CN107272695A - A kind of robot autocontrol method and device - Google Patents
A kind of robot autocontrol method and device Download PDFInfo
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- CN107272695A CN107272695A CN201710594467.7A CN201710594467A CN107272695A CN 107272695 A CN107272695 A CN 107272695A CN 201710594467 A CN201710594467 A CN 201710594467A CN 107272695 A CN107272695 A CN 107272695A
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- 238000012545 processing Methods 0.000 claims abstract description 78
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The embodiment of the invention discloses a kind of robot autocontrol method and device, this method includes：Worked in robot under preassigned pattern state, the current task status of acquisition and robot are presently in position, and estimate processing parameter output according to the task status and the position；Receive and perform the control instruction according to processing parameter formation of outside input.Based on the above method and device, it is possible to achieve during the not enough power supply of robot rechargeable battery, without manual intervention, charging just can be automatically performed, ensure that robot adapts to different situations and makes corresponding adjustment, improve machine task efficiency and reliability.
Description
Technical field
The present embodiments relate to automatic control technology field, more particularly to a kind of robot autocontrol method and dress
Put.
Background technology
Currently, with the fast development constantly brought forth new ideas with mobile robot technology of science and technology, machine is more and more moved
People's product enters consumer goods market, is applied to service for life field.Mobile robot is as a kind of mobile platform, and it moves institute
The power source of dependence is greatly that the energy motor saved by rechargeable battery is walked and produced, and rechargeable battery
Electricity be limited, so the situation of not enough power supply just occurs in robot after operation a period of time.When rechargeable battery
, it is necessary to which rechargeable battery is connected by user with external power source during not enough power supply, complete charging, just can guarantee that mobile robot next time
Normal operation.
However, this can not only increase the workload of user, moreover, under human hand working environment in short supply, once due to filling
Electric battery electric quantity is not enough and fails discovery in time, periods of robot operation stop can be caused, so as to influence operating efficiency.
The content of the invention
The present invention provides a kind of robot autocontrol method and device, and solving robot needs manual intervention complete
Into the technical problem of charging, machine task efficiency is improved.
To reach this purpose, the present invention uses following technical scheme：
In a first aspect, the embodiments of the invention provide a kind of robot autocontrol method, methods described includes：
Worked in robot under preassigned pattern state, the current task status of acquisition and robot are presently in position,
And processing parameter output is estimated according to the task status and the position；
Receive and perform the control instruction according to processing parameter formation of outside input.
Further, in the above method, the task status at least includes task type and mission duration, in machine
People is worked under preassigned pattern state, and the current task status of acquisition and robot are presently in position, and according to the task
Processing parameter output is estimated in state and the position, including：
Worked in the robot under preassigned pattern state, obtain current task type, mission duration and machine
Device people is presently in position；
Judge whether the task type matches target generic task；
In the state of task type matching target generic task, according to the mission duration and current electricity
Calculate and form cruising time again；
Form the processing parameter according to the position and the ETS estimated time of sailing that renews and export.
Further, methods described, in addition to：
In the state of the task type mismatches target generic task, according to the mission duration and current electricity
Amount, which is calculated, forms cruising time again；
Estimated to form a maximum displacement distance according to the position；
The processing parameter is formed according to the cruising time again, maximum displacement distance.
Further, in the above method, the control instruction at least includes phonetic order and action command, receives and performs
The control instruction according to processing parameter formation of outside input is specifically included：
Receive the control instruction according to processing parameter formation of outside input；
Whether judge the control instruction is action command；
In the state of the control instruction is action command, the robot is driven to be moved to precalculated position；
In the state of the control instruction is phonetic order, the phonetic order is performed, and export with a predetermined space
The processing parameter.
Second aspect, the embodiments of the invention provide a kind of robot automaton, described device includes：
Parameter output module, for being worked in robot under preassigned pattern state, the current task status of acquisition and machine
Device people is presently in position, and estimates processing parameter output according to the task status and the position；
Performing module is instructed, the control instruction according to processing parameter formation for receiving and performing outside input.
Further, in said apparatus, the task status at least includes task type and mission duration, the ginseng
Number output module includes：
Information acquisition unit, for being worked in the robot under preassigned pattern state, the current task type of acquisition,
Mission duration and robot are presently in position；
Task judging unit, for judging whether the task type matches target generic task；
First computing unit, in the state of task type matching target generic task, being held according to the task
The continuous time calculates to form cruising time again with current electricity；
First output unit, for forming the processing parameter according to the position and the ETS estimated time of sailing that renews and exporting.
Further, described device, in addition to：
Second computing unit, in the state of mismatching target generic task in the task type, according to the task
Duration calculates to form cruising time again with current electricity；
Distance estimates unit, and a maximum displacement distance is formed for being estimated according to the position；
Second output unit, for cruising time, maximum displacement distance to form the processing parameter again according to.
Further, in said apparatus, the control instruction at least includes phonetic order and action command, and the instruction is held
Row module includes：
Instruction reception unit, the control instruction according to processing parameter formation for receiving outside input；
Judging unit is instructed, for judging whether the control instruction is action command；
Action execution unit, in the state of being action command in the control instruction, drives the robot movement
To precalculated position；
Voice execution unit, in the state of being phonetic order in the control instruction, performs the phonetic order, and
The processing parameter is exported with a predetermined space.
In the technical scheme of the embodiment of the present invention, take and first worked in robot under preassigned pattern state, obtain and work as
Preceding task status and robot is presently in position, and it is defeated according to the task status and the position to estimate a processing parameter
The first technological means gone out, relative to prior art, improves the promptness of processing parameter acquisition；Then again by receiving and holding
Second technological means of the control instruction according to processing parameter formation of row outside input, relative to prior art, is improved
Robot adapts to the adjustment capability of different situations.I.e. by being worked in robot under preassigned pattern state, obtain currently
Task status and robot are presently in position, and estimate processing parameter output according to the task status and the position；
Receive and perform the technical scheme of the control instruction according to processing parameter formation of outside input, it is possible to achieve robot fills
During the not enough power supply of battery, without manual intervention, charging just can be automatically performed, ensure that robot adapts to different situations and made
Go out corresponding adjustment, improve machine task efficiency and reliability.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet for robot autocontrol method that the embodiment of the present invention one is provided；
Fig. 2 is a kind of schematic flow sheet for robot autocontrol method that the embodiment of the present invention two is provided；
Fig. 3 is a kind of schematic flow sheet for robot autocontrol method that the embodiment of the present invention three is provided；
Fig. 4 is a kind of structural representation for robot automaton that the embodiment of the present invention four is provided.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Accompanying drawing 1 is referred to, is a kind of schematic flow sheet for robot autocontrol method that the embodiment of the present invention one is provided,
This method is applied to the scene that robot rechargeable battery is not enough and needs charge, and this method is held by robot automaton
OK, the device can be realized by software and/or hardware, can be integrated in robot interior.Referring to Fig. 1, this method includes：
S110, work under preassigned pattern state in robot, obtain current task status and robot is presently in
Position, and processing parameter output is estimated according to the task status and the position.
In embodiments of the present invention, preassigned pattern refers to Low Power Mode.After a period of time is run, the charging of robot
The dump energy of battery is not enough to the work for maintaining it to carry out the long period again, and now robot opens and enters low battery mould
Formula, will temporarily turn off some unnecessary functions to reduce power consumption, until being connected charging with external power source, exit low battery
Pattern.The Low Power Mode, is preferably to be automatically turned on when electricity is less than 15%.Robot often performs a task or instruction
Real-time logs file will be generated accordingly, equivalent to history logging, can be obtained currently by the real-time logs file
Logging to determine its task status, and robot is presently in position, then what can be provided by global position system determines
Position service acquisition or bluetooth positioning distance measuring are obtained.
It should be noted that robot is in the operating condition, its task status, position or electricity are all dynamic changes,
Therefore the processing parameter determined according to task status and position is a discreet value, the processing parameter by communication network transmission extremely
Cloud server.
S120, the control instruction according to processing parameter formation for receiving and performing outside input.
It should be noted that outside refers to cloud server, the cloud server is receiving the processing from robot
After parameter, corresponding control instruction can be formed according to the processing parameter, the control instruction is received and performed by robot.
For security consideration, the reception and execution of the control instruction need to obtain robot administration authority, build
The functional module for realizing robot administration authority is integrated into the built-in system of robot by view, and its robot administration authority is by machine
Device people is transferred to cloud server together with estimating obtained processing parameter in the lump, i.e., only when robot, to have processing parameter to need defeated
When going out, cloud server just obtains robot administration authority and issues control instruction performing to robot, or can be by other
Mode enables robot administration authority service.
In the technical scheme of the embodiment of the present invention, take and first worked in robot under preassigned pattern state, obtain and work as
Preceding task status and robot is presently in position, and it is defeated according to the task status and the position to estimate a processing parameter
The first technological means gone out, relative to prior art, improves the promptness of processing parameter acquisition；Then again by receiving and holding
Second technological means of the control instruction according to processing parameter formation of row outside input, relative to prior art, is improved
Robot adapts to the adjustment capability of different situations.I.e. by being worked in robot under preassigned pattern state, obtain currently
Task status and robot are presently in position, and estimate processing parameter output according to the task status and the position；
Receive and perform the technical scheme of the control instruction according to processing parameter formation of outside input, it is possible to achieve robot fills
During the not enough power supply of battery, without manual intervention, charging just can be automatically performed, ensure that robot adapts to different situations and made
Go out corresponding adjustment, improve machine task efficiency and reliability.
Embodiment two
As shown in Fig. 2 a kind of robot autocontrol method provided in an embodiment of the present invention, is provided in embodiment one
On the basis of technical scheme, to step S110 " worked in robot under preassigned pattern state, obtain current task status and
Robot is presently in position, and estimates processing parameter output according to the task status and the position " it is further excellent
Change.Wherein, the task status at least includes task type and mission duration, i.e.,：
Worked in the robot under preassigned pattern state, obtain current task type, mission duration and machine
Device people is presently in position；
Judge whether the task type matches target generic task；
In the state of task type matching target generic task, according to the mission duration and current electricity
Calculate and form cruising time again；
Form the processing parameter according to the position and the ETS estimated time of sailing that renews and export.
, specifically can be with as shown in Fig. 2 a kind of robot autocontrol method that the present embodiment is provided based on above-mentioned optimization
Comprise the following steps：
S210, work under preassigned pattern state in the robot, obtain current task type, mission duration
And robot is presently in position.
In embodiments of the present invention, after robot runs a period of time, there is not enough power supply situation, machine in its rechargeable battery
Device people opens Low Power Mode state.Robot can obtain current logging to determine to be held by real-time logs file
The task type of row task and mission duration, wherein, the electric energy that the task is consumed is judged according to the mission duration；And
Robot is presently in position, then the positioning service acquisition or bluetooth positioning distance measuring that can be provided by global position system are obtained,
Wherein, according to his distance of making a return voyage of position judgment.
S220, judge whether the task type matches target generic task.
It should be noted that target generic task refers to that robot is fixed on times that a certain position provides service or perform function
Business；Robot position within the mission duration is not moved.
Specifically, judging whether position is not moved within the mission duration for the task type of task performed by robot
It is dynamic, if so, being then judged as matching target generic task.
S230, in the state of task type matching target generic task, according to the mission duration with it is current
Electricity calculate to form cruising time again.
In embodiments of the present invention, the mission duration refers to that robot performs the time of the required by task, usually, should
In mission duration, the electricity that robot is consumed can linearly be estimated, currently electric by the rechargeable battery with robot
Amount is calculated, and can obtain indicating that robot can also work cruising time again how long.
Specifically, cruising time subtracts the power consumption in the mission duration equal to current electric quantity again.
S240, according to the position and the ETS estimated time of sailing that renews form the processing parameter and export.
It should be noted that according to the distance of making a return voyage between position judgment robot and charging pile, the distance of making a return voyage refers to
Robot can realize the most short return route of walking.The electricity that robot is consumed during making a return voyage is according to itself and charging pile
Depending on distance, i.e., robot makes a return voyage consumed electricity usually identical in the diverse location of same distance.From robot again
Robot can be estimated in the processing parameter that cruising time is formed with its position and opens the time maked a return voyage.
In embodiments of the present invention, processing parameter passes through communication network transmission to cloud server by robot.
S250, the control instruction according to processing parameter formation for receiving and performing outside input.
Wherein, outside refers to cloud server, and the cloud server is after the processing parameter from robot is received, meeting
Corresponding control instruction is formed according to the processing parameter, the control instruction is received and performed by robot.
It is preferred that, in the embodiment of the present invention, after step S220, in addition to：
In the state of the task type mismatches target generic task, according to the mission duration and current electricity
Amount, which is calculated, forms cruising time again；
Estimated to form a maximum displacement distance according to the position；
The processing parameter is formed according to the cruising time again, maximum displacement distance.
It should be noted that no matter the task type performed by robot is mobile or not moved, its task again
The electricity consumed in duration can all be estimated.Even likewise, needing movement within the mission duration
Task, can also by being calculated with the rechargeable battery current electric quantity of robot, can obtain indicating robot can also work how long when
Between cruising time again.
Wherein, estimated according to the position and to form a maximum displacement distance and refer to that being presently in position according to robot estimates
Maximum shift length in the space that it can move within the mission duration, and the purpose estimated is robot
The possibility increase of maximum displacement distance is moved within the mission duration, accordingly even when robot is actually performing task mistake
Maximum displacement distance is really moved in journey, also can guarantee that it has and enough complete to make a return voyage operation in cruising time.
In the technical scheme of the embodiment of the present invention, by judging the task type performed by robot, perform corresponding
Processing parameter calculate ensure that robot adapt to different situations make corresponding adjustment, improve machine task efficiency and
Reliability.
Embodiment three
As shown in figure 3, a kind of robot autocontrol method provided in an embodiment of the present invention, is provided in embodiment one
On the basis of technical scheme, to step S120, " control according to processing parameter formation for receiving and performing outside input refers to
Make " further optimization.Wherein, the control instruction at least includes phonetic order and action command, i.e.,：
Receive the control instruction according to processing parameter formation of outside input；
Whether judge the control instruction is action command；
In the state of the control instruction is action command, the robot is driven to be moved to precalculated position；
In the state of the control instruction is phonetic order, the phonetic order is performed, and export with a predetermined space
The processing parameter.
, specifically can be with as shown in figure 3, a kind of robot autocontrol method that the present embodiment is provided based on above-mentioned optimization
Comprise the following steps：
S310, work under preassigned pattern state in robot, obtain current task status and robot is presently in
Position, and processing parameter output is estimated according to the task status and the position.
In embodiments of the present invention, after a period of time is run, robot is because the dump energy of rechargeable battery is not enough
Into Low Power Mode, and it by real-time logs file can obtain current logging to determine its task status, and machine
Device people is presently in position, then the positioning service acquisition or bluetooth positioning distance measuring provided by global position system is obtained.According to
The processing parameter that task status and position are determined is a discreet value, and the processing parameter passes through communication network transmission to cloud service
Device.
S320, the control instruction according to processing parameter formation for receiving outside input；
It should be noted that robot receives the control instruction inputted by cloud server, the control by communication network
Instruction be cloud server after the processing parameter exported by robot is received, according to the processing parameter formation, it is different
The different control instruction of processing parameter correspondence.
S330, judge whether the control instruction is action command；
It should be noted that robot is after the control instruction from cloud server is received, the control instruction is entered
Row dissection process；If after dissection process, when in the control instruction comprising the instruction for driving robot movement, then judging the control
Instruct as action command, and if parsing what is indicated comprising voice broadcast in the control instruction, be then judged as phonetic order.
S340, in the state of the control instruction is action command, drive the robot to be moved to precalculated position；
Wherein, precalculated position refers to the position of robot charging pile.Robot drives it under the action command by motor
Execution is maked a return voyage operation, and when being moved to charging pile, robot is according to pre-set programs by the interface and charging pile of rechargeable battery
External power source connection, charged.
S350, in the state of the control instruction is phonetic order, perform the phonetic order, and with a predetermined space
Export the processing parameter.
Wherein, predetermined space refers to default time interval, and robot performs voice message, broadcast under the phonetic order
The cruising time again for reporting robot current；Also, every a default time interval, it will repeat to estimate a processing parameter and export
To the operation of cloud server, until cloud server issues action command, driving robot, which makes a return voyage, completes charging.
In the technical scheme of the embodiment of the present invention, by judging the type of control instruction, control machine people performs corresponding
Operation, monitoring and prompting of the robot in low battery to cruising time again can be realized, it is ensured that the rechargeable battery of robot
Can make a return voyage charging in time in the case of not enough power supply, improve machine task efficiency and reliability.
Example IV
Accompanying drawing 4 is referred to, is a kind of structural representation for robot automaton that the embodiment of the present invention four is provided,
The device is adapted for carrying out robot autocontrol method provided in an embodiment of the present invention.The device specifically includes following module：
Parameter output module 41, for being worked in robot under preassigned pattern state, obtain current task status and
Robot is presently in position, and estimates processing parameter output according to the task status and the position；
Performing module 42 is instructed, the control according to processing parameter formation for receiving and performing outside input refers to
Order.
Technical scheme provided in an embodiment of the present invention, by being worked in robot under preassigned pattern state, obtains current
Task status and robot be presently in position, and it is defeated according to the task status and the position to estimate a processing parameter
Go out；Receive and perform the control instruction according to processing parameter formation of outside input, it is possible to achieve robot rechargeable battery
Not enough power supply when, without manual intervention, just can be automatically performed charging operations, ensure that robot adapt to different situations make
Corresponding adjustment, improves machine task efficiency and reliability.
It is preferred that, the task status at least includes task type and mission duration, the parameter output module bag
Include：
Information acquisition unit, for being worked in the robot under preassigned pattern state, the current task type of acquisition,
Mission duration and robot are presently in position；
Task judging unit, for judging whether the task type matches target generic task；
First computing unit, in the state of task type matching target generic task, being held according to the task
The continuous time calculates to form cruising time again with current electricity；
First output unit, for forming the processing parameter according to the position and the ETS estimated time of sailing that renews and exporting.
It is preferred that, described device also includes：
Second computing unit, in the state of mismatching target generic task in the task type, according to the task
Duration calculates to form cruising time again with current electricity；
Distance estimates unit, and a maximum displacement distance is formed for being estimated according to the position；
Second output unit, for cruising time, maximum displacement distance to form the processing parameter again according to.
It is preferred that, the control instruction at least includes phonetic order and action command, and the instruction performing module includes：
Instruction reception unit, the control instruction according to processing parameter formation for receiving outside input；
Judging unit is instructed, for judging whether the control instruction is action command；
Action execution unit, in the state of being action command in the control instruction, drives the robot movement
To precalculated position；
Voice execution unit, in the state of being phonetic order in the control instruction, performs the phonetic order, and
The processing parameter is exported with a predetermined space.
The said goods can perform the method that any embodiment of the present invention is provided, and possess the corresponding functional module of execution method
And beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art it is various it is obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (8)
1. a kind of robot autocontrol method, it is characterised in that including：
Worked in robot under preassigned pattern state, the current task status of acquisition and robot are presently in position, and root
Processing parameter output is estimated according to the task status and the position；
Receive and perform the control instruction according to processing parameter formation of outside input.
2. according to the method described in claim 1, it is characterised in that the task status at least includes task type and task is held
The continuous time, worked in robot under preassigned pattern state, the current task status of acquisition and robot are presently in position, and
The output of one processing parameter is estimated according to the task status and the position, including：
Worked in the robot under preassigned pattern state, obtain current task type, mission duration and robot
It is presently in position；
Judge whether the task type matches target generic task；
In the state of task type matching target generic task, calculated according to the mission duration with current electricity
Form cruising time again；
Form the processing parameter according to the position and the ETS estimated time of sailing that renews and export.
3. method according to claim 2, it is characterised in that methods described also includes：
In the state of the task type mismatches target generic task, according to the mission duration and current voltameter
Calculate and form cruising time again；
Estimated to form a maximum displacement distance according to the position；
The processing parameter is formed according to the cruising time again, maximum displacement distance.
4. according to the method described in claim 1, it is characterised in that the control instruction at least includes phonetic order and action refers to
Order, the control instruction according to processing parameter formation for receiving and performing outside input is specifically included：
Receive the control instruction according to processing parameter formation of outside input；
Whether judge the control instruction is action command；
In the state of the control instruction is action command, the robot is driven to be moved to precalculated position；
In the state of the control instruction is phonetic order, the phonetic order is performed, and it is described with predetermined space output
Processing parameter.
5. a kind of robot automaton, it is characterised in that including：
Parameter output module, for being worked in robot under preassigned pattern state, the current task status of acquisition and robot
Position is presently in, and processing parameter output is estimated according to the task status and the position；
Performing module is instructed, the control instruction according to processing parameter formation for receiving and performing outside input.
6. device according to claim 5, it is characterised in that the task status at least includes task type and task is held
The continuous time, the parameter output module includes：
Information acquisition unit, for being worked in the robot under preassigned pattern state, obtains current task type, task
Duration and robot are presently in position；
Task judging unit, for judging whether the task type matches target generic task；
First computing unit, in the state of matching target generic task in the task type, when being continued according to the task
Between calculate to form cruising time again with current electricity；
First output unit, for forming the processing parameter according to the position and the ETS estimated time of sailing that renews and exporting.
7. device according to claim 6, it is characterised in that described device also includes：
Second computing unit, in the state of mismatching target generic task in the task type, continues according to the task
Time calculates to form cruising time again with current electricity；
Distance estimates unit, and a maximum displacement distance is formed for being estimated according to the position；
Second output unit, for cruising time, maximum displacement distance to form the processing parameter again according to.
8. device according to claim 5, it is characterised in that the control instruction at least includes phonetic order and action refers to
Order, the instruction performing module includes：
Instruction reception unit, the control instruction according to processing parameter formation for receiving outside input；
Judging unit is instructed, for judging whether the control instruction is action command；
Action execution unit, in the state of being action command in the control instruction, drives the robot to be moved to pre-
Positioning is put；
Voice execution unit, in the state of being phonetic order in the control instruction, performs the phonetic order, and with one
Predetermined space exports the processing parameter.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107807651A (en) * | 2017-11-29 | 2018-03-16 | 北京康力优蓝机器人科技有限公司 | The self-charging control system and method for a kind of mobile robot |
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