CN108582074A - robot, robot control method and device - Google Patents
robot, robot control method and device Download PDFInfo
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- CN108582074A CN108582074A CN201810435522.2A CN201810435522A CN108582074A CN 108582074 A CN108582074 A CN 108582074A CN 201810435522 A CN201810435522 A CN 201810435522A CN 108582074 A CN108582074 A CN 108582074A
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- China
- Prior art keywords
- robot
- tilt angle
- control
- current tilt
- wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
A kind of robot of the application proposition, robot control method and device；Wherein, robot control method includes：Receive control instruction；The current tilt angle of robot is detected according to control instruction；And the switching according to the current tilt angle control robot operating status detected.Robot controller includes：Receiving module configures to receive control instruction；Detection module, configuration to detect the current tilt angle of robot according to control instruction；And control module, configure the switching come according to the current tilt angle control robot operating status detected.Robot includes fuselage and robot controller.
Description
Technical field
This application involves robot control fields, in particular to a kind of robot, robot control method and dress
It sets.
Background technology
Existing intelligence small machine people realizes the balance of robot in the state that driving wheel is not run using supporting rack
It places, and when the driving wheel for opening robot of robot starts rotation, if user wants so that robot balance
It in ground, needs to pack up supporting rack, and manually adjusts the balance of robot so that robot is turned by driving wheel
Stand on ground to dynamic balancing.
Invention content
A kind of robot of the embodiment of the present application proposition, robot control method and robot controller, to solve
It is existing to manually adjust the problem of robot is fallen down caused by robot balances, and increase the operation entertaining of robot
Property.
According to the one side of the application, a kind of robot, robot control method and robot controller are proposed.Its
In, robot control method includes：
Receive control instruction；The current tilt angle of the robot is detected according to the control instruction；According to detecting
The current tilt angle control the switching of the robot operating status.
In some embodiments, according to the switching of the current tilt angle control robot operating status detected, including：
When current tilt angle is more than the first predetermined angle, control robot is rotated in place；When the machine rotated in place
When the rotating speed of the driving wheel of people is more than a threshold value, the universal wheel of robot is liftoff.
In some embodiments, according to the switching of the current tilt angle control robot operating status detected, including：
When current tilt angle is less than the second predetermined angle, the driving wheel stop motion of robot is controlled, so that robot is universal
Wheel lands.
In some embodiments, according to the switching of the current tilt angle control robot operating status detected, including：
When current tilt angle be less than the second predetermined angle and robot motion state forwardly when, control robot fall back it is a certain away from
From and stop robot driving wheel movement so that the universal wheel of robot lands.
In some embodiments, control instruction is that phonetic control command or Bluetooth control instruct.
In some embodiments, current tilt angle is the angle of the fuselage and vertical direction of the robot.
According to the another aspect of the application, a kind of robot controller is proposed.Wherein, robot controller includes：
Receiving module configures to receive control instruction；Detection module, configuration to detect the current tilt angle of robot according to control instruction
Degree；And control module, configure the switching come according to the current tilt angle control robot operating status detected.
In some embodiments, control module configuration to control the robot fortune according to the current tilt angle detected
The switching of row state, including：When detection module detects that current tilt angle is more than the first predetermined angle, control module control
Robot is rotated in place；When the rotating speed of the driving wheel of the robot rotated in place is more than a threshold value, robot
Universal wheel is liftoff.
In some embodiments, control module configuration comes according to the current tilt angle control robot operation shape detected
The switching of state, including：When detection module detects that current tilt angle is less than the second predetermined angle, control module controls machine
The driving wheel stop motion of people, so that the universal wheel of robot lands.
In some embodiments, control module configuration comes according to the current tilt angle control robot operation shape detected
The switching of state, including：When detection module detects that current tilt angle is less than the second predetermined angle and robot transports forwardly
When dynamic state, control module control robot falls back a certain distance and stops the driving wheel movement of robot, so that robot
Universal wheel lands.
According to the another aspect of the application, a kind of robot is proposed.Wherein, robot includes that fuselage and robot control
Device, robot controller include：Receiving module configures to receive control instruction；Detection module configures to be referred to according to control
Enable the current tilt angle of detection robot；And control module, configure the current tilt angle control machine come according to detecting
The switching of device people's operating status.
The revealed robot control method of the embodiment of the present invention, device and robot, advantage are：Work as machine
When people shuts down or is closed, the robot involved by the application is switched to three-wheel by two-wheel, to ten thousand
It lands to wheel and makes robot stabilized place as supporting rack.And when robot is in operating status, by above-mentioned
It is switched to two-wheel equilibrium state from three-wheel state moment, it is therefore prevented that robot is fallen caused by manual operation two-wheel balances
.Simultaneously on the other hand, " variable body " that two-wheel is switched to by the three-wheel of robot operates, and increases the operation entertaining of robot
Property.
With reference to following description and accompanying drawings, apply for the particular implementation of the application in detail, specifies the original of the application
Reason can be in a manner of adopted.It should be understood that presently filed embodiment is not so limited in range.In appended power
In the range of the spirit and terms that profit requires, presently filed embodiment includes many changes, modifications and is equal.
The feature for describing and/or showing for a kind of embodiment can be in a manner of same or similar one or more
It is used in a other embodiment, it is combined with the feature in other embodiment, or substitute the feature in other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when being used herein, but simultaneously
It is not excluded for the presence or additional of one or more other features, one integral piece, step or component.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those skilled in the art without having to pay creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the overall flow figure according to the robot control method of the application；
Fig. 2 is the flow for the control method that two-wheel is switched to according to the control robot three-wheel of one embodiment of the application
Figure；
Fig. 3 is the side view to be landed according to the robot three-wheel of the application；
Fig. 4 is the side view to be landed according to the robot two-wheel of the application；
Fig. 5 is the control method flow that three-wheel is switched to according to the control robot two-wheel of one embodiment of the application
Figure；
Fig. 6 is the control method flow that three-wheel is switched to according to the control robot two-wheel of another embodiment of the application
Figure；
Fig. 7 is the overall structure diagram according to the robot controller of the application；
Fig. 8 is the dimensional structure diagram according to the robot of the application.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Art technology technical staff knows, presently filed embodiment can be implemented as a kind of system, device, equipment,
Method or computer program product.Therefore, the application can be with specific implementation is as follows, i.e.,：It is complete hardware, complete soft
The form that part (including firmware, resident software, microcode etc.) or hardware and software combine.
Below with reference to several representative embodiments of the application, the principle and spirit of the application are illustrated in detail.
According to the one side of the application, a kind of robot control method is proposed.Wherein, robot control method includes：It connects
Receive control instruction；The current tilt angle of the robot is detected according to control instruction；According to the current tilt angle detected
Control the switching of robot operating status.The wherein switching for being switched to robot three-wheel and being switched to two-wheel of robot operating status
It is switched to the switching of three-wheel with robot two-wheel, is equilibrated at ground by what two kinds of switching modes can make robot automatic steady
Face prevents the robot caused by manually adjusting balance from falling down, while increasing the interest of robot manipulation.
Fig. 1 is the overall flow figure according to the robot control method of the application.As shown in fig. 1, step is first carried out
S11 receives control instruction；Step S12 is executed later, i.e., the current of robot is detected according to the control instruction in step S11
Angle of inclination；After detecting the current tilt angle of fuselage of robot according to control instruction, as shown in the S13 in Fig. 1, root
The switching of the robot operating status is controlled according to the current angular detected.The robot in wherein step S13
The switching of operating status includes following two modes：Robot three-wheel, which lands, is switched to that two-wheel lands and robot two-wheel lands
Three-wheel is switched to land.Two different switching modes are described in detail below in conjunction with embodiment.
It will land first to the robot three-wheel of the application in conjunction with Fig. 2 to Fig. 4 and be switched to the embodiment progress that two-wheel lands
Detailed description.
Fig. 2 is to be landed to be switched to the controlling party that two-wheel lands according to the control robot three-wheel of one embodiment of the application
The flow chart of method, the step S21 in Fig. 2 correspond to the step S11 in Fig. 1, and step S22 corresponds to the step S12 in Fig. 1.Such as
In Fig. 2 shown in step S21, control instruction is received first, and wherein control instruction is that phonetic control command or Bluetooth control instruct.
In some embodiments, when control instruction is phonetic control command, for example, when user says the language of " variable body " against robot
When sound control instruction, robot receives the S22 steps just next executed after the phonetic control command of " variable body " in Fig. 2
Suddenly.The phonetic control command that user in the present embodiment assigns is only schematical, and specific phonetic control command can be by
User carries out self-defined setting, for example, the phonetic control command may be set to be " switching " etc., the present embodiment is herein
It is not limited.
In further embodiments, when control instruction is that Bluetooth control instructs, for example, when user uses intelligent hand
When application program in the portable electronic devices such as machine, Intelligent flat computer assigns control instruction to robot, intelligence is pressed
When " variable body " button in the utility control program in mobile phone, the bluetooth module in smart mobile phone sends corresponding blue to robot
Tooth control instruction, robot receive " variable body " Bluetooth control instruction after just next execute Fig. 2 in S22 steps.This reality
The Bluetooth control instruction applied in the utility control program in example is only schematical, and specific Bluetooth control instruction can be by using
Person carries out self-defined setting, for example, Bluetooth control instruction may be set to be " switching " etc., the present embodiment is not done herein
Limitation.
In some embodiments, according to the switching of the current tilt angle control robot operating status detected, including：
When current tilt angle is more than the first predetermined angle, control robot is rotated in place；When the machine rotated in place
When the rotating speed of the driving wheel of people is more than a threshold value, the universal wheel of robot is liftoff.
Specifically, after receiving from the control instruction that user sends out, as shown in the S22 steps in Fig. 2, according to institute
The current tilt angle that control instruction detects the robot is stated, wherein the current tilt angle is the fuselage of robot and erects
Histogram to angle, in one embodiment, current tilt angle is measured by three-axis gyroscope sensor.In Fig. 2
Step S23 corresponds to the step S13 in Fig. 1, and as shown in Figure 2, step S23 includes step S231：When the current tilt angle
When degree is more than the first predetermined angle, controls the robot and rotated in place；And step S232：When what is rotated in place
When the rotating speed of the driving wheel of the robot is more than a threshold value, the universal wheel of the robot is liftoff.
According to one embodiment of the application, when the three-wheel of robot is landed be switched to operation that two-wheel lands when,
Step S21 is first carried out, that is, receives control instruction, the control instruction can be that phonetic control command or Bluetooth control refer to
Enable, post analysis described in control instruction, and the signal come will be analyzed and be sent to three-axis gyroscope sensor, three-axis gyroscope passes
Sensor executes step S22 after receiving signal, i.e., the current tilt angle of the robot is detected according to the control instruction.
In one embodiment, can the control instruction be analyzed by micro-control unit (MCU), and will be analyzed by MCU
Signal out is sent to three-axis gyroscope sensor, and the signal that three-axis gyroscope sensor receives MCU executes step later
S22, i.e. three-axis gyroscope sensor detect the current tilt angle of the robot according to control instruction.In some embodiments
In, three-axis gyroscope sensor can be common in the market three-axis gyroscope sensor, such as MPU6050.
Fig. 3 is the side view to be landed according to the three-wheel of the robot of the application.As shown in figure 3, being by current tilt angle
The fuselage of robot and the angle of vertical direction are defined as θ, and dotted line 33 is vertical direction, and dotted line 34 is the side at robot fuselage
To the angle, θ between dotted line 33 and dotted line 34 is the fuselage of robot and the angle of vertical direction, robot shown in Fig. 3
The case where three-wheel lands is that angle, θ is maximum value θ0The case where, three wheels of robot include two driving wheels 32, one ten thousand
To wheel 31, three-wheel, which lands, i.e. two driving wheels 32 and a universal wheel 31 while to land, and θ is maximum value θ at this time0。
The current tilt angle angle value θ of the fuselage of the robot detected is sent to MCU by three-axis gyroscope sensor, when three
After the current tilt angle angle value θ of fuselage is sent to MCU by axis gyro sensor, step S231 is executed, i.e., when described current
When angle of inclination is more than the first predetermined angle, controls the robot and rotated in place.When specific implementation, if MCU judges
When current tilt angle angle value θ is more than the first predetermined angle, determine that robot current state is that three-wheel as shown in Figure 3 lands shape
State sends pulse width to motor and modulates (PWM) signal, and the driving chip of motor receives after this pwm signal can will
Driving voltage amplification becomes larger to control the torsion of motor, and the driving force of driving wheel is provided by motor, and motor torsion becomes conference
So that the rotating speed of driving wheel improves, in the case where universal wheel lands, robot will be rotated in place at this time.
Due to the current tilt angle θ in Fig. 30The angle of machine man-machine body and vertical direction when landing for universal wheel, because
This θ0Value be that three-axis gyroscope sensor is directed to the maximum values that are able to detect that of current tilt angle θ, therefore the first predetermined angle
It should be and be less than θ0One value.In some embodiments, the first predetermined angle can be set to θ0-10o.First predetermined angle
Setting value it is only schematical, different adjustment, the present embodiment can be made according to the different landform where robot
It is not limited herein.
In some preferred embodiments, in order to prevent the fuselage of robot cause due to turning forward robot fuselage with
The angle theta of vertical direction is more than the first preset value, and timer can be added in robot, and timer is used for working as three-axis gyroscope
The current tilt angle angle value θ of fuselage is sent to after MCU by sensor starts timing, when the timing time of timer is more than one in advance
If time and when three-axis gyroscope sensor detects that the current tilt angle θ of fuselage does not change in this preset time period
Step S231 is executed again, if the current tilt angle angle value θ for the fuselage that three-axis gyroscope sensor detects changes not
Execute step S231.It is a stable state, three-axis gyroscope sensor when being in the state that three-wheel lands due to robot
The current tilt angle θ of the fuselage detected in this case not will produce variation in the preset time period in timer,
Therefore MCU judges that robot is in the stable state that three-wheel lands, and executes step S231.Otherwise when the fuselage of robot is only by two
When a driving wheel 32 lands and turns forward, the fuselage of robot causes machine man-machine due to turning forward in the case
The angle theta of body and vertical direction can also be more than the first preset value in moment, but because it can not stablize standing in this case, so
The current tilt angle angle value θ for the fuselage that three-axis gyroscope sensor detects can be continuous in the preset time period in timer
Variation, if three-axis gyroscope sensor detected in the preset time period in timer different fuselages when leaning forward
Oblique angle angle value θ, then MCU judge that robot is not in a stable three-wheel and lands state, then step is not carried out in MCU
S231。
As robot rotates in place the increase of the number of turns, the rotating speed of motor can constantly increase, since motor is robot
Driving wheel provides driving force, therefore the rotating speed of motor constantly increases the rotating speed of the driving wheel 32 of robot can be made also constantly to increase,
At this time as shown in the step 232 in Fig. 2, when the rotating speed of the driving wheel of robot is more than a threshold value, the universal wheel of robot from
Ground.This is because when the rotating speed of the driving wheel 32 of robot reaches a threshold value, motor generated torsion under this threshold value
Power just offsets the torque that robot fuselage tilts backwards generated weight component, therefore the universal wheel of robot is liftoff.
Fig. 4 is the side view to be landed according to the robot two-wheel of the application.As shown in figure 4, the universal wheel 41 of robot exists
The step S232 of Fig. 2 leaves ground after completing, and robot is in two driving wheels 42 and lands state at this time, i.e. two-wheel lands shape
State.It should be noted that robot be in two-wheel land state when two driving wheels 42 be do not stall it is dynamic, once stop
Under, robot fuselage will forward or tilt backwards, and dotted line 43 indicates vertical direction.
When robot is in operating status, it is switched to two-wheel equilibrium state from three-wheel state moment by above-mentioned,
Robot is fallen down caused by which prevent being balanced due to manual operation two-wheel.Simultaneously on the other hand, pass through the three of robot
Wheel switches to the man-machine interactive operation of two-wheel " variable body ", and it is interesting to the operation of robot to increase user.
It lands to robot two-wheel below in conjunction with Fig. 5 and Fig. 6 and is switched to the embodiment that three-wheel lands and carries out detailed retouch
It states.The robot three-wheel particular state to land with two-wheel that lands has been described in detail in above-mentioned Fig. 3 and Fig. 4, herein not superfluous
It states.Fig. 5 is the control method flow chart that three-wheel is switched to according to the control robot two-wheel of one embodiment of the application.Such as figure
Shown in step S51 in 5, control instruction is received first.Wherein control instruction is that phonetic control command or Bluetooth control instruct.When
When control instruction is phonetic control command, for example, when user say against robot the phonetic control command of " landing " when
It waits, robot receives the S52 steps just next executed after the phonetic control command of " landing " in Fig. 5.In the present embodiment
The phonetic control command that user assigns is only schematical, and specific phonetic control command can be carried out self-defined by user
Setting, for example, the phonetic control command may be set to be " switching " etc., the present embodiment is not limited herein.
When control instruction is that Bluetooth control instructs, for example, when user uses smart mobile phone, Intelligent flat computer etc. just
When taking the application program in formula electronic equipment and assigning control instruction to robot, the utility control program in smart mobile phone is pressed
In " landing " button when, the bluetooth module in smart mobile phone sends corresponding Bluetooth control instruction to robot, and robot connects
Receive " landing " Bluetooth control instruction after just next execute Fig. 5 in S52 steps.Utility control program in the present embodiment
In Bluetooth control instruction it is only schematical, the instruction of specific Bluetooth control can carry out self-defined setting, example by user
Such as, the Bluetooth control instruction may be set to be " switching " etc., and the present embodiment is not limited herein.
After receiving from the control instruction that user sends out, as shown in the S52 steps in Fig. 5, according to the control
The current tilt angle of robot described in command detection, wherein the current tilt angle is the fuselage and vertical direction of robot
Angle, the current tilt angle of the fuselage of the robot measures by three-axis gyroscope sensor.
In some embodiments, according to the switching of the current tilt angle control robot operating status detected, including：
When current tilt angle is less than the second predetermined angle, the driving wheel stop motion of robot is controlled, so that robot is universal
Wheel lands.
After detecting the current tilt angle of robot according to control instruction, as shown in the S53 in Fig. 5, according to detection
To the current angular control the switching of the robot operating status, wherein the step S53 in Fig. 5 corresponds in Fig. 1
Step S13.Step S53 includes step S531：When the current tilt angle is less than the second predetermined angle, the machine is controlled
The driving wheel stop motion of people reaches state as shown in Figure 3 so that the universal wheel of the robot lands.
Specifically, according to one embodiment of the application, after robot receives control instruction, micro-control unit
(MCU) control instruction is analyzed, and the signal come will be analyzed and be sent to three-axis gyroscope sensor, three-axis gyroscope sensing
The signal that device receives MCU executes step S52 later, i.e., the current tilt angle of the robot is detected according to the control instruction
Degree.Current tilt angle is the angle theta of the fuselage and vertical direction of robot, and the definition of angle theta is in the above-described embodiments
It provides, details are not described herein.Three-axis gyroscope sensor is by the current tilt angle angle value θ of the fuselage of the robot detected later
It is sent to MCU, after the current tilt angle angle value θ of fuselage is sent to MCU by three-axis gyroscope sensor, executes step
S531, i.e., when the current tilt angle angle value θ is less than the second predetermined angle, the driving wheel 42 for controlling the robot stops fortune
It is dynamic, so that the universal wheel 41 of the robot lands.MCU judges that if current tilt angle angle value θ is less than the second predetermined angle,
Determine that robot current state is that two-wheel as shown in Figure 4 lands state, sending one to the driving chip of motor stops letter
Number, therefore motor stops operating to control 42 stop motion of driving wheel of robot, so that the universal wheel 41 of robot lands,
Reach state as shown in Figure 3.
Since the fuselage of the robot in Fig. 4 is in vertical state, in the case that Fig. 4 robots fuselage with it is vertical
The angle theta in direction is 0o, and 0o is the minimum value that three-axis gyroscope sensor is directed to that current tilt angle θ is able to detect that, therefore the
Two predetermined angles should be a value more than 0o.In some embodiments, the second predetermined angle can be set to 10o.Second
The setting value of predetermined angle is only schematical, can make different adjustment according to landform different where robot, this
Embodiment is not limited herein.
In some embodiments, according to the switching of the current tilt angle control robot operating status detected, including：
When current tilt angle be less than the second predetermined angle and robot motion state forwardly when, control robot fall back it is a certain away from
From and stop robot driving wheel movement so that the universal wheel of robot lands.
Fig. 6 is the control method flow that three-wheel is switched to according to the control robot two-wheel of another embodiment of the application
Figure.As shown in fig. 6, wherein step S61 corresponds to the step S51 in Fig. 5, step S62 corresponds to the step S52 in Fig. 5, step
S51 and step S52 are described in detail in the above-described embodiments, are not repeating herein.Step S63 corresponds to the step in Fig. 1
S13.Step S63 includes step S631：When the current tilt angle be less than the second predetermined angle and the robot be in
When preceding motion state, controls the robot and fall back a certain distance and stop the driving wheel movement of the robot, so that described
The universal wheel of robot lands, and reaches state as shown in Figure 3.In the present embodiment, two driving wheels of robot in order to prevent
Robot fuselage is since inertia dumps forward caused by stopping driving wheel when motion state suddenly forwardly, when MCU judges
Robot forwardly motion state when, an inverted command is assigned to motor by pwm signal, is controlled by motor reversal
Driving wheel rotates backward, so that robot falls back the driving wheel movement that a certain distance stops the robot again later, this
The fuselage of sample robot can be tilted backwards due to inertia, so that the universal wheel of robot lands.Wherein robot is fallen back
Distance is very short a distance, and in some embodiments, the distance of retroversion is no more than 3cm.
Above-mentioned robot is switched to three-wheel by two-wheel, makes robot stabilized put as supporting rack to which universal wheel lands
It sets, prevents robot due to the use of being fallen down caused by person's maloperation, while on the other hand, being switched to by the two-wheel of robot
It is interesting to the operation of robot to increase user for the man-machine interactive operation of three-wheel " landing ".
After the method for describing the application illustrative embodiments, next, with reference to figure 7 to the exemplary reality of the application
The robot controller for applying mode is introduced.The implementation of the device may refer to the implementation of the above method, repeat place not
It repeats again.Term " module " used below and " unit " can be the software and/or hardware for realizing predetermined function.Although
Module described in following embodiment is preferably realized with software, but the realization of the combination of hardware or software and hardware
And may and be contemplated.
Fig. 7 is the overall structure diagram according to the robot controller of the application.As shown in fig. 7, robot controls
Device includes：Receiving module configures to receive control instruction；Detection module, configuration to detect robot according to control instruction
Current tilt angle；And control module, it configures and comes according to the current tilt angle control robot operating status detected
Switching.
In some embodiments, control module configuration to control the robot fortune according to the current tilt angle detected
The switching of row state, including：When detection module detects that current tilt angle is more than the first predetermined angle, control module control
Robot is rotated in place；When the rotating speed of the driving wheel of the robot rotated in place is more than a threshold value, robot
Universal wheel is liftoff.
In some embodiments, control module configuration comes according to the current tilt angle control robot operation shape detected
The switching of state, including：When detection module detects that current tilt angle is less than the second predetermined angle, control module controls machine
The driving wheel stop motion of people, so that the universal wheel of the robot lands.
In some embodiments, control module configuration comes according to the current tilt angle control robot operation shape detected
The switching of state, including：When detection module detects that current tilt angle is less than the second predetermined angle and robot transports forwardly
When dynamic state, control module control robot falls back a certain distance and stops the driving wheel movement of robot, so that robot
Universal wheel lands.
In one embodiment, receiving module includes speech reception module or bluetooth receiving module, is configured to receive language
Sound control instruction or Bluetooth control instruction；Detection module include three-axis gyroscope sensor, performed by function refer to it is above-mentioned
Embodiment of the method is not repeating herein；Control module include MCU, motor and motor drive ic, performed by function it is detailed
See above method embodiment, is not repeating herein.
When robot shuts down or is closed, above-mentioned robot controller can control machine
People is switched to three-wheel by two-wheel, makes robot stabilized place as supporting rack to which universal wheel lands.And at robot
When operating status, by the control of above-mentioned robot controller robot was switched to from three-wheel state moment double
Take turns equilibrium state, which prevent due to manual operation two-wheel balance caused by robot fall down.Simultaneously on the other hand, pass through
Control device control three-wheel switches to " variable body " operation of two-wheel, and the operation for increasing robot is interesting.
Next, the robot of the application illustrative embodiments is introduced with reference to figure 8.Wherein, in robot
The implementation of robot controller may refer to the implementation of above-mentioned apparatus, and overlaps will not be repeated.Term used below
" module " and " unit " can be the software and/or hardware for realizing predetermined function.Although module described in following embodiment compared with
It is realized goodly with software, but the realization of the combination of hardware or software and hardware is also that may and be contemplated.
Fig. 8 is the stereoscopic schematic diagram according to the robot of the application.As shown in figure 8, robot includes fuselage 81 and position
Robot controller 82 inside robot fuselage 81, it is because it is in machine that robot controller 82, which is represented by dashed line,
Inside body 81.Robot controller 82 is realizing the control to robot operating status, wherein robot controller 82
Including：Receiving module configures to receive control instruction；Detection module, configuration to detect the current of robot according to control instruction
Angle of inclination；And control module, configure the switching come according to the current tilt angle control robot operating status detected.
In one embodiment, receiving module includes speech reception module or bluetooth receiving module, and configuration refers to receive voice control
It enables or Bluetooth control instructs；Detection module include three-axis gyroscope sensor, performed by function refer to the above method implementation
Example, is not repeating herein；Control module include MCU, motor and motor drive ic, performed by function refer to above-mentioned side
Method embodiment is not repeating herein.Wherein, control module is connected inside fuselage 81 with receiving module and carries out signal interaction,
Control module is connected inside fuselage 81 with detection module and carries out signal interaction.
When robot shuts down or is closed, above-mentioned robot is switched to three-wheel by two-wheel, from
And universal wheel lands and makes robot stabilized place as supporting rack.And when robot is in operating status, pass through
Above-mentioned to be switched to two-wheel equilibrium state from three-wheel state moment, which prevent the machines caused by manual operation two-wheel balance
Device people falls down.Simultaneously on the other hand, " variable body " that two-wheel is switched to by the three-wheel of robot operates, and increases the behaviour of robot
Make interesting.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, apparatus or robot.Cause
This, complete hardware embodiment, the shape of complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Formula.Moreover, the application can be used can use storage in the computer that one or more wherein includes computer usable program code
The form for the computer program product implemented on medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.).
The application is with reference to according to the method, apparatus (system) of the embodiment of the present application and flow chart and/or the side of robot
Block diagram describes.It should be understood that each flow and/or the side in flowchart and/or the block diagram can be realized by computer program instructions
The combination of flow and/or box in frame and flowchart and/or the block diagram.These computer program instructions can be provided to logical
With the processor of computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate a machine
Device so that the instruction executed by computer or the processor of other programmable data processing devices generates for realizing in flow
The device for the function of being specified in one flow of figure or multiple flows and/or one box of block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Particular embodiments described above has carried out further in detail the purpose, technical solution and advantageous effect of the application
It describes in detail bright, it should be understood that the foregoing is merely the specific embodiment of the application, is not intended to limit this application, it is all
Within spirit herein and principle, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the application
Within the scope of shield.
Claims (11)
1. a kind of robot control method, which is characterized in that the robot control method includes：
Receive control instruction；
The current tilt angle of robot is detected according to the control instruction；
The switching of the robot operating status is controlled according to the current tilt angle detected.
2. robot control method according to claim 1, which is characterized in that according to the current tilt angle detected
Degree controls the switching of the robot operating status, including：
When the current tilt angle is more than the first predetermined angle, controls the robot and rotated in place；
When the rotating speed of the driving wheel of the robot rotated in place is more than a threshold value, the universal wheel of the robot from
Ground.
3. robot control method according to claim 1, which is characterized in that according to the current tilt angle detected
Degree controls the switching of the robot operating status, including：
When the current tilt angle is less than the second predetermined angle, the driving wheel stop motion of the robot is controlled, so that
The universal wheel of the robot lands.
4. robot control method according to claim 3, which is characterized in that according to the current tilt angle detected
Degree controls the switching of the robot operating status, including：
When the current tilt angle is less than the second predetermined angle and the robot motion state forwardly, described in control
Robot falls back a certain distance and stops the driving wheel movement of the robot, so that the universal wheel of the robot lands.
5. robot control method according to claim 1, which is characterized in that the control instruction is phonetic control command
Or Bluetooth control instruction.
6. according to the robot control method described in any one of claim 1-4, which is characterized in that the current tilt angle
Degree is the angle of the fuselage and vertical direction of the robot.
7. a kind of robot controller, which is characterized in that the robot controller includes：
Receiving module configures to receive control instruction；
Detection module, configuration to detect the current tilt angle of robot according to the control instruction；And
Control module configures the switching for control the robot operating status according to the current tilt angle detected.
8. robot controller according to claim 7, which is characterized in that the control module configuration comes according to detection
To the current tilt angle control the switching of the robot operating status, including：
When the detection module detects that current tilt angle is more than the first predetermined angle, the control module controls the machine
Device people rotates in place；
When the rotating speed of the driving wheel of the robot rotated in place is more than a threshold value, the universal wheel of the robot from
Ground.
9. robot controller according to claim 7, which is characterized in that the control module configuration comes according to detection
To the current tilt angle control the switching of the robot operating status, including：
When the detection module detects that the current tilt angle is less than the second predetermined angle, the control module controls institute
The driving wheel stop motion of robot is stated, so that the universal wheel of the robot lands.
10. robot controller according to claim 9, which is characterized in that the control module configuration comes according to inspection
The current tilt angle measured controls the switching of the robot operating status, including：
When the detection module detects that current tilt angle is less than the second predetermined angle and the robot moves forwardly
When state, the control module controls the robot and falls back a certain distance and stop the driving wheel movement of the robot, with
The universal wheel of the robot is set to land.
11. a kind of robot, including fuselage and robot controller, the robot controller include：
Receiving module configures to receive control instruction；
Detection module, configuration to detect the current tilt angle of robot according to the control instruction；And
Control module configures the switching for control the robot operating status according to the current tilt angle detected.
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| CN201810435522.2A CN108582074B (en) | 2018-05-09 | 2018-05-09 | Robot, robot control method and device |
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| CN201810435522.2A CN108582074B (en) | 2018-05-09 | 2018-05-09 | Robot, robot control method and device |
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| CN108582074B (en) | 2021-11-30 |
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