CN107791262A - Control method, system, readable storage medium storing program for executing and the smart machine of robot - Google Patents
Control method, system, readable storage medium storing program for executing and the smart machine of robot Download PDFInfo
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- CN107791262A CN107791262A CN201710958281.5A CN201710958281A CN107791262A CN 107791262 A CN107791262 A CN 107791262A CN 201710958281 A CN201710958281 A CN 201710958281A CN 107791262 A CN107791262 A CN 107791262A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The present invention relates to a kind of control method of robot, system, readable storage medium storing program for executing and smart machine, methods described includes：When receiving an enabling signal, obtain under current time with the illumination intensity value in the preset range in the artificial center of circle of the machine, searched according to the illumination intensity value in a default light intensity parameter list and determine the light levels corresponding with the illumination intensity value；Prestore to search in action database one and confirm the type of action corresponding with light levels, wherein the action database that prestores include multiple different light levels and the one-to-one type of action of light levels and with the action message that prestores corresponding to each type of action；The prestore action message corresponding with type of action is obtained, action message carries out action demonstration according to prestoring.The robot of the present invention can perform the action to match with current light environment according to the light luminance value of surrounding environment, improve intelligence degree, improve the interest of robot.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of control method of robot, system, readable deposit
Storage media and smart machine.
Background technology
In recent years, with the continuous development of mobile communication, computer and Internet technology, the miniaturization of computer equipment
Epoch formally arrive.It is well known that Highgrade integration and powerful disposal ability due to computer software, can
So that less intelligent apparatus has powerful disposal ability.Such as in robot field, because computer has powerful place
Reason ability so that small-sized robot of accompanying and attending to is possibly realized.Accompany and attend to robot in actual applications by voice or other can be with
The interactive smart machine that user is exchanged carries out intelligent interaction with user and exchanged, and is brought greatly for daily life
Facility, be increasingly becoming an important friend indispensable in people's daily life.
However, existing intelligence is accompanied and attended to, the intelligence degree of robot still has much room for improvement, in actual applications, existing to accompany
Shield robot typically can only merely carry out the performance of dance movement, and can not combine the factor of surrounding environment (such as light is strong
Degree) correspond to the type of nautch is adjusted, intelligence degree and actual interest are all relatively low.
The content of the invention
Based on this, it is an object of the invention to propose it is a kind of in actual applications can be according to the light luminance of surrounding environment
Value performs control method, system, readable storage medium storing program for executing and the intelligence of the robot of the dance movement to match with current light environment
Energy equipment, to improve the actual interest of robot, meets practical application request.
The present invention proposes a kind of control method of robot, wherein, methods described comprises the following steps：
When receiving an enabling signal, obtain under current time with the light in the preset range in the artificial center of circle of the machine
According to intensity level, according to the illumination intensity value, lookup determination is corresponding with the illumination intensity value in a default light intensity parameter list
Light levels, wherein the default light intensity parameter list is the mapping table of an illumination intensity value and the light levels；
Prestore to search in action database one and confirm the type of action corresponding with the light levels, wherein described pre-
Deposit action database include multiple different light levels, with the light levels correspondingly the type of action with
And the action message that prestores corresponding to each type of action；
The prestore action message corresponding with the type of action is obtained, action is entered according to the action message that prestores
Show.
The control method of robot proposed by the present invention, the illumination intensity value under current environment is obtained first, then basis
The illumination intensity value searches light levels corresponding to confirmation, then the basis in the action database that prestores in default light intensity parameter list
After type of action corresponding to light levels lookup, obtain prestoring under the type of action and acted corresponding to action message and progress
Displaying.The robot of the present invention can perform the action to match with current light environment according to the light luminance value of surrounding environment,
Intelligence degree is improved, improves the interest of robot.
The control method of the robot, wherein, the action message that prestores includes each artis of the robot
Multiple movement locus point coordinates and the deliberate action time corresponding with per the movement locus point coordinates, the acquisition and institute
State the corresponding action message that prestores of type of action, the step of action demonstration is carried out according to the action message that prestores bag
Include：
Obtain multiple movement locus point coordinates of each artis of the robot corresponding with the type of action with
And the deliberate action time corresponding with per the movement locus point coordinates；
During according to multiple movement locus point coordinates of each artis of the robot and the corresponding deliberate action
Between control the robot to carry out the action demonstration.
The setting allows robot to form a coherent action finally to realize nautch
The control method of the robot, wherein, a video camera is additionally provided with the robot, the video camera is used to take the photograph
Record obtains robot feedback action information corresponding to user, feedback action packet when carrying out the action demonstration
Include each artis of the user multiple movement locus point coordinates and it is corresponding currently shoot with video-corder the time, it is dynamic to obtain the feedback
The step of making information includes：
When proceeding by the action demonstration, multiple movement locus point coordinates of each artis of the user are carried out
Shoot with video-corder and it is described corresponding to record simultaneously currently shoot with video-corder the time, wherein described currently shoot with video-corder time and the deliberate action time one
One correspondence；
When completing the action demonstration, stopping is shot with video-corder and stores multiple motion rails of each artis of the user simultaneously
Mark point coordinates and corresponding described the time currently is shot with video-corder to obtain the feedback action information.
The robot can shoot with video-corder the related dance movement that obtains user and corresponding judge whether action standard and then enters
Row scoring operations.
The control method of the robot, wherein, methods described also includes：
Respectively by multiple movement locus point coordinates of the current each artis for shooting with video-corder the user under the time and institute
The multiple movement locus point coordinates progress goodness of fit for stating each artis of the robot under the deliberate action time compares to obtain
To a goodness of fit value；
Searched according to the identical angle value in a default grade form and confirm the score value corresponding with the identical angle value,
The default grade form includes multiple identical angle value and the corresponding score value.
The setting may determine that user dance movement whether standard, improve intelligence degree, improve robot
Interest.
The control method of the robot, wherein, one is additionally provided with the robot and is prestored musical database, it is described to prestore
Musical database include multiple different light levels, music type one-to-one with the light levels and with it is every
Prestore song corresponding to the individual music type, and methods described also includes：
Searched in the musical database that prestores and confirm the music type corresponding with the light levels；
Obtain it is corresponding with the music type described in prestore and song and played while the action demonstration is carried out
The corresponding song that prestores.
The setting can strengthen overall atmosphere during dancing, and the music type due to broadcasting and the type phase of dance movement
Together, the general performance effect of robot is improved.
The control method of the robot, wherein, methods described also includes：
When it is minimum illumination intensity value to detect the illumination intensity value, then the instruction of one sleep signal of generation and root are corresponded to
The robot is controlled to enter park mode according to sleep signal instruction.
The present invention proposes a kind of control system of robot, wherein, including：
Light intensity acquisition module, for when receiving an enabling signal, obtaining and artificially being justified with the machine under current time
Illumination intensity value in the preset range of the heart, determination and institute are searched in a default light intensity parameter list according to the illumination intensity value
The corresponding light levels of illumination intensity value are stated, wherein the default light intensity parameter list is an illumination intensity value and the light
According to the mapping table of grade；
Type confirms module, confirms corresponding with the light levels move for prestoring to search in action database one
Make type, wherein the action database that prestores include multiple different light levels, with a pair of the light levels 1
The type of action answered and the action message that prestores corresponding to each type of action；
Action demonstration module, for obtain it is corresponding with the type of action described in prestore action message, according to described
The action message that prestores carries out action demonstration.
The control system of the robot, wherein, the system also includes a music playing module, the music mould
Block is used for：
Searched in the musical database that prestores and confirm the music type corresponding with the light levels；
Obtain it is corresponding with the music type described in prestore and song and played while the action demonstration is carried out
The corresponding song that prestores.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, the program is by processor
The control method of robot as described above is realized during execution.
The present invention also proposes a kind of smart machine, including memory, processor and storage on a memory and can located
The computer program that runs on reason device, wherein, the control of robot as described above is realized during the computing device described program
Method processed.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of the robot in first embodiment of the invention；
Fig. 2 is the flow chart of the control method of the robot in second embodiment of the invention；
Fig. 3 is the structural representation of the control system of the robot in third embodiment of the invention.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is made to the disclosure more thorough and comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Referring to Fig. 1, for the control method of the robot in first embodiment of the invention, wherein, methods described includes
Following steps：
S101, when receiving an enabling signal, obtain under current time with the preset range in the artificial center of circle of the machine
Interior illumination intensity value, searched and determined and the illumination intensity value in a default light intensity parameter list according to the illumination intensity value
Corresponding light levels, wherein the default light intensity parameter list is the mapping of an illumination intensity value and the light levels
Table.
Specifically, for the robot, the robot is provided with an optical inductor, and the optical inductor is used for real-time
The strong and weak value of the light in preset range is detected, such as in the present embodiment, the preset range be 1m, namely the optical inductor is examined
What is surveyed is using the optical inductor as the center of circle, and radius is the light intensity in 1m circumference range.When receiving an enabling signal,
Optical inductor detection radius in the robot is illumination intensity value corresponding to the light in 1m circumference range.Wherein,
Each illumination intensity value is corresponding with a light levels.
Further, the default light intensity parameter list includes multiple illumination intensity values and corresponding light levels, described
Illumination intensity value corresponds with the light levels.In the present embodiment, grown from weak to strong according to light intensity can for light levels
To be divided into Pyatyi:The first order (corresponding intensity of illumination scope is 100~300lux), the second level (corresponding intensity of illumination scope
For 300~500lux), the third level (corresponding intensity of illumination scope is 500~700lux), the fourth stage (corresponding intensity of illumination
Scope is 700~900lux) and level V (corresponding intensity of illumination scope is 900~1100lux).For example, work as photoinduction
Device detects current illumination intensity value when being 400lux, then is now preset according to this corresponding to light intensity parameter list inquires about to obtain
Light levels are the second level.
S102, prestoring to search in action database one confirms the type of action corresponding with the light levels, wherein
The action database that prestores includes multiple different light levels and the light levels action correspondingly
Type and the action message that prestores corresponding to each type of action.
As described above, after acknowledgment of your inquiry has obtained corresponding light levels, prestore one and search in action database
Confirm the type of action corresponding with the light levels.Specifically, for the action database that prestores, the action that prestores
The quantity for the type of action that database includes is identical with the quantity of the light levels, namely in the present embodiment, it is corresponding dynamic
Making type also has five kinds.
For example, the type of action to prestore included in action database be dancing class action, specifically include classical dance,
Modern dance, step dance, disco and vigorous dance.Wherein described classical dance corresponds to the light levels of the first order, modern dance corresponding the
The light levels of two level, step dance correspond to the light levels of the third level, disco corresponds to light levels and the vigorous dance of the fourth stage
The light levels of corresponding level V.As described above, it is the second level to search the light levels determined, then now corresponding dance movement
Type is modern dance.
Further, in every kind of type of action (namely including classical dance, modern dance, step dance, disco and vigorous dance)
Under all include the corresponding action message that prestores.Wherein for the action message that prestores, the action message that prestores includes institute
State multiple movement locus point coordinates of each artis of robot and corresponding with per the movement locus point coordinates default
Actuation time.For example, the left elbow joint of the robot corresponding movement locus point coordinates when starting the 15s of dancing is
(25,30), then carry out action demonstration (nautch) 15s when by the left elbow joint of robot be moved to coordinate for (25,
30) opening position.It can deduce there are multiple artis in the robot, there is corresponding coordinate position at each time point, because
This can form a coherent action finally to realize nautch.
S103, the prestore action message corresponding with the type of action is obtained, according to the action message that prestores
Carry out action demonstration.
Specifically, as described above, the action message that prestores corresponding to obtaining, namely acquisition are relative with the type of action
Multiple movement locus point coordinates of each artis for the robot answered and with per the movement locus point coordinates it is corresponding
The deliberate action time, then according to multiple movement locus point coordinates of each artis of robot and corresponding default
Actuation time control machine people carries out action demonstration.For example, the right elbow joint of robot is corresponding when starting the 30s of dancing
Movement locus point coordinates is (25,63), and 31s movement locus point coordinates is (27,58), then from 30s to 31s when will fortune
Dynamic rail mark point coordinates is moved to the opening position of (27,58) from (25,63).In this respect it is to be noted that due to above-mentioned corresponding light
It is the second level according to grade, therefore the nautch now carried out is performed for modern dance.
The control method of robot proposed by the present invention, the illumination intensity value under current environment is obtained first, then basis
The illumination intensity value searches light levels corresponding to confirmation, then the basis in the action database that prestores in default light intensity parameter list
After type of action corresponding to light levels lookup, obtain prestoring under the type of action and acted corresponding to action message and progress
Displaying.The robot of the present invention can perform the action to match with current light environment according to the light luminance value of surrounding environment,
Intelligence degree is improved, improves the interest of robot.
Referring to Fig. 2, for the control method of the robot in second embodiment, first, when receiving an enabling signal
When, the robot starts detection with the artificial center of circle of machine, and radius is the light intensity in the circumference range in the range of 1m, wherein examining
The illumination intensity value measured is corresponding with a light levels.
In the present embodiment, light levels grow from weak to strong according to light intensity can be divided into Pyatyi:The first order (corresponding light
Be 0~200lux according to strength range), the second level (corresponding intensity of illumination scope is 200~400lux), the third level it is (corresponding
Intensity of illumination scope is 400~600lux), the fourth stage (corresponding intensity of illumination scope is 600~800lux) and level V
(corresponding intensity of illumination scope is 800~1000lux).For example, when optical inductor detects that current illumination intensity value is
During 500lux, then now according to this preset light intensity parameter list inquire about to obtain corresponding to light levels be the third level.
As described above, after acknowledgment of your inquiry has obtained corresponding light levels, prestore one and search in action database
Confirm the type of action corresponding with the light levels.Wherein the quantity for the type of action that the action database that prestores includes with
The quantity of the light levels is identical, namely in the present embodiment, corresponding type of action also has five kinds, and corresponding to includes classical dance
(first order), modern dance (second level), step dance (third level), disco (fourth stage) and vigorous dance (level V).
Because corresponding light levels are the third level, the action demonstration now carried out is step dance corresponding to the third level.Tool
Body, obtain each artis of the robot multiple movement locus point coordinates and with per the movement locus point coordinates it is relative
The deliberate action time answered.For example, the left knee joint of the robot corresponding movement locus point when starting the 13s of dancing
Coordinate is (5,10), then the left knee joint of robot is moved into coordinate when carrying out the 13s of action demonstration (nautch)
For the opening position of (5,10).It can deduce there are multiple artis in the robot, there is corresponding coordinate bit at each time point
Put, therefore a coherent action can be formed finally to realize nautch.
Supplement is also needed to herein, for the robot, a video camera is additionally provided with the robot, wherein should
Video camera moves for shooting with video-corder acquisition robot feedback action information corresponding to user, the wherein feedback when carrying out action demonstration
Refer to user's corresponding action message when carrying out dancing study as information, specifically include the user each artis it is more
Individual movement locus point coordinates and it is corresponding currently shoot with video-corder the time, namely when robot is carrying out nautch, user also exists
Side carries out the study of dancing.In the present embodiment, the robot, which can be shot with video-corder, obtains the related dance movement of user and right
Should judge action whether standard so that carry out scoring operations.
Specifically, the step of obtaining the feedback action information includes：When proceeding by the action demonstration, to the use
Multiple movement locus point coordinates of each artis at family shot with video-corder and it is described corresponding to record simultaneously currently shoot with video-corder the time, wherein
It is described currently to shoot with video-corder time and deliberate action time one-to-one corresponding；When completing the action demonstration, stopping is shot with video-corder simultaneously same
When store the user each artis multiple movement locus point coordinates and corresponding described currently shoot with video-corder the time to obtain
The feedback action information.For example, user it is current shoot with video-corder the time be 13s when movement locus corresponding to corresponding left knee joint
Point coordinates is (15,30).It should be understood that the movement locus point that user is corresponding with multiple artis when carrying out dancing study is sat
It is marked with and corresponding shoots with video-corder the time.
After the feedback action information of user is obtained, respectively by each of the current user shot with video-corder under the time
Multiple movement locus point coordinates of artis and multiple fortune of each artis of the robot under the deliberate action time
Dynamic rail mark point coordinates carries out the goodness of fit and compared to obtain a goodness of fit value.
In this respect it is to be noted that when carrying out the goodness of fit and comparing, it is necessary to first by multiple motions of each artis of user
Track point coordinates carries out ratio adjustment processing according to the ratio standard of the coordinate system of robot, to cause the coordinate ratio phase of the two
Together.For example, movement locus point coordinates corresponding to corresponding left knee joint is (15,30) during user 13s, and robot 13s
When movement locus point coordinates corresponding to corresponding left knee joint be (5,10), to the coordinate of user carry out ratio adjustment after,
User's movement locus point coordinates corresponding to corresponding left knee joint in 13s is also (5,10), then now may determine that the two
Coordinate mutually coincide, and the goodness of fit be 100%.
As described above, after the corresponding goodness of fit has been obtained, searched really in a default grade form according to identical angle value
Recognize the score value corresponding with identical angle value, the default grade form includes multiple identical angle value and corresponding institute's commentary
Score value.Herein it should be noted that finally give for multiple identical angle value, scored respectively according to the plurality of identical angle value
Multiple score values are obtained, the plurality of scoring is then integrated again and is worth to final score value, with the dancing of comprehensive descision user
Action whether standard.
In addition, for the robot, music can also be carried out while robot carries out dancing displaying
Play.Prestored musical database specifically, being additionally provided with one in the robot, likewise, this prestores, musical database also includes
Multiple different light levels, music type one-to-one with light levels and the song that prestores corresponding with each music type
It is bent.As described above, corresponding light levels have five kinds, then corresponding music type is also five kinds.In the present embodiment, the sound
Happy type includes light music, pop music, hip-hop music, rock music and metal music, wherein corresponding to the light music
To be the light levels of the second level corresponding to the light levels of the first order, pop music, corresponding to hip-hop music being the third level
Be corresponding to light levels, rock music the fourth stage light levels and metal music corresponding to be illumination of level V etc.
Level.
In actual applications, when the institute corresponding with the light levels of the lookup confirmation in the musical database that prestores
When stating music type, then corresponding with the music type song and in the same of the progress action demonstration of prestoring is obtained
When play corresponding to the song that prestores.
As described above, corresponding light levels are the third level, then robot broadcasting when carrying out action demonstration is
Prestore song corresponding in hip-hop music.The setting can strengthen overall atmosphere during dancing, and due to the music type of broadcasting
It is identical with the type of dance movement, improve the general performance effect of robot.
In addition, in the practical application of robot, when detecting that the illumination intensity value is minimum illumination intensity value
When (such as being now the late into the night, the light intensity of surrounding environment is 0.01lux), then correspond to generation one sleep signal instruction and basis
The sleep signal instruction controls the robot to enter park mode, after the robot enters park mode, now should
Robot will not carry out the displaying performance of dancing again.
Referring to Fig. 3, the control system of the robot proposed for 3rd embodiment, wherein, the control system includes
Light intensity acquisition module 10, the type being sequentially connected confirm module 20, action demonstration module 30 and music playing module 40.
Wherein, light intensity acquisition module 10 is used for when receiving an enabling signal, obtains under current time in preset range
Illumination intensity value, searched in a default light intensity parameter list and determined and the illumination intensity value phase according to the illumination intensity value
Corresponding light levels, wherein the default light intensity parameter list is the mapping of an illumination intensity value and the light levels
Table；
Type confirm module 20 be used for one prestore search in action database confirm it is corresponding with the light levels
Type of action, wherein the action database that prestores includes multiple different light levels and the light levels one by one
The corresponding type of action and the action message that prestores corresponding to each type of action；
Action demonstration module 30 is used to obtain the prestore action message corresponding with the type of action, according to described
The action message that prestores carries out action demonstration；
It is corresponding with the light levels that music playing module 40 is used for the lookup confirmation in the musical database that prestores
The music type；Obtain corresponding with the music type song and in the same of the progress action demonstration of prestoring
When play corresponding to the song that prestores.
The system also shoots with video-corder module 50 including an information, and information is shot with video-corder module 50 and is connected with action demonstration module 30, letter
Breath is shot with video-corder module 50 and is specifically used for：
When proceeding by the action demonstration, multiple movement locus point coordinates of each artis of the user are carried out
Shoot with video-corder and it is described corresponding to record simultaneously currently shoot with video-corder the time, wherein described currently shoot with video-corder time and the deliberate action time one
One correspondence；
When completing the action demonstration, stopping is shot with video-corder and stores multiple motion rails of each artis of the user simultaneously
Mark point coordinates and corresponding described the time currently is shot with video-corder to obtain the feedback action information.
The control system also includes a grading module 60, and grading module 60 is specifically used for：
Respectively by multiple movement locus point coordinates of the current each artis for shooting with video-corder the user under the time and institute
The multiple movement locus point coordinates progress goodness of fit for stating each artis of the robot under the deliberate action time compares to obtain
To a goodness of fit value；
Searched according to the identical angle value in a default grade form and confirm the score value corresponding with the identical angle value,
The default grade form includes multiple identical angle value and the corresponding score value.
At the same time, the system also includes a dormancy control module 70, and dormancy control module 70 is specifically used for：
When it is minimum illumination intensity value to detect the illumination intensity value, then the instruction of one sleep signal of generation and root are corresponded to
The robot is controlled to enter park mode according to sleep signal instruction.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, the program is by processor
The control method of robot as described above is realized during execution.
The present invention also proposes a kind of smart machine, including memory, processor and storage on a memory and can located
The computer program that runs on reason device, wherein, the control of robot as described above is realized during the computing device described program
Method processed.
Can be with one of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method is
The hardware of correlation is instructed to complete by program.Described program can be stored in a computer read/write memory medium.
The program upon execution, including the step described in the above method.Described storage medium, including：ROM/RAM, magnetic disc, CD
Deng.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of control method of robot, it is characterised in that comprise the following steps：
When receiving an enabling signal, obtain strong with the illumination in the preset range in the artificial center of circle of the machine under current time
Angle value, searched according to the illumination intensity value in a default light intensity parameter list and determine the light corresponding with the illumination intensity value
According to grade, wherein the default light intensity parameter list is the mapping table of an illumination intensity value and the light levels；
Prestore to search in action database one and confirm the type of action corresponding with the light levels, wherein it is described prestore it is dynamic
Make database include multiple different light levels, with the light levels correspondingly the type of action and with
The action message that prestores corresponding to each type of action；
The prestore action message corresponding with the type of action is obtained, action exhibition is carried out according to the action message that prestores
Show.
2. the control method of robot according to claim 1, it is characterised in that the action message that prestores includes described
Multiple movement locus point coordinates of each artis of robot and preset corresponding with per the movement locus point coordinates are moved
Make the time, it is described to obtain the prestore action message corresponding with the type of action, entered according to the action message that prestores
The step of row action demonstration, includes：
Obtain each artis of the robot corresponding with the type of action multiple movement locus point coordinates and with
The each movement locus point coordinates corresponding deliberate action time；
According to multiple movement locus point coordinates of each artis of the robot and the corresponding deliberate action time, control
Make the robot and carry out the action demonstration.
3. the control method of robot according to claim 2, a video camera is additionally provided with the robot, its feature exists
In the video camera, which is used to shoot with video-corder, obtains robot feedback action letter corresponding to user when carrying out the action demonstration
Breath, multiple movement locus point coordinates of each artis of the feedback action information including the user and corresponding when proactive
The step of recording the time, obtaining the feedback action information includes：
When proceeding by the action demonstration, multiple movement locus point coordinates of each artis of the user are shot with video-corder
And it is simultaneously described corresponding to record currently shoot with video-corder the time, current shoot with video-corder a pair of time and deliberate action time 1 wherein described
Should；
When completing the action demonstration, stopping is shot with video-corder and stores multiple movement locus points of each artis of the user simultaneously
Coordinate and corresponding described the time currently is shot with video-corder to obtain the feedback action information.
4. the control method of robot according to claim 3, it is characterised in that methods described also includes：
Respectively by multiple movement locus point coordinates of the current each artis for shooting with video-corder the user under the time with it is described pre-
Compare if multiple movement locus point coordinates of each artis of the robot under actuation time carry out the goodness of fit to obtain one
Identical angle value；
Searched according to the identical angle value in a default grade form and confirm the score value corresponding with the identical angle value, it is described
Default grade form includes multiple identical angle value and the corresponding score value.
5. the control method of robot according to claim 1, it is characterised in that be additionally provided with one in the robot and prestore
Musical database, the musical database that prestores include multiple different light levels, with a pair of the light levels 1
The music type and the song that prestores corresponding with each music type, methods described answered also include：
Searched in the musical database that prestores and confirm the music type corresponding with the light levels；
Obtain prestore song and carry out the action demonstration while broadcasting correspondence corresponding with the music type
The song that prestores.
6. the control method of robot according to claim 1, it is characterised in that methods described also includes：
When it is minimum illumination intensity value to detect the illumination intensity value, then the instruction of one sleep signal of generation is corresponded to and according to institute
Stating sleep signal instruction controls the robot to enter park mode.
A kind of 7. control system of robot, it is characterised in that including：
Light intensity acquisition module, for when receiving an enabling signal, obtaining under current time with the artificial center of circle of the machine
Illumination intensity value in preset range, searched and determined and the light in a default light intensity parameter list according to the illumination intensity value
According to the corresponding light levels of intensity level, wherein the default light intensity parameter list is an illumination intensity value and the illumination etc.
The mapping table of level；
Type confirms module, confirms the action class corresponding with the light levels for prestoring to search in action database one
Type, wherein the action database that prestores includes multiple different light levels, one-to-one with the light levels
The type of action and the action message that prestores corresponding to each type of action；
Action demonstration module, for obtain it is corresponding with the type of action described in prestore action message, prestored according to described
Action message carries out action demonstration.
8. the control system of robot according to claim 7, it is characterised in that the system also includes a music
Module, the music playing module are used for：
Searched in the musical database that prestores and confirm the music type corresponding with the light levels；
Obtain prestore song and carry out the action demonstration while broadcasting correspondence corresponding with the music type
The song that prestores.
9. a kind of readable storage medium storing program for executing, is stored thereon with computer program, it is characterised in that real when the program is executed by processor
The now control method of the robot as described in above-mentioned claim 1 to 6 any one.
10. a kind of smart machine, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, it is characterised in that realized during the computing device described program as described in claim 1 to 6 any one
The control method of robot.
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