CN107214705A - A kind of robot movement speed control method and robot - Google Patents
A kind of robot movement speed control method and robot Download PDFInfo
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- CN107214705A CN107214705A CN201710603008.0A CN201710603008A CN107214705A CN 107214705 A CN107214705 A CN 107214705A CN 201710603008 A CN201710603008 A CN 201710603008A CN 107214705 A CN107214705 A CN 107214705A
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- robot
- humidity information
- translational speed
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot movement speed control method and robot, and this method includes：The robot identification needs the destination locations reached；The robot is moved according to default translational speed to the destination locations；In moving process, the robot detects the humidity information of current environment in real time；If the humidity information is more than predetermined threshold value, according to the humidity information and the corresponding relation of translational speed obtained in advance, it is translational speed corresponding with the humidity information to set the current translational speed of robot.The embodiment of the present invention can adjust the translational speed of robot according to humidity information, so as to reduce the generation of faulty operation.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot movement speed control method and robot.
Background technology
With the development of robot technology and the communication technology, robot can be used in current more and more scenes, for example：
Article is carried using robot, article or punching etc. are installed.And machine per capita can be with remote control now.Wherein, remotely
Control can be that robot sets up communication connection with communication terminal in advance, and user is by communication terminal Manipulation of the machine people, to order
Robot completes the event that user indicates.But in actual application, due to being remote control robot per family, so using
Family is not specific distinct to the situation of robot work at present, for example：Robot operative scenario occurs under emergency case, user
It can not understand in time, so as to cause robot faulty operation.It can be seen that, the likelihood ratio of current robot faulty operation is higher.
The content of the invention
The embodiment of the present invention provides a kind of robot movement speed control method and robot, to solve machine human factor error behaviour
The problem of likelihood ratio of work is higher.
The embodiment of the present invention provides a kind of robot movement speed control method, including：
The robot identification needs the destination locations reached；
The robot is moved according to default translational speed to the destination locations；
In moving process, the robot detects the humidity information of current environment in real time；
If the humidity information is more than predetermined threshold value, according to the correspondence pass of the humidity information and translational speed obtained in advance
System, it is translational speed corresponding with the humidity information to set the current translational speed of robot.
It is preferred that, if the humidity information is more than predetermined threshold value, according to the humidity information and translational speed obtained in advance
Corresponding relation, set the step of current translational speed of robot is translational speed corresponding with the humidity information it
Afterwards, methods described also includes：
The robot detects the humidity information of current environment in real time, and it is pre- to judge whether the humidity information detected is more than
If early warning thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is whole to the communication bound in advance
End sends warning information, and the warning information includes the humidity information；
The robot receives the target processing strategy that the communication terminal is returned according to the warning information, the machine
People handles strategy according to the target and handled.
It is preferred that, if the humidity information is more than predetermined threshold value, according to the humidity information and translational speed obtained in advance
Corresponding relation, set the step of current translational speed of robot is translational speed corresponding with the humidity information it
Afterwards, methods described also includes：
The robot detects the humidity information of current environment in real time, and it is pre- to judge whether the humidity information detected is more than
If early warning thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is default according to what is obtained in advance
The corresponding relation of early warning thresholding and processing strategy, tactful handled is handled according to corresponding with the default early warning thresholding.
It is preferred that, if the humidity information is more than predetermined threshold value, according to the humidity information and translational speed obtained in advance
Corresponding relation, set the step of current translational speed of robot is translational speed corresponding with the humidity information it
Afterwards, methods described also includes：
If the humidity information is more than predetermined threshold value, the robot opens camera device and carries out video capture；
The robot gives the video information real-time Transmission of shooting the communication terminal bound in advance.
It is preferred that, if the humidity information is more than predetermined threshold value, according to the humidity information and translational speed obtained in advance
Corresponding relation, set the step of current translational speed of robot is translational speed corresponding with the humidity information it
Afterwards, methods described also includes：
When the robot is moved to the destination locations, the robot detects drop target in the destination locations
Whether the temperature in the region of article is placed in the target item temperature range default；
If the temperature in the region of drop target article places the target item temperature model default in the destination locations
In enclosing, the target item is placed on the destination locations by the robot；
If the temperature in the region of drop target article does not place the target item temperature default in the destination locations
In the range of, the robot carries the target item and returned.
The embodiment of the present invention also provides a kind of robot, including：
First identification module, for recognizing the destination locations for needing to reach；
Mobile module, for being moved according to default translational speed to the destination locations；
First detection module, in moving process, the humidity information of current environment to be detected in real time；
First setup module, if being more than predetermined threshold value for the humidity information, according to the humidity information obtained in advance
With the corresponding relation of translational speed, it is mobile speed corresponding with the humidity information to set the current translational speed of robot
Degree.
It is preferred that, the robot also includes：
Second detection module, the humidity information for detecting current environment in real time, and judge that the humidity information detected is
It is no to be more than default early warning thresholding；
Warning module, if whether being more than default early warning thresholding for the humidity information that detects, the robot is to pre-
The communication terminal first bound sends warning information, and the warning information includes the humidity information；
Receiving module, strategy is handled for receiving the target that the communication terminal is returned according to the warning information, described
Robot handles strategy according to the target and handled.
It is preferred that, the robot also includes：
3rd detection module, the humidity information for detecting current environment in real time, and judge that the humidity information detected is
It is no to be more than default early warning thresholding；
Processing module, if whether being more than default early warning thresholding for the humidity information detected, according to what is obtained in advance
The corresponding relation of default early warning thresholding and processing strategy, is handled at strategy according to corresponding with the default early warning thresholding
Reason.
It is preferred that, the robot also includes：
Opening module, if being more than predetermined threshold value for the humidity information, opens camera device and carries out video capture；
Transport module, for giving the communication terminal bound in advance by the video information real-time Transmission of shooting.
It is preferred that, the robot also includes：
4th detection module, for when the robot is moved to the destination locations, detecting in the destination locations
Whether the temperature in the region of drop target article is placed in the target item temperature range default；
Placement module, if the temperature for the region of drop target article in the destination locations places the mesh default
Mark in the range of article temperature, the target item is placed on the destination locations；
Module is returned to, if the temperature for the region of drop target article in the destination locations does not place described default
In target item temperature range, carry the target item and return.
In the embodiment of the present invention, the robot identification needs the destination locations reached；The robot is moved according to default
Dynamic speed is moved to the destination locations；In moving process, the robot detects the humidity information of current environment in real time；If
The humidity information is more than predetermined threshold value, then according to the humidity information and the corresponding relation of translational speed obtained in advance, sets institute
The current translational speed of robot is stated for translational speed corresponding with the humidity information.So machine can be adjusted according to humidity information
The translational speed of device people, so as to reduce the generation of faulty operation.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below by using required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is a kind of schematic flow sheet of robot movement speed control method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of robot provided in an embodiment of the present invention；
Fig. 3 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 4 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 5 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 6 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 7 is the structural representation of another robot provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Robot provided in an embodiment of the present invention can include：Chassis, wheel, crawler belt, rechargeable battery and installed in chassis
On mechanical arm composition.Mechanical arm can transfer from one department to another system including large arm, telescopic arm, forearm, gripper and waist.And can be with
Including video system, video system can include constituting installed in the video camera of diverse location, can also include running gear, OK
Walking system can be 6 × 6 a11wheel drives, and large arm lifting can be driven by double electronic struts and install balance bar, furthermore it is also possible to
Including control system by center system control and manipulation case etc., in addition, can be wired or wireless between robot and control system
Manipulate and the video information of robotic end can be sent to by wireless radiation and control hall or command car, and remote control
Robot.In addition, in the embodiment of the present invention, robot be able to can be captured with explosive-removal robot or warehouse transfer robot etc. and
The robot of carry an object, is not construed as limiting to this embodiment of the present invention.
Fig. 1 is referred to, Fig. 1 is a kind of flow signal of robot movement speed control method provided in an embodiment of the present invention
Figure, as shown in figure 1, comprising the following steps：
101st, the robot identification needs the destination locations reached.
Wherein, above-mentioned purpose position is the position that user pre-sets, for example：Some needs explosive position.
102nd, robot is moved according to default translational speed to the destination locations.
Wherein, above-mentioned default translational speed can be the normal speed that user pre-sets.
103rd, in moving process, the robot detects the humidity information of current environment in real time.
Wherein, the humidity information of above-mentioned detection current environment can be carried out by the humidity sensor installed in robot
Detection.
If the 104, the humidity information is more than predetermined threshold value, according to the humidity information and pair of translational speed obtained in advance
It should be related to, it is translational speed corresponding with the humidity information to set the current translational speed of robot.
It can be realized by above-mentioned steps and the translational speed of robot is adjusted to movement corresponding with current environment humidity
Speed, for example：When humidity is bigger, speed is slower, and so as to avoid because humidity is excessive, and translational speed is excessive, and causes
There is faulty operation in robot.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, methods described also includes：
The robot detects the humidity information of current environment in real time, and it is pre- to judge whether the humidity information detected is more than
If early warning thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is whole to the communication bound in advance
End sends warning information, and the warning information includes the humidity information；
The robot receives the target processing strategy that the communication terminal is returned according to the warning information, the machine
People handles strategy according to the target and handled.
In the embodiment, it is possible to achieve if whether the humidity information detected is more than default early warning thresholding, the machine
Device people sends warning information to the communication terminal bound in advance, and the warning information includes the humidity information；The robot
The target processing strategy that the communication terminal is returned according to the warning information is received, the robot is handled according to the target
It is tactful to be handled.So as to be prevented effectively from faulty operation.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, methods described also includes：
The robot detects the humidity information of current environment in real time, and it is pre- to judge whether the humidity information detected is more than
If early warning thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is default according to what is obtained in advance
The corresponding relation of early warning thresholding and processing strategy, tactful handled is handled according to corresponding with the default early warning thresholding.
In the embodiment, it is possible to achieve if whether the humidity information detected is more than default early warning thresholding, the machine
Device people is according to the default early warning thresholding obtained in advance and the corresponding relation of processing strategy, according to corresponding with the default early warning thresholding
Processing strategy handled.So as to be prevented effectively from faulty operation.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, methods described also includes：
If the humidity information is more than predetermined threshold value, the robot opens camera device and carries out video capture；
The robot gives the video information real-time Transmission of shooting the communication terminal bound in advance.
In the embodiment, it is possible to achieve if the humidity information is more than predetermined threshold value, shooting dress is opened by the robot
Put carry out video capture；The robot gives the video information real-time Transmission of shooting the communication terminal bound in advance, so as to allow
Present circumstances are well understood in user in time, to avoid the generation of faulty operation.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, methods described also includes：
When the robot is moved to the destination locations, the robot detects drop target in the destination locations
Whether the temperature in the region of article is placed in the target item temperature range default；
If the temperature in the region of drop target article places the target item temperature model default in the destination locations
In enclosing, the target item is placed on the destination locations by the robot；
If the temperature in the region of drop target article does not place the target item temperature default in the destination locations
In the range of, the robot carries the target item and returned.
In the embodiment, it is possible to achieve if the temperature in the region of drop target article is put default in the destination locations
Put in the target item temperature range, the target item is placed on the destination locations by the robot；If the mesh
Position in the temperature in region of drop target article do not placed default in the target item temperature range, the robot
The target item is carried to return.So as to improve the performance of robot.
In the embodiment of the present invention, the robot identification needs the destination locations reached；The robot is moved according to default
Dynamic speed is moved to the destination locations；In moving process, the robot detects the humidity information of current environment in real time；If
The humidity information is more than predetermined threshold value, then according to the humidity information and the corresponding relation of translational speed obtained in advance, sets institute
The current translational speed of robot is stated for translational speed corresponding with the humidity information.So machine can be adjusted according to humidity information
The translational speed of device people, so as to reduce the generation of faulty operation.
Fig. 2 is referred to, Fig. 2 is a kind of structural representation of robot provided in an embodiment of the present invention, as shown in Fig. 2 bag
Include：
First identification module 201, for recognizing the destination locations for needing to reach；
Mobile module 202, for being moved according to default translational speed to the destination locations；
First detection module 203, in moving process, the humidity information of current environment to be detected in real time；
First setup module 204, if being more than predetermined threshold value for the humidity information, according to the humidity letter obtained in advance
The corresponding relation of breath and translational speed, it is mobile speed corresponding with the humidity information to set the current translational speed of robot
Degree.
As an alternative embodiment, as shown in figure 3, the robot also includes：
Second detection module 205, the humidity information for detecting current environment in real time, and the humidity information that judgement is detected
Whether default early warning thresholding is more than；
Warning module 206, if whether being more than default early warning thresholding for the humidity information that detects, the robot to
The communication terminal bound in advance sends warning information, and the warning information includes the humidity information；
Receiving module 207, strategy, institute are handled for receiving the target that the communication terminal is returned according to the warning information
State robot and handle tactful handled according to the target.
As an alternative embodiment, as shown in figure 4, the robot also includes：
3rd detection module 208, the humidity information for detecting current environment in real time, and the humidity information that judgement is detected
Whether default early warning thresholding is more than；
Processing module 209, if whether being more than default early warning thresholding for the humidity information detected, according to acquisition in advance
Default early warning thresholding and processing strategy corresponding relation, at processing strategy corresponding with the default early warning thresholding
Reason.
As an alternative embodiment, as shown in figure 5, the robot also includes：
Opening module 2010, if being more than predetermined threshold value for the humidity information, opens camera device and carries out video capture；
Transport module 2011, for giving the communication terminal bound in advance by the video information real-time Transmission of shooting.
As an alternative embodiment, as shown in fig. 6, the robot also includes：
4th detection module 2012, for when the robot is moved to the destination locations, detecting the purpose position
Whether the temperature for putting the region of drop target article is placed in the target item temperature range default；
Placement module 2013, if the temperature for the region of drop target article in the destination locations places institute default
State in target item temperature range, the target item is placed on the destination locations；
Module 2014 is returned to, if the temperature for the region of drop target article in the destination locations is not in default placement
In the target item temperature range, carry the target item and return.
In the embodiment of the present invention, the robot identification needs the destination locations reached；The robot is moved according to default
Dynamic speed is moved to the destination locations；In moving process, the robot detects the humidity information of current environment in real time；If
The humidity information is more than predetermined threshold value, then according to the humidity information and the corresponding relation of translational speed obtained in advance, sets institute
The current translational speed of robot is stated for translational speed corresponding with the humidity information.So machine can be adjusted according to humidity information
The translational speed of device people, so as to reduce the generation of faulty operation.
Referring to Fig. 7, Fig. 7 is the structure chart of another robot provided in an embodiment of the present invention.As shown in fig. 7, robot
Including：Processor 701, memory 702, network interface 704 and user interface 703.Each component in robot passes through bus
System 705 is coupled.Bus system 705 is in addition to including data/address bus, in addition to power bus, controlling bus and state
Signal bus.But for the sake of clear explanation, various buses are all designated as bus system 705 in the figure 7.
Wherein, user interface 703 can include display, keyboard or pointing device (for example, mouse, trace ball
(track ball), touch-sensitive plate or touch-screen etc..
It is appreciated that the memory 702 in the embodiment of the present invention can be volatile memory or nonvolatile memory,
Or may include both volatibility and nonvolatile memory.Wherein, nonvolatile memory can be read-only storage (Read-
Only Memory, ROM), programmable read only memory (Programmable ROM, PROM), the read-only storage of erasable programmable
Device (Erasable PROM, EPROM), Electrically Erasable Read Only Memory (Electrically EPROM, EEPROM) or
Flash memory.Volatile memory can be random access memory (Random Access Memory, RAM), and it is used as outside high
Speed caching.By exemplary but be not restricted explanation, the RAM of many forms can use, such as static RAM
(Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory
(Synchronous DRAM, SDRAM), double data speed synchronous dynamic RAM (Double Data Rate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (Synchlink DRAM, SLDRAM) and direct rambus random access memory (Direct
Rambus RAM, DRRAM).The memory 702 of system and method described herein be intended to including but not limited to these and it is any its
It is adapted to the memory of type.
In some embodiments, memory 702 stores following element, can perform module or data structure, or
Their subset of person, or their superset：Operating system 7021 and application program 7022.
Wherein, operating system 7021, comprising various system programs, such as ccf layer, core library layer, driving layer, are used for
Realize various basic businesses and handle hardware based task.Application program 7022, includes various application programs, such as media
Player (Media Player), browser (Browser) etc., for realizing various applied business.Realize the embodiment of the present invention
The program of method may be embodied in application program 7022.
In embodiments of the present invention, by calling program or the instruction of the storage of memory 702, specifically, can be application
The program stored in program 7022 or instruction, processor 701 are used for：
Identification needs the destination locations reached；
Moved according to default translational speed to the destination locations；
In moving process, the humidity information of current environment is detected in real time；
If the humidity information is more than predetermined threshold value, according to the correspondence pass of the humidity information and translational speed obtained in advance
System, it is translational speed corresponding with the humidity information to set the current translational speed of robot.
The method that the embodiments of the present invention are disclosed can apply in processor 701, or be realized by processor 701.
Processor 701 is probably a kind of IC chip, the disposal ability with signal.In implementation process, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 701 or the instruction of software form.Above-mentioned processing
Device 701 can be general processor, digital signal processor (Digital Signal Processor, DSP), special integrated electricity
Road (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field
Programmable Gate Array, FPGA) or other PLDs, discrete gate or transistor logic,
Discrete hardware components.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general
Processor can be microprocessor or the processor can also be any conventional processor etc..With reference to institute of the embodiment of the present invention
The step of disclosed method, can be embodied directly in hardware decoding processor and perform completion, or with the hardware in decoding processor
And software module combination performs completion.Software module can be located at random access memory, and flash memory, read-only storage may be programmed read-only
In the ripe storage medium in this area such as memory or electrically erasable programmable memory, register.The storage medium is located at
Memory 702, processor 701 reads the information in memory 702, the step of completing the above method with reference to its hardware.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combine to realize.Realized for hardware, processing unit can be realized in one or more application specific integrated circuit (Application
Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing,
DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (Programmable Logic
Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), general processor,
In controller, microcontroller, microprocessor, other electronic units for performing herein described function or its combination.
Realize, can be realized by performing the module (such as process, function) of function described herein herein for software
Described technology.Software code is storable in memory and by computing device.Memory can within a processor or
Realized outside processor.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, processor 701 is additionally operable to：
The humidity information of detection current environment, and judge whether the humidity information detected is more than default early warning door in real time
Limit；
If whether the humidity information detected is more than default early warning thresholding, early warning is sent to the communication terminal bound in advance
Information, the warning information includes the humidity information；
The target processing strategy that the communication terminal is returned according to the warning information is received, the robot is according to described
Target processing strategy is handled.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, processor 701 is additionally operable to：
The humidity information of detection current environment, and judge whether the humidity information detected is more than default early warning door in real time
Limit；
If whether the humidity information detected is more than default early warning thresholding, according to the default early warning thresholding obtained in advance and
The corresponding relation of strategy is handled, tactful handled is handled according to corresponding with the default early warning thresholding.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, processor 701 is additionally operable to：
If the humidity information is more than predetermined threshold value, opens camera device and carry out video capture；
The video information real-time Transmission of shooting is given to the communication terminal bound in advance.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, it is wet that basis is obtained in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, processor 701 is additionally operable to：
When the robot is moved to the destination locations, the region of drop target article in the destination locations is detected
Temperature whether placed default in the target item temperature range；
If the temperature in the region of drop target article places the target item temperature model default in the destination locations
In enclosing, the target item is placed on the destination locations；
If the temperature in the region of drop target article does not place the target item temperature default in the destination locations
In the range of, carry the target item and return.
It should be noted that above-mentioned robot can be any in embodiment of the method in the embodiment of the present invention in the present embodiment
Any embodiment of robot can be implemented by this in embodiment of the method in the robot of embodiment, the embodiment of the present invention
Above-mentioned robot in example is realized, and reaches identical beneficial effect, and here is omitted.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In embodiment provided herein, it should be understood that disclosed apparatus and method, others can be passed through
Mode is realized.For example, device embodiment described above is only schematical, for example, the division of the unit, is only
A kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of device or unit by some interfaces
Connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize scheme of the embodiment of the present invention according to the actual needs
Purpose.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each of the invention embodiment methods described.
And foregoing storage medium includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can be with store program codes
Medium.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of robot movement speed control method, it is characterised in that including：
The robot identification needs the destination locations reached；
The robot is moved according to default translational speed to the destination locations；
In moving process, the robot detects the humidity information of current environment in real time；
If the humidity information is more than predetermined threshold value, according to the humidity information and the corresponding relation of translational speed obtained in advance,
It is translational speed corresponding with the humidity information to set the current translational speed of the robot.
2. the method as described in claim 1, it is characterised in that if the humidity information is more than predetermined threshold value, according in advance
The humidity information of acquisition and the corresponding relation of translational speed, set the current translational speed of robot to be and the humidity information
After the step of corresponding translational speed, methods described also includes：
The robot detects the humidity information of current environment in real time, and it is default pre- to judge whether the humidity information detected is more than
Alert thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is sent out to the communication terminal bound in advance
Warning information is sent, the warning information includes the humidity information；
The robot receives the target processing strategy that the communication terminal is returned according to the warning information, and the robot is pressed
Handled according to target processing strategy.
3. the method as described in claim 1, it is characterised in that if the humidity information is more than predetermined threshold value, according in advance
The humidity information of acquisition and the corresponding relation of translational speed, set the current translational speed of robot to be and the humidity information
After the step of corresponding translational speed, methods described also includes：
The robot detects the humidity information of current environment in real time, and it is default pre- to judge whether the humidity information detected is more than
Alert thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is according to the default early warning obtained in advance
The corresponding relation of thresholding and processing strategy, tactful handled is handled according to corresponding with the default early warning thresholding.
4. the method as described in claim 1, it is characterised in that if the humidity information is more than predetermined threshold value, according in advance
The humidity information of acquisition and the corresponding relation of translational speed, set the current translational speed of robot to be and the humidity information
After the step of corresponding translational speed, methods described also includes：
If the humidity information is more than predetermined threshold value, the robot opens camera device and carries out video capture；
The robot gives the video information real-time Transmission of shooting the communication terminal bound in advance.
5. the method as described in claim 1, it is characterised in that if the humidity information is more than predetermined threshold value, according in advance
The humidity information of acquisition and the corresponding relation of translational speed, set the current translational speed of robot to be and the humidity information
After the step of corresponding translational speed, methods described also includes：
When the robot is moved to the destination locations, the robot detects drop target article in the destination locations
The temperature in region whether placed default in the target item temperature range；
If the temperature in the region of drop target article is placed in the target item temperature range default in the destination locations,
The target item is placed on the destination locations by the robot；
If the temperature in the region of drop target article does not place the target item temperature range default in the destination locations
Interior, the robot carries the target item and returned.
6. a kind of robot, it is characterised in that including：
First identification module, for recognizing the destination locations for needing to reach；
Mobile module, for being moved according to default translational speed to the destination locations；
First detection module, in moving process, the humidity information of current environment to be detected in real time；
First setup module, if being more than predetermined threshold value for the humidity information, according to the humidity information and shifting obtained in advance
The corresponding relation of dynamic speed, it is translational speed corresponding with the humidity information to set the current translational speed of robot.
7. robot as claimed in claim 6, it is characterised in that the robot also includes：
Second detection module, the humidity information for detecting current environment in real time, and judge whether the humidity information detected is big
In default early warning thresholding；
Warning module, if whether being more than default early warning thresholding for the humidity information that detects, the robot to tying up in advance
Fixed communication terminal sends warning information, and the warning information includes the humidity information；
Receiving module, strategy, the machine are handled for receiving the target that the communication terminal is returned according to the warning information
People handles strategy according to the target and handled.
8. robot as claimed in claim 6, it is characterised in that the robot also includes：
3rd detection module, the humidity information for detecting current environment in real time, and judge whether the humidity information detected is big
In default early warning thresholding；
Processing module, it is default according to what is obtained in advance if whether being more than default early warning thresholding for the humidity information detected
The corresponding relation of early warning thresholding and processing strategy, tactful handled is handled according to corresponding with the default early warning thresholding.
9. robot as claimed in claim 6, it is characterised in that the robot also includes：
Opening module, if being more than predetermined threshold value for the humidity information, opens camera device and carries out video capture；
Transport module, for giving the communication terminal bound in advance by the video information real-time Transmission of shooting.
10. robot as claimed in claim 6, it is characterised in that the robot also includes：
4th detection module, for when the robot is moved to the destination locations, detecting in the destination locations and placing
Whether the temperature in the region of target item is placed in the target item temperature range default；
Placement module, if the temperature for the region of drop target article in the destination locations places the object default
In the range of product temperature degree, the target item is placed on the destination locations；
Module is returned to, if the temperature for the region of drop target article in the destination locations does not place the target default
In the range of article temperature, carry the target item and return.
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| CN201710603008.0A CN107214705A (en) | 2017-07-22 | 2017-07-22 | A kind of robot movement speed control method and robot |
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| CN201710603008.0A CN107214705A (en) | 2017-07-22 | 2017-07-22 | A kind of robot movement speed control method and robot |
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| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| WO2019018963A1 (en) * | 2017-07-22 | 2019-01-31 | 深圳市萨斯智能科技有限公司 | Robot movement speed control method, and robot |
| WO2019128406A1 (en) * | 2017-12-25 | 2019-07-04 | 上海物景智能科技有限公司 | Robot speed control method and system |
| CN112020411A (en) * | 2018-04-25 | 2020-12-01 | 三星电子株式会社 | Mobile robot apparatus and method for providing service to user |
| CN113002181A (en) * | 2021-02-09 | 2021-06-22 | 深圳市丹芽科技有限公司 | Method, device, equipment and storage medium for controlling ink box slot of nail art |
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Application publication date: 20170929 |