, it may include multiple NFC sensing devices that same NFC, which incudes floor to work as, at this time the mark of each NFC sensing device
Knowing information includes the corresponding station location marker in monolith induction floor, such as one piece of induction floor includes 4 ground sensing devices, mark
Knowing is respectively ABC121, ABC122, ABC123 and ABC124, then it is same to indicate that this 4 ground sensing devices correspond to for ABC mark
Monolith incudes floor ABC, that is to say, where the identification information of each ground sensing device includes the ground sensing device
Floor identification information can directly acquire Current terrestrial sensing device corresponding ground panel sign by obtaining current induction information
Information ABC, obtains current location identity information ABC, and robot is moved to next NFC induction floor every time, can repeat more than
Step S220 and step S230 obtains the corresponding newly-increased position identification information of next ground sensing device respectively.
In one embodiment, robot receives multiple current induction informations simultaneously, at this time can be respectively from each current
Corresponding current location identity information is obtained in induction information respectively.
Step S240 matches current location identity information with sensed activity map, is positioned and is confirmed current
Position.
Specifically, robot can obtain the corresponding sensed activity map in current entire zone of action, according to sensed activity
Map, the corresponding entire zone of action of robot are typically divided into multiple predeterminable area ranges, and each predeterminable area range is all provided with
It is equipped with corresponding station location marker information, sensed activity map is each pre- this refers to be chosen respectively according to corresponding scale
If the central point of regional scope is drawn to obtain labeled as the corresponding station location marker information of respective regional scope.Robot is obtaining
After taking corresponding current location identity information, current location identity information is compared with sensed activity map, it can be true
Determine current location identity corresponding specific location in sensed activity map, current location is positioned, so that confirmation is current
Position.
In one embodiment, robot receives multiple current location identity information simultaneously, shows that robot is located exactly at
The juncture area of multiple ground sensing device induction ranges, at this time can be further by above-mentioned each current location identity information point
It is not matched with sensed activity map, and then carries out auxiliary judgment using multiple current location identity information, more accurately
Confirm current location.
In one embodiment, above-mentioned sensed activity map can be obtained by way of downloading from external equipment.
Step S250 executes corresponding task operating according to current location and goal task information, and task operating includes
Moving operation and Job Operations.
It specifically, can be further according to mesh after robot quickly positions current location and confirms current location
Mission bit stream and current location are marked, corresponding moving operation and Job Operations are executed, thus realize that Fixed Point Operation operates, Ke Yisui
Meaning set, and improves the flexibility of robot task operation, while also improving robot manipulating task efficiency relatively.
Above-mentioned robot control method and device, the control information sent by receiving control terminal carry out control information
Parsing obtains goal task information, judges whether directly to incude with Current terrestrial corresponding in current sensed activity region
Device is communicated, if so, directly corresponding current location identity information is obtained from Current terrestrial sensing device, by present bit
It sets identification information to be matched with sensed activity map, is positioned and confirmed current location, according to current location and target
Mission bit stream executes corresponding task operating, and above-mentioned task operating includes at least one of moving operation and Job Operations, leads to
It crosses same control terminal and ground sensing device to establish communication respectively and cooperate, positioning that can be real-time quick and confirmation machine
Then people current location executes corresponding moving operation and Job Operations according to goal task information, complete Fixed Point Operation and appoint
Business overcomes the shortcomings that traditional robot cannot achieve fixed point task operating in terms of task routing algorithm and planning, while
It can arbitrarily be set, improve the flexibility of robot task operation, while also the opposite robot manipulating task that improves is imitated
Rate.
In one embodiment, as shown in figure 3, current induction information further includes corresponding with the Current terrestrial sensing device
Current region range information, before step S240 further include:
Step S260, active probe generate sensed activity map.
In one embodiment, as shown in figure 4, step S260 includes:
Step S262, using current location identity information as map current base point, according to the map current base point and
Current region range information obtains map current base region.
Specifically, robot can obtain corresponding induction cartographic information by autonomous active probe, when acquisition present bit
After setting identification information, a blank map is created first, a datum mark is then chosen in the blank map, by the benchmark
Point is labeled as current location identity information, obtains corresponding map current base point.
Further, current region range information contains the length of the corresponding current region range of current location identity information
Degree and width information, in conjunction with current region range information, the point centered on map current base point, the available current base of map
Quasi- region.
Step S264 is moved to any adjacent ground sensing device of Current terrestrial sensing device, under successively obtaining
The corresponding newly-increased position identification information of one ground sensing device and newly-increased regional scope information, respectively as current newly-increased position
Identification information and currently newly-increased regional scope information.
Specifically, robot can choose current after obtaining map current base point and map current base region
Any adjacent ground sensing device of ground sensing device carries out mobile detection, and it is corresponding to be successively read next ground sensing device
Station location marker information and regional scope information increase position identification information and currently newly-increased regional scope newly respectively as current
Information.
If the current newly-increased position identification information obtained is identical as map current base point, show the newly-increased ground induction
Device and Current terrestrial sensing device are located at the same regional scope, at this point, currently newly-increased position identification information and current location
Identification information is identical, and corresponding currently newly-increased regional scope information is also identical as the region holding of map current base, still with map
Current base point and map current base region continue to detect.
Step S266, according to the map current base point, map current base region, currently newly-increased position identification information, when
Preceding newly-increased regional scope information and corresponding mobile message obtain map and currently increase point and corresponding map currently newly-increased area newly
Domain generates sensed activity map until obtaining corresponding all station location marker information and regional scope information in scope of activities.
Specifically, robot is after obtaining currently newly-increased position identification information, according to such as mobile speed of corresponding mobile message
The information such as degree, position motion-vector and motion track, further combined with map current base point and map current base area
Domain currently increases point newly in the corresponding orientation creation map of chart datum point and corresponding map currently increases region newly, and marks
Currently to increase position identification information newly, then repeat mobile detection according to above-mentioned detection steps, until obtaining scope of activities
Interior corresponding all station location marker information and regional scope information generate sensed activity map.
Sensed activity map is generated by above-mentioned active probe, enables to robot in the feelings of no storage induction map
It can still be able to carry out Job Operations under condition, improve the intelligence degree of entire robot, the range of applicability of robot
And scene.
In one embodiment, as shown in figure 5, the above method further include:
Step S270 receives Current terrestrial sensing device if cannot directly be communicated with Current terrestrial sensing device
The current location identity information that corresponding background server is sent.
Specifically, Current terrestrial sensing device is provided with background server, and Current terrestrial sensing device senses robot
Later, current induction information is generated, current induction information is sent to background server, background server is to current induction information
It is parsed, obtains current location identity information.When robot judgement can not be communicated directly with Current terrestrial sensing device,
Then acquisition request further can be initiated to the corresponding background server of Current terrestrial sensing device, background server is according to above-mentioned
Current location identity information is then sent to robot by acquisition request.
In one embodiment, step S230 further include: in a manner of active inductive communication or feeling of passivity answers communication mode same
Current terrestrial sensing device is communicated, and obtains corresponding current location identity information, active inductive communication mode includes radio frequency
In identification technology (Radio Frequency Identification, RFID) RFID and short-range communication NFC mode extremely
Few one kind, it includes the sense of at least one of piezoelectric transducer, pressure sensor and capacitance sensor that feeling of passivity, which answers communication mode,
Answer mode and wireless LAN communication WiFi, bluetooth, ultra long haul low-power consumption wide area network LoRa and based on cellular narrowband Internet of Things
At least one of NB-IoT communication mode is netted, wherein capacitance sensor needs that power supply is cooperated to use, and LoRa technology indicates overlength
Away from low-power consumption wide area network (Lang Range Wide-Area Network, LoRa), NB-IoT technology is indicated based on cellular narrow
Band Internet of Things (Narrow Band Internet of Things, NB-IoT).
Specifically, the mode that robot and Current terrestrial sensing device are in communication with each other can be active inductive communication mode,
Be also possible to feeling of passivity and answer communication mode, active induction mode include in Radio Frequency Identification Technology RFID and NFC mode at least
One kind, when innervation answers communication mode based on the communication mode, robot can actively incude Current terrestrial sensing device, obtain pair
The current location identity information answered, for example, Current terrestrial sensing device be RFID label tag when, robot by read RFID label tag,
Obtain the corresponding current location identity information of Current terrestrial sensing device.
In one embodiment, Current terrestrial sensing device is NFC sensing device, and NFC sensing device is arranged on floor
On obtain currently incuding floor, robot is equipped with corresponding NFC communication device, when robot reaches in current induction floor
When sensed activity region, by reading the corresponding NFC label in current induction floor, the corresponding present bit of NFC sensing device is obtained
Set identification information.
In one embodiment, Current terrestrial sensing device be piezoelectric transducer and corresponding WiFi communication module,
Piezoelectric transducer is set on floor and corresponding WiFi communication module obtains currently incuding floor, when robot reaches current sense
When answering the sensed activity region in floor, current induction floor senses robot by piezoelectric transducer, generates current induction
Then current induction information is sent to robot, above-mentioned current induction information packet by corresponding WiFi communication module by information
Include current location identity information.
In one embodiment, goal task information includes that goal task executes the time, goal task executes frequency, target
Mission area and goal task type, as shown in fig. 6, step S240 includes:
Step S242 executes time planning traveling time according to goal task, according to goal task region and present bit
Planning mobile route is set, is moved according to traveling time according to mobile route, goal task region is reached.
It specifically, include that goal task executes the time, goal task executes frequency and target is appointed in goal task information
Business region, wherein the central point of the corresponding range areas of each ground sensing device is usually labeled as the ground sensing device
Corresponding station location marker information, goal task region may include the corresponding range area of one or more ground sensing device
Domain.If the corresponding station location marker information of the multiple ground sensing devices of the goal task region person of including, goal task area is usually chosen
The station location marker information nearest with current location is as target initial position identification information in domain, further according to current location with
And target initial position identification information plans mobile route, then according to above-mentioned traveling time, mobile route and movement speed
The corresponding target initial position of target initial position identification information is reached, starts to carry out Job Operations in goal task region.
In one embodiment, goal task region generally includes the corresponding station location marker of multiple above-mentioned ground sensing devices
Information and corresponding regional scope information, here by the central point mark in the corresponding regional scope region of each ground sensing device
It is denoted as the corresponding station location marker information of the ground sensing device.Robot is mobile according to current location and goal task regional planning
When route, the shortest station location marker information conduct of linear distance between current location identity in goal task region is usually chosen
Then target initial position identification information determines mobile route, mobile road according to target initial position message and current location
Line usually chooses the straight line path between current location and the corresponding target initial position of target initial position identification information.According to
Goal task executes the time, and robot can calculate goal task and execute time and current time difference, plans traveling time, from
It is dynamic to adjust movement speed, target initial position then is reached according to above-mentioned traveling time, mobile route and movement speed, thus
Start to start to operate in next step in goal task region.
Step S244 executes frequency planning operating frequency according to goal task, according to goal task type projects operation mould
Formula executes Job Operations according to operating frequency, work pattern and goal task region.
Specifically, goal task information further includes that goal task executes frequency and goal task type, according to above-mentioned mesh
Task execution frequency and goal task type are marked, can determine corresponding operating frequency and work pattern respectively, then machine
People can start to execute specific Job Operations according to operating frequency, work pattern and goal task region.
In one embodiment, as shown in fig. 7, the above method further include:
Step S280 obtains current task and operates corresponding task operating execution information, and by task operating execution information
It is back to control terminal.
Specifically, robot specifically execute current task operation when, can be anti-by corresponding task operating execution information
It is fed to control terminal, enables control terminal dynamic knowledge robot corresponding state in real time.For example, working as the artificial cleaner device of machine
People and when executing cleaning operation operation, control terminal can obtain the implementation progress and clean-up performance etc. of cleaning operation operation in real time
Information generates control information to make control decision at any time.
In one embodiment, the artificial transportation robot of machine, when transportation robot executes hauling operation operation, control
End can obtain in real time hauling operation operation implementation progress and transport midway status information, such as when encounter obstacle burst feelings
When condition, control terminal can be adjusted at any time, to ensure the correct execution of hauling operation operation.
In addition, above-mentioned apparatus includes: as shown in figure 8, additionally providing a kind of robot controller
Information receiving module 310 is controlled, for receiving the control information of control terminal transmission.
Goal task data obtaining module 320 obtains goal task information for parsing to control information；
Judgment module 330 can be communicated directly with Current terrestrial sensing device for judging whether, if so, into
Enter the first acquisition module 340.
First obtains module 340, for directly obtaining corresponding current location identity information from Current terrestrial sensing device.
Current location determining module 350 is carried out for matching current location identity information with sensed activity map
It positions and confirms current location.
Task operating execution module 360, for executing corresponding task behaviour according to current location and goal task information
Make, task operating includes moving operation and Job Operations.
In one of the embodiments, as shown in figure 9, above-mentioned apparatus further includes sensed activity map generation module 370, such as
Shown in Figure 10, sensed activity map generation module 370 includes:
Map current base point and map current base Area generation unit 372, for making current location identity information
For map current base point, current base point and current region range information, obtain map current base region according to the map；
Current newly-increased position identification information and currently newly-increased regional scope information acquisition unit 374, are used for Current terrestrial
Any adjacent ground sensing device of sensing device is moved, and the corresponding newly-increased position of next ground sensing device is successively obtained
Identification information and newly-increased regional scope information increase position identification information and currently newly-increased regional scope newly respectively as current
Information；
Sensed activity map generation unit 376, for current base point according to the map, map current base region, current
Newly-increased position identification information, currently newly-increased regional scope information and corresponding mobile message, obtain map currently increase newly point and
Corresponding map currently increases region newly, until obtaining corresponding all station location marker information and regional scope letter in scope of activities
Breath generates sensed activity map.
The first acquisition module 340 is also used to active induction mode or passive induction mode in one of the embodiments,
It is communicated with Current terrestrial sensing device, obtains corresponding current location identity information, active inductive communication mode includes penetrating
At least one of frequency identification technology RFID and short-range communication NFC mode, it includes piezoelectric sensing that feeling of passivity, which answers communication mode,
At least one of device, pressure sensor and capacitance sensor induction mode and wireless LAN communication WiFi, bluetooth,
Ultra long haul low-power consumption wide area network LoRa and based at least one of cellular narrowband Internet of Things NB-IoT communication mode.
Goal task information includes that goal task executes time, goal task region, target in one of the embodiments,
Task execution frequency and goal task type, as shown in figure 11, task operating execution module 360 includes:
Traveling time acquiring unit 361, for executing time planning traveling time according to goal task；
Mobile route acquiring unit 362, for planning mobile route according to goal task region and current location；
Moving operation execution unit 363 reaches goal task for being moved according to traveling time according to mobile route
Region；
Work pattern and operating frequency planning unit 364, for executing frequency planning operating frequency, root according to goal task
According to goal task type projects work pattern；
Job Operations execution unit 365, for executing operation according to operating frequency, work pattern and goal task region
Operation.
It in one embodiment, as shown in figure 12, further include the second acquisition module 380, for cannot directly and current position
When face sensing device is communicated, the current location mark that the corresponding background server of the Current terrestrial sensing device is sent is received
Know information.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, described program can be stored in a computer-readable storage medium
In, in the embodiment of the present invention, which be can be stored in the storage medium of computer system, and by the computer system
At least one processor executes, and includes the process such as the embodiment of above-mentioned each method with realization.Wherein, the storage medium can be
Magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (12)
1. a kind of robot control method, which comprises
Receive the control information that control terminal is sent；
The control information is parsed, goal task information is obtained；
Judge whether directly to be communicated with Current terrestrial sensing device, if so, directly incuding from the Current terrestrial
Device obtains corresponding current induction information, and the current induction information includes current location identity information；
The current location identity information is matched with sensed activity map, is positioned and confirms current location；
According to the current location and the goal task information, corresponding task operating is executed, the task operating includes
At least one of moving operation and Job Operations；
The current induction information further includes current region range information corresponding with the Current terrestrial sensing device, described to incite somebody to action
It further include that active probe generates induction work before the step of current location identity information is matched with sensed activity map
The step of the step of dynamic map, the active probe generates sensed activity map includes:
Using the current location identity information as map current base point, according to the map current base point and work as proparea
Domain range information obtains map current base region；
It is moved to any adjacent ground sensing device of the Current terrestrial sensing device, successively obtains next ground induction
The corresponding newly-increased position identification information of device and newly-increased regional scope information, respectively as current newly-increased position identification information with
And currently increase regional scope information newly；According to the map current base point, map current base region, currently newly-increased position mark
Know information, currently newly-increased regional scope information and corresponding mobile message, obtains map and currently increase point and corresponding map newly
Currently newly-increased region generates sense until obtaining corresponding all station location marker information and regional scope information in scope of activities
Answer activity map.
2. the method according to claim 1, wherein the Current terrestrial sensing device is NFC sensing device, institute
NFC sensing device is stated to be set within the scope of predeterminable area on corresponding floor.
3. the method according to claim 1, wherein the method also includes:
If cannot directly be communicated with Current terrestrial sensing device, the corresponding backstage of the Current terrestrial sensing device is received
The current location identity information that server is sent.
4. the method according to claim 1, wherein described directly from Current terrestrial sensing device acquisition pair
The step of current location identity information and current region range information for answering includes:
In a manner of active inductive communication or feeling of passivity answers communication mode to be communicated with Current terrestrial sensing device, obtains corresponding
Current location identity information and current region range information, the active inductive communication mode include Radio Frequency Identification Technology RFID
And at least one of short-range communication NFC mode, it includes piezoelectric transducer, pressure sensing that the feeling of passivity, which answers communication mode,
At least one of device and capacitance sensor induction mode and wireless LAN communication WiFi, bluetooth, ultra long haul low-power consumption
Wide area network LoRa and based at least one of cellular narrowband Internet of Things NB-IoT communication mode.
5. the method according to claim 1, wherein the goal task information includes that goal task executes the time
It is described according to the current location and the goal task information with frequency, goal task region and goal task type,
The step of executing corresponding task operating include:
Time planning traveling time is executed according to the goal task；
Mobile route is planned according to the goal task region and the current location；
It is moved according to the traveling time according to the mobile route, reaches the goal task region；
Frequency planning operating frequency is executed according to the goal task, according to the goal task type projects work pattern；
Job Operations are executed according to the operating frequency, the work pattern and the goal task region.
6. the method according to claim 1, wherein the method also includes:
It obtains current task and operates corresponding task operating execution information, and the task operating execution information is back to described
Control terminal.
7. a kind of robot controller, which is characterized in that described device includes:
Information receiving module is controlled, for receiving the control information of control terminal transmission；
Goal task data obtaining module obtains goal task information for parsing to the control information；
Judgment module can be communicated directly for judging whether with Current terrestrial sensing device, if so, obtaining into first
Modulus block；
First obtains module, described to work as directly obtaining corresponding current induction information from the Current terrestrial sensing device
Preceding induction information includes current location identity information；
Current location determining module is determined for matching the current location identity information with sensed activity map
Position simultaneously confirms current location；
Task operating execution module, for executing corresponding task according to the current location and the goal task information
Operation, the task operating includes at least one of moving operation and Job Operations；
The current induction information further includes current region range information corresponding with the Current terrestrial sensing device, the dress
Setting further includes sensed activity map generation module, and the sensed activity map generation module includes:
Map current base point and map current base Area generation unit, for using the current location identity information as ground
Figure current base point obtains map current base region according to the map current base point and current region range information；
Currently newly-increased position identification information and currently newly-increased regional scope information acquisition unit, for incuding to the Current terrestrial
Any adjacent ground sensing device of device is moved, and the corresponding newly-increased station location marker of next ground sensing device is successively obtained
Information and newly-increased regional scope information, respectively as current newly-increased position identification information and current newly-increased regional scope letter
Breath；
Sensed activity map generation unit, for according to the map current base point, map current base region, current newly-increased
Station location marker information, currently newly-increased regional scope information and corresponding mobile message obtain map and currently increase point newly and correspond to
Map currently increase region newly, it is raw until obtain corresponding all station location marker information and regional scope information in scope of activities
At sensed activity map.
8. device according to claim 7, which is characterized in that the Current terrestrial sensing device is NFC sensing device, institute
NFC sensing device is stated to be set within the scope of predeterminable area on corresponding floor.
9. device according to claim 7, which is characterized in that the first acquisition module is also used to active inductive communication
Mode or feeling of passivity answer communication mode to be communicated with Current terrestrial sensing device, obtain corresponding current location identity information with
And current region range information, the active inductive communication mode include Radio Frequency Identification Technology RFID and short-range communication NFC
At least one of mode, it includes piezoelectric transducer, pressure sensor and capacitance sensor that the feeling of passivity, which answers communication mode,
At least one of induction mode and wireless LAN communication WiFi, bluetooth, ultra long haul low-power consumption wide area network LoRa and be based on
At least one of cellular narrowband Internet of Things NB-IoT communication mode.
10. device according to claim 7, which is characterized in that when the goal task information includes that goal task executes
Between, goal task region, goal task execute frequency and goal task type, the task operating execution module and include:
Traveling time acquiring unit, for executing time planning traveling time according to the goal task；
Mobile route acquiring unit, for planning mobile route according to the goal task region and the current location；
Moving operation execution unit reaches the mesh for being moved according to the traveling time according to the mobile route
Mark mission area；
Work pattern and operating frequency planning unit, for executing frequency planning operating frequency according to the goal task, according to
The goal task type projects work pattern；
Job Operations execution unit, for being held according to the operating frequency, the work pattern and the goal task region
Row Job Operations.
11. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 6 the method when executing the computer program.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 6 is realized when being executed by processor.
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| CN107745383B (en) * | 2017-10-18 | 2020-11-10 | 北京爱接力科技发展有限公司 | Robot control method and robot |
| WO2019086102A1 (en) * | 2017-10-30 | 2019-05-09 | Telefonaktiebolaget Lm Ericsson (Publ) | Robotic method and system |
| CN109967929B (en) * | 2017-12-28 | 2021-02-26 | 沈阳新松机器人自动化股份有限公司 | Method and device for calibrating path of welding robot |
| CN108318860A (en) * | 2017-12-29 | 2018-07-24 | 谷米科技有限公司 | LORA method of locating terminal, system and LORA Internet of Things management platforms |
| CN107992057A (en) * | 2017-12-30 | 2018-05-04 | 重庆蓝兔塑胶制品有限公司 | One kind adaptation sweeper intelligent floor |
| CN110411446B (en) * | 2018-04-28 | 2023-09-08 | 深圳果力智能科技有限公司 | Path planning method for robot |
| CN109375623A (en) * | 2018-11-09 | 2019-02-22 | 苏州瑞得恩光能科技有限公司 | One kind is plugged into method |
| CN111328018A (en) * | 2020-02-27 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle, unmanned vehicle operation system and unmanned vehicle operation method |
| CN112008718B (en) * | 2020-06-12 | 2022-04-05 | 特斯联科技集团有限公司 | Robot control method, system, storage medium and intelligent robot |
| CN115391380A (en) * | 2021-05-19 | 2022-11-25 | 苏州宝时得电动工具有限公司 | Method, self-moving equipment and system for automatically matching service area |
| CN115249110A (en) * | 2021-09-10 | 2022-10-28 | 达闼科技（北京）有限公司 | Wireless signal detection method, robot, electronic device, and storage medium |
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| KR100437372B1 (en) * | 2001-04-18 | 2004-06-25 | 삼성광주전자 주식회사 | Robot cleaning System using by mobile communication network |
| TW201305761A (en) * | 2011-07-21 | 2013-02-01 | Ememe Robot Co Ltd | An autonomous robot and a positioning method thereof |
| JP2013242738A (en) * | 2012-05-22 | 2013-12-05 | Sharp Corp | Robot device, terminal device, remote control system for robot device and program |
| CN104460663A (en) * | 2013-09-23 | 2015-03-25 | 科沃斯机器人科技(苏州)有限公司 | Method for controlling cleaning robot through smart phone |
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Denomination of invention: Robot control method and device Effective date of registration: 20201202 Granted publication date: 20190625 Pledgee: Shenzhen small and medium sized small loan Co., Ltd Pledgor: SHENZHEN VFUCHONG TECHNOLOGY Co.,Ltd. Registration number: Y2020980008714 |