CN108582085A - The determination method, apparatus and robot of control command - Google Patents
The determination method, apparatus and robot of control command Download PDFInfo
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- CN108582085A CN108582085A CN201810794825.3A CN201810794825A CN108582085A CN 108582085 A CN108582085 A CN 108582085A CN 201810794825 A CN201810794825 A CN 201810794825A CN 108582085 A CN108582085 A CN 108582085A
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
Abstract
The present invention provides the determination method, apparatus and robot of a kind of control command, wherein this method includes：Acquire multiple control command images；If there are package image in control command image, the specified corresponding control command of control command image in the band of position corresponding to the package image determines the corresponding control command of the package image.The present invention is packaged control command by image, to obtain more complicated control command, improves the convenience of order encapsulation, so that user is more convenient to the control operation of robot.
Description
Technical field
The present invention relates to technical field of robot control, a kind of determination method, apparatus more particularly, to control command and
Robot.
Background technology
With the continuous development of control technology, the application of robot and other intelligent terminals is increasingly enriched, and robot can
Receive the program of advance layout, can also receive mankind commander, to complete compound movement, serve the mankind.
It is existing in the prior art that information is parsed according to image procossing, to be converted into order, and complete corresponding function
Robot product.Robot identification image executes the common mode of order：Robot is identified first containing certain category information
Then image parses the information that the image includes, obtain the information and correspond to preset order, finally executed according to pre-set commands
Respective behavior.But the information which robot is obtained from image is more single so that the behavior of robot is also more single；
In order to improve the rich of robot behavior, generally require that image is made to include more information, but this need engineer change or
The system program of robot is updated, it is cumbersome, and user is also difficult to realize.
Invention content
In view of this, the purpose of the present invention is to provide the determination method, apparatus and robot of a kind of control command, with reality
Determination of the current family to control command improves the convenience of order encapsulation, to make to obtain more complicated control command
It is more convenient to the control operation of robot to obtain user.
In a first aspect, an embodiment of the present invention provides a kind of determination method of control command, this method is applied to robot,
This method includes：Acquire multiple control command images；If there are package images in control command image, according to package image institute
The specified corresponding control command of control command image in the corresponding band of position determines the corresponding control life of package image
It enables.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein on
The specified corresponding control command of control command image in the band of position corresponding to package image is stated, determines encapsulation figure
As the step of corresponding control command, including：By the specified control command image in the band of position corresponding to package image
Corresponding control command, is determined as subcommand；Holding between subcommand is determined according to the position relationship of specified control command image
Row sequence；Execution sequence between subcommand and subcommand is determined as the corresponding control command of package image.
With reference to first aspect or the first possible embodiment of first aspect, an embodiment of the present invention provides first party
Second of possible embodiment in face, wherein above-mentioned specified control command image is obtained by following manner：If encapsulation
Image is located in the corresponding band of position of package image, by the band of position, the control command image in addition to package image, really
It is set to specified control command image；And/or if package image is located at except the corresponding band of position of package image, by position
The control command image in region is set, specified control command image is determined as.
Second of possible embodiment with reference to first aspect, the third an embodiment of the present invention provides first aspect can
The embodiment of energy, wherein, will be in the band of position if above-mentioned package image is located at except the corresponding band of position of package image
Control command image, the step of being determined as specified control command image, including：If package image is located at package image pair
Control command image in the band of position is determined as specified control command figure by the designated position except the band of position answered
Picture.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiments of first aspect, wherein on
Stating package image has specific characteristic；Specific characteristic includes one kind in image type, shape, color or brightness.
Second aspect, an embodiment of the present invention provides a kind of determining device of control command, which is set to robot,
Device includes：Image capture module, for acquiring multiple control command images；Order determining module, if being used for control command
There are package images in image, the specified corresponding control of control command image in the band of position corresponding to package image
System order, determines the corresponding control command of package image.
In conjunction with second aspect, an embodiment of the present invention provides the first possible embodiments of second aspect, wherein on
Order determining module is stated, is additionally operable to：Specified control command image in the band of position corresponding to package image is corresponding
Control command is determined as subcommand；It is determined according to the position relationship of specified control command image and executes sequence between subcommand；
Execution sequence between subcommand and subcommand is determined as the corresponding control command of package image.
In conjunction with the possible embodiment of the first of second aspect or second aspect, an embodiment of the present invention provides second party
Second of possible embodiment in face, wherein above-mentioned specified control command image is obtained by following manner：If encapsulation
Image is located in the corresponding band of position of package image, by the band of position, the control command image in addition to package image, really
It is set to specified control command image；And/or if package image is located at except the corresponding band of position of package image, by position
The control command image in region is set, specified control command image is determined as.
In conjunction with second aspect, an embodiment of the present invention provides the third possible embodiments of second aspect, wherein on
Stating package image has specific characteristic；Specific characteristic includes one kind in image type, shape, color or brightness.
The third aspect, an embodiment of the present invention provides a kind of robots, including processor and executing agency；Above-mentioned control life
The determining device of order is set in processor.
The present invention provides the determination method, apparatus and robot of a kind of control command, acquire multiple control commands first
Image, if there are package images in the control command image, the finger in the band of position corresponding to the package image
The fixed corresponding control command of control command image, determines the corresponding control command of the package image.The present invention is schemed by encapsulating
As being packaged to control command, to obtain more complicated control command, the convenience of order encapsulation is improved, to make
It is more convenient to the control operation of robot to obtain user.
Other features and advantages of the present invention will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the present invention above-mentioned technology it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, better embodiment cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow chart of the determination method of control command provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of control command image provided in an embodiment of the present invention；
Fig. 3 is the process of analysis figure that a kind of image recognition provided in an embodiment of the present invention realizes robot behavior；
Fig. 4 is a kind of schematic diagram of control command packaged type provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of another control command packaged type provided in an embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of programming plate provided in an embodiment of the present invention；
Fig. 7 is a kind of corresponding practical step flow executed of robot of each behavior unit provided in an embodiment of the present invention
Figure；
Fig. 8 is another schematic diagram for programming plate provided in an embodiment of the present invention；
Fig. 9 is the practical step flow executed of the corresponding robot of each behavior unit of another kind provided in an embodiment of the present invention
Figure；
Figure 10 is another schematic diagram for programming plate provided in an embodiment of the present invention；
Figure 11 is another schematic diagram for programming plate provided in an embodiment of the present invention；
The step of Figure 12 is the practical execution of the corresponding robot of each behavior unit of another kind provided in an embodiment of the present invention is flowed
Cheng Tu；
The step of Figure 13 is the practical execution of the corresponding robot of each behavior unit of another kind provided in an embodiment of the present invention is flowed
Cheng Tu；
Figure 14 is another schematic diagram for programming plate provided in an embodiment of the present invention；
Figure 15 is a kind of structural schematic diagram of the determining device of control command provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
In general, robot identifies that image and exectorial concrete mode are：Robot identifies image, contains in the image
Certain category information is found after the information corresponds to preset order, and robot executes respective behavior according to pre-set commands.For example, such as
Fruit definition finds number when robot, with regard to the size of count off, after robot identifies digital " 2 " at this time, and voice broadcast,
" this is 2 "；For another example, robot carries out recognition of face, after finding face and identifying result, that is, completes corresponding punching operation
Deng.But the information which robot is obtained from image is more single so that the behavior of robot is also more single；In order to carry
High robot behavior it is rich, it includes more information to generally require to make image, but this needs engineer to change or update machine
The system program of device people, it is cumbersome, and user is also difficult to realize.
Based on this, an embodiment of the present invention provides the determination method, apparatus and robot of a kind of control command, which can
With in the control of robot or other intelligent terminals applied to spatial interaction type, it is particularly possible to be applied to based on material object programming
In robot control；For ease of understanding the present embodiment, first to a kind of control command disclosed in the embodiment of the present invention
Determination method describe in detail.
A kind of flow chart of the determination method of control command shown in Figure 1；This method is applied to robot, this method
Including：
Step S102 acquires multiple control command images；
The control command image can be acquired by photographic device or infrared eye；The control command image usually wraps
There is more significant identification feature containing pattern, shape, symbol, word, bar code etc., taken the photograph in order to which robot can be identified quickly
As whether including control command image in the image in pickup area, and accurately identify the corresponding control life of the control command image
It enables.
A kind of schematic diagram of control command image shown in Figure 2；Left-side images are " arrow " shape, can be used for generation
The control command of table " advance "；Middle part image is " music symbol " shape, can be used for representing the control command of " playing music "；
Image right is " L1 " word, can be used for representing the control command of " according to the 1st article of setting circuit walking ".
Specifically, above-mentioned control command image (being referred to as order picture) could be provided as multiple color and shape,
For example, rectangle, triangle, circle etc.；Various images, one kind in word or coding can also be set on the control command image
Or a variety of combination.Other than the control command image for expressing control command, it may be provided for expressing other spies
The image of different meaning.
Above-mentioned control command image can represent some action of robot or the combination of certain class behavior, the control command
Image can adhere on arbitrary material object, such as building blocks, picture mosaic, various concatenation modules, paster etc.；It can also be by electronical display screen display
Show or projection device is shown.
The correspondence of the characteristics of image and control command of each control command image can be pre-set, robot collects
After control command image, the characteristics of image of the image is parsed, then corresponding control command is found from above-mentioned correspondence；
After robot obtains the control command, then controls driving executing agency and execute corresponding action.
Step S104, if there are package images in control command image, the band of position corresponding to package image
In the specified corresponding control command of control command image, determine the corresponding control command of package image.
In order to identify package image from control command image, which can be defined in advance, for example, envelope
Dress image can be placed on specific position, or with preset spies such as specific size, color, shape, backgrounds
Sign etc..In the initial state, the corresponding control command of the package image can be that specified encapsulation generates order, or does not include
Any order；The band of position corresponding to the package image can also be pre-set, for example, on chart board certain can be delimited in advance
One band of position is as the band of position corresponding to the package image.
Specified control command image in the above-mentioned band of position can be whole control commands in the band of position
Image, or part control command image；For example, if the package image also is located in the band of position, position at this time
Specified control command image in region is usually other control command images in addition to the package image.
If including multiple control command images in the above-mentioned band of position, the corresponding control command of package image is usually wrapped
Include multiple subcommands；The control command of the package image when being executed, can execute the subcommand according to preset sequence,
The preset sequence can be to be performed simultaneously, sequentially execute, recycle execution etc.；The preset sequence can be according to each
The location of corresponding control command image of subcommand determines.
The sequence of each subcommand can carry out advance according to the actual needs of user in the control command of above-mentioned package image
Setting is first completed to play the action of voice, then completes the action drawn back for example, user wants robot, can will play language
First subcommand that sound is executed as sequence, by second subcommand executed as sequence of drawing back.
The corresponding control command process of above-mentioned determining package image, is referred to as the encapsulation process of control command, can be with
It is executed while robot completes above-mentioned specified control command image corresponding control command, it is possibility to have individually
Implementation procedure；After the completion of execution action, when reusing the package image, control command which specifically executes with
The corresponding control command of package image of above-mentioned determination is consistent.The control command of package image is mainly used for according to corresponding control
System order, to carry out subsequent operation, robot can execute sequence according to each subcommand in the control command of package image
Execute each subcommand.
An embodiment of the present invention provides a kind of determination methods of control command, acquire multiple control command images first, such as
There are package images in the fruit control command image, then the specified control in the band of position corresponding to the package image
The corresponding control command of order image determines the corresponding control command of the package image.Which is by package image to control
Order is packaged, and to obtain more complicated control command, the convenience of order encapsulation is improved, so that user couple
The control operation of robot is more convenient.
The embodiment of the present invention additionally provides the determination method of another control command, and based on the control command determination side
The robot control method of method, this method are realized shown in above-mentioned Fig. 1 on the basis of method；In this method, one is first defined
Robotic command method of the kind based on image by parsing the behavior of robot, and defines the image command or life to robot
It enables, to realize the order encapsulation of robot behavior.Process of analysis such as Fig. 3 institutes of robot behavior are realized by image recognition
Show.This definition method first defines a kind of Action logic of robot, and the behavior of robot is divided and described；And it will
Robot behavior is corresponding with the entity in space, and corresponding information is obtained by the photographic device or other sensors of robot, whole
It is executed by robot after conjunction；To realize the simple interaction by spatial entities, the process of robot complex behavior is realized.
This definition method is specifically included such as lower part：
(1) Action logic of robot is established, i.e., the behavior of robot is defined；Specifically include the tool to robot
Body surface is now classified, the complex behavior of robot is divided into behavior unit, and each behavior unit is set as one group while holding
The combination etc. of capable motor unit.
A series of actions of robot is by each executing agency with being combined into, and each executing agency is on the time line
Can self-movement or performance, as a motor unit.Robot completes a compound action, needs under the same period,
Each executing agency acts simultaneously.And the set that robot is performed simultaneously can form a combination, as robot row
For a unit, i.e. multiple motor units form a behavior unit, and multiple behavior units link together, and form one
The compound action of robot.
The compound action of robot can be split in this way, be decomposed into specific order, it certainly, also can be according to machine
The actual function of people carries out the definition of robotic command.In the present embodiment, a behavior unit is equivalent to above-mentioned one group of control life
Enable image；One motor unit is equivalent to said one control command image or the corresponding action of a control command image.
(2) image command definition and behavior correspondence are established, including some special commands are (for example, above-mentioned package image
It is corresponding encapsulation generate order) definition；Specifically, for the image command that robot receives, it can be by a secondary picture segmentation
For the collection of several image commands.The behavior of robot is corresponded in order, which can be motor unit, behavior list
Member or the combination of actions defined.
(3) after above-mentioned definition, that is, realize that the interaction of robot and image, robot are solved by image recognition, order
Analysis executes each behavior unit or function according to logic of propositions, completes the process that order is converted to behavior, corresponding to realize
Behavior, performance or function.
Based on the process of analysis of above-mentioned robot behavior, it is described further below and how determines the corresponding control of package image
Order；It specifically, will be specified in the band of position corresponding to package image if there are package images in control command image
The corresponding control command of control command image, be determined as subcommand；Position relationship according to specified control command image is true
Sequence is executed between stator order；It is corresponding that execution sequence preservation between subcommand and subcommand is determined as package image
Control command.
Robot acquisition control order image, and identify and whether there is package image in control command image, if deposited
The corresponding control command of the package image is then being obtained, if there are subcommand in the control command, is illustrating the package image
Order encapsulation process is completed, then according in the control command of the package image, the execution between each subcommand and subcommand is suitable
Sequence executes subcommand according to execution sequence, and the control command for completing package image executes；If the control command of package image is sky
Or generate order for encapsulation, then the control command of package image is first determined in the manner described above.
As described in above-described embodiment, during determining package image corresponding control command, according to the package image
In the corresponding band of position, the specified corresponding control command of control command image determines the corresponding control of the package image
Order；Wherein, in the corresponding control command of the package image, the execution sequence of each subcommand is according to specified control command figure
The position relationship of picture determines.
Wherein, above-mentioned specified control command image, can specifically determine, in one way in which in several ways
In, if package image is located in the corresponding band of position of package image, by the band of position, the control in addition to package image
Order image is determined as specified control command image.
Specifically, a kind of schematic diagram of control command packaged type as shown in Figure 4；It is whole in the chart board on the left sides Fig. 4
A chart board is the corresponding band of position of package image, i.e. the frame that encapsulation command mappings region printed words are indicated shown in Fig. 4 rises
The region come, " F " is package image in chart board, and control command image 1, control command image 2, control command image 3 are specified
Control command image can be true according to control command image 1, the position relationship of control command image 2, control command image 3
What fixed each control command image corresponded to control command executes sequence, for example, may be performed simultaneously control command image 1, controlling and order
2 corresponding control command of image is enabled, then executes 3 corresponding control command of control command image.
In chart board between in Fig. 4, entire chart board is divided into 4 bands of position, one band of position of each behavior, chart board
In " F1 ", " F2 " be package image, control command image 1, control command image 2 are the specified control life of package image " F1 "
Image, control command image 1 and 2 corresponding control command of control command image is enabled to may be performed simultaneously；Control command image 4 is
The specified control command image of package image " F2 ".
In the chart board on the right of Fig. 4, entire chart board is divided into two bands of position in left and right, and gray scale background is carried in chart board
" F " is package image, and control command image 1, control command image 2 are the specified control command image of package image " F ", on a left side
In the band of position on side, 1 corresponding control command of control command image can be first carried out, then executes the correspondence of control command image 2
Control command.
In another mode, if package image is located at except the corresponding band of position of package image, by position area
Control command image in domain is determined as specified control command image.
Specifically, the schematic diagram of another control command packaged type as shown in Figure 5；In the chart board on the left sides Fig. 5,
" F " is package image, and except the band of position, which is control command image lay-down zones all in chart board
Domain indicates the region of encapsulation command mappings region printed words being framed, control command image 1, control command shown in i.e. Fig. 5
Image 2, control command image 3 are located in the band of position, are confirmed as specified control command image；According to control command figure
As the position relationship of 1, control command image 2, control command image 3, control command image 1, control command may be performed simultaneously
2 corresponding control command of image, then execute 3 corresponding control command of control command image.
In chart board between in Figure 5, " F " is package image, and except the band of position, which is in chart board
Partial control command image lay-down zones domain, the i.e. region being framed with box shown in Fig. 5；Control command image 1, control
Order image 2 is located in the band of position, can first carry out 1 corresponding control command of control command image, then executes control life
Enable 2 corresponding control command of image.
In the chart board on the right of Fig. 5, " F1 ", " F2 " are package image, except the band of position；It specifically can basis
The position relationship of package image corresponding control command image and the band of position, determines the corresponding control command of each package image
The corresponding band of position of image；In such as figure, it can will be determined as the control command image of the row in the band of position of same a line
The band of position of corresponding package image；Therefore, it is corresponding to be located at package image " F1 " for control command image 1, control command image 2
The band of position in, be determined " F1 " corresponding specified control command image, control command image 4 is located at package image " F2 "
In the corresponding band of position, it is confirmed as " F2 " corresponding specified control command image.
Above provide the methods of determination of two kinds of specified control command images, i.e., if package image is located at package image
In the corresponding band of position, by the band of position, the control command image in addition to package image is determined as specified control life
Enable image；And if package image is located at except the corresponding band of position of package image, by the control command in the band of position
Image is determined as specified control command image；In actual implementation, can be specified by the determination of one of above two mode
Control command image can also determine specified control command image using both modes simultaneously.
Further, above-mentioned specified control command image, can also specifically be determined by following manner：If encapsulation figure
Control command image in the band of position is determined as by designated position of the image position except the corresponding band of position of package image
Specified control command image.Wherein, which can be the specified region delimited in advance, left as shown in above-mentioned Fig. 5
In edge graph plate, the position in the upper right corner is the designated position；In such as the right chart board, the position that the rightmost side one arranges is that this is specified
Position.
Above-mentioned package image usually has specific characteristic；The specific characteristic includes the type, shape, color or bright of image
One kind in degree.As noted above package image " F ", using particular letter as package image, by number as specified control
Order image processed illustrates the control command it needs to be determined that the corresponding package image of the particular letter when particular letter occurs.
During determining the control command of package image, an autonomous block can be packaged, become the autonomous block
Copy block can be real via the copy block that package image encapsulates when autonomous block is limited to quantity or other factors
The purpose that existing autonomous block expands.For example, one piece of chart board for robot acquisition control order image delimited in advance specified number
The position of amount, for placing control command image, such as 16 positions；At this point, the robot may once be only capable of 16 controls of identification
The corresponding control command of order image processed, and execute 16 actions；And if there are package image, the envelopes in control command image
The control command for filling image includes multiple control commands, such as 16, at this point, robot acquires the control command on a chart board
After image, it can execute and be acted more than 16, to increase the quantity of robot execution action.
In aforesaid way, the image analysis flow of robot is defined, and defines the control command of package image really
Determine mode, user can be made to pass through control command image, control command is packaged, to obtain more complicated control life
It enables, improves the convenience of order encapsulation, so that user is more convenient to the control operation of robot；Meanwhile it is more multiple
Miscellaneous control command can control control robot and execute complicated behavior, improve the rich of robot behavior.
Based on the determination method of above-mentioned control command, the embodiment of the present invention additionally provides a kind of robot control method；It should
Method can determine in the control command of package image and complete to execute later；This method comprises the following steps：
Step (1) acquires multiple control command images；
Step (2) identifies the corresponding control command of each control command image, executes the control command；If control command
There are package image in image, the execution between each subcommand and subcommand in the corresponding control command of the package image is obtained
Sequentially；Each subcommand is executed according to execution sequence, to complete the execution of the control command of package image.
In above-mentioned robot control method, processing is packaged to simple control command image, to control robot
More complicated behavior is executed, while also extending the quantity of the executable action of robot, improves the abundant of robot behavior
Property so that user is more convenient to the control operation of robot.
Show in order to make it easy to understand, the embodiment of the present invention additionally provides a kind of concrete application of above-mentioned robot control method
Example, includes the following steps：
Step (1) defines robot behavior meaning and image command (being equivalent to above-mentioned control command) and Action logic
Correspondence sets the placement region of package image and its corresponding band of position in chart board.
Inserting for order picture (being equivalent to above-mentioned control command image) is posted in step (2) user grafting on programming chart board
Piece, as shown in fig. 6, wherein the stain in chart board corner identifies chart board for robot.
Step (3) establishes chart board before robot, and in order to Robot Scanning, robot identifies chart board, and then identifies
Each order picture (being equivalent to above-mentioned control command image) on chart board；Then package image is automatically identified；Schemed according to encapsulation
As determining its corresponding band of position, the corresponding control command of picture in the region is parsed.
Step (4) is according to the Action logic of setting, the corresponding each control command of execute encapsulation image, complete respective behavior with
Function, while will be in the execution sequence encapsulation to the package image between each control command and each control command.
Fig. 7 is the practical step flow chart executed of the corresponding robot of each behavior unit, and in figure, behavior unit is first carried out
1 (wheel is gone ahead 1m；Play voice 1：Hello, I is a robot；Right hand arm swing 1 time), then process performing unit 2
(rotation 180 degree；Play voice 2：This market of Custom House Welcome to Custom House), last process performing unit 3 (plays voice 3：Wish your today
The happiness of object for appreciation；Right arm lifts).In above-mentioned execution unit, it can be to preset completion that each order picture, which is meant that,
The voice of broadcasting is also to be generated in advance or record.
The corresponding control command of package image can be called repeatedly.As shown in figure 8, the control command image pair in Fig. 6
In the package image " F " of the control command encapsulation answered in fig. 8, when package image " F " is called, 9 each behavior list of corresponding diagram
The step of corresponding robot of member practical execution, it is known that, robot identifies that the behavior after chart board shown in Fig. 8 is：It is first carried out
Behavior unit 1 (go ahead 1m by wheel；Play voice 1：Hello, I is a robot；Right hand arm swing 1 time), secondly execute
(the rotation 180 degree of behavior unit 2；Play voice 2：This market of Custom House Welcome to Custom House), then process performing unit 3 (plays voice 3：
Wish the happiness that you play today；Right arm lifts), last process performing unit 4 (plays voice 4：Finally stealthily tell you, it is modern
There is activity in its market hey；It draws back)；The action of each of above-mentioned each behavior unit is performed simultaneously by different executing agencies.
In aforesaid way, the complex command by package image is realized, complicated behavior, letter are executed to control robot
The control mode of Hua Liao robots improves the rich of robot behavior.
The embodiment of the present invention additionally provides the determination method of another control command, and this method is based on the above method
It realizes, in order to further enrich the behavior of robot, the control command of above-mentioned package image can be with condition, judgement, cycle etc.
It is applied in combination, realizes the functions such as the recycling of the control command of image or multiple calling.For example, the control life of package image
It enables after determining, the control command determined can be again packaged as subcommand；Specifically, above-mentioned according to execution sequence
Execute each subcommand, the step of control command to complete execute encapsulation image in, if there are package images pair in subcommand
The control command answered obtains and executes sequence between the corresponding two level subcommand of the control command and two level subcommand；According to holding
Row sequence executes two level subcommand, to complete the execution of the corresponding control command of package image in subcommand.
It is illustrated below by concrete application, this includes the following steps using example：
Step (1) defines robot behavior meaning and image command (being equivalent to above-mentioned control command) and Action logic
Correspondence is set in chart board per the band of position of one grouping of behavior.
Inserting for order picture (being equivalent to above-mentioned control command image) is posted in step (2) user grafting on programming chart board
Piece, as shown in Figure 10, wherein the stain in chart board corner identifies chart board for robot.
Step (3) establishes chart board before robot, and in order to Robot Scanning, robot identifies chart board, and then identifies
Each order picture on chart board；Then package image is automatically identified；Its corresponding band of position is determined according to package image, is solved
The corresponding order of picture in the region is precipitated.
The control command of each order object picture is encapsulated as the control command of the package image by step (4).
After the completion of encapsulation, control command and control command that package image F1 includes directly execute sequence, such as following
Shown in Figure 11；Behavior unit 1 is first carried out, and (wheel is gone ahead 1m；Play voice 1：Hello, I is a robot；Right arm
Swing 1 time), then process performing unit 2 (rotates 180 degree；Play voice 2：This market of Custom House Welcome to Custom House), last process performing
Unit 3 (plays voice 3：Wish the happiness that you play today；Right arm lifts), the control command for completing package image " F1 " is held
Row.In above-mentioned execution unit, it can be to preset completion that each order picture, which is meant that, and the voice played is also advance
It generates or records；The action of each of above-mentioned each behavior unit is performed simultaneously by different executing agencies.
The inserted sheet of order picture is posted in grafting to step (5) user again on programming chart board, as shown in figure 12, wherein chart board
The stain in corner identifies chart board for robot.
Step (6) establishes chart board before robot, and in order to Robot Scanning, robot identifies chart board, and then identifies
Each order picture (being equivalent to above-mentioned control command image) on chart board；Then package image is automatically identified；Schemed according to encapsulation
As corresponding control command image determines its corresponding band of position, the corresponding order of picture in the region is parsed.
The control command of each order object picture is encapsulated as the control command of the package image by step (7).
In step (7), continue to encapsulate on the basis of package image " F1 ", after the completion of encapsulation, control command image
The corresponding control commands of F2 and control command directly execute sequence, as shown in following Figure 13；Behavior unit 1 is first carried out
(wheel is gone ahead 1m；Play voice 1：Hello, I is a robot；Right hand arm swing 1 time), next process performing unit 2
(rotation 180 degree；Play voice 2：This market of Custom House Welcome to Custom House), then process performing unit 3 (plays voice 3：Wish your today
The happiness of object for appreciation；Right arm lifts), then process performing unit 4 (is drawn back；Play voice 4：Finally stealthily tell you, today quotient
Field have activity hey), continue to execute behavior unit 5 (lift left hand；Play voice 5：Have movable place just in my left-hand side), most
Process performing unit 6 (turning left) afterwards completes the execution of package image " F2 "；Each of above-mentioned each behavior unit is acted by not
Same executing agency is performed simultaneously.
The inserted sheet of order picture is posted in grafting to step (8) user again on programming chart board, as shown in figure 14, wherein chart board
The stain in corner identifies chart board for robot.Only has a control command image F2 in Figure 14, at this point, the control that robot executes
It makes shown in order and above-mentioned Figure 13.
The embodiment of the present invention repeatedly encapsulates package image so that robot realizes increasingly complex behavior, improves
Robot behavior it is rich so that user is more convenient to the control operation of robot.
Corresponding to above method embodiment, a kind of structural representation of the determining device of control command shown in Figure 15
Figure, the device are set to robot, which includes：
Image capture module 150, for acquiring multiple control command images；
Order determining module 151, if for there are package images in control command image, corresponding to package image
The band of position in the specified corresponding control command of control command image, determine the corresponding control command of package image.
Mentioned order determining module, is additionally operable to：By the specified control command in the band of position corresponding to package image
The corresponding control command of image, is determined as subcommand；It is determined between subcommand according to the position relationship of specified control command image
Execute sequence；Execution sequence between subcommand and subcommand is preserved and is determined as the corresponding control command of package image.
Above-mentioned specified control command image is obtained by following manner：If it is corresponding that package image is located at package image
In the band of position, by the band of position, the control command image in addition to package image is determined as specified control command figure
Picture；And/or if package image is located at except the corresponding band of position of package image, by the control command figure in the band of position
Picture is determined as specified control command image.
Above-mentioned package image has specific characteristic；Specific characteristic includes one in image type, shape, color or brightness
Kind.
The determining device of control command provided in an embodiment of the present invention, the determination of the control command provided with above-described embodiment
Method technical characteristic having the same reaches identical technique effect so can also solve identical technical problem.
The present embodiment additionally provides a kind of robot corresponding with above method embodiment, which includes processor
And executing agency；Above-mentioned apparatus is set in the processor of robot.
The determination method, apparatus and robot for a kind of control command that the embodiment of the present invention is provided, may be implemented to pass through
Simple picture control command executes complicated behavior to control robot；Complicated picture command can also be parsed, to realize
The encapsulation of picture command, and which is inputted with image and is ordered, and the order of robot complexity is given in a short time, to control
The complex behavior of robot improves the execution efficiency of robot, enriches the behavior act of robot.
A kind of determination method, apparatus for control command that the embodiment of the present invention is provided and the computer program production of robot
Product, including the computer readable storage medium of program code is stored, before the order that said program code includes can be used for execution
Method described in the embodiment of the method for face, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
And/or the specific work process of device, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including several orders are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of determination method of control command, which is characterized in that the method is applied to robot, the method includes：
Acquire multiple control command images；
If there are package images in the control command image, the finger in the band of position corresponding to the package image
The fixed corresponding control command of control command image, determines the corresponding control command of the package image.
2. according to the method described in claim 1, it is characterized in that, in the band of position corresponding to the package image
The specified corresponding control command of control command image, the step of determining the package image corresponding control command, including：
By the specified corresponding control command of control command image in the band of position corresponding to the package image, it is determined as
Subcommand；
It is determined according to the position relationship of the specified control command image and executes sequence between the subcommand；
Execution sequence between the subcommand and the subcommand is determined as the corresponding control command of the package image.
3. method according to claim 1 or 2, which is characterized in that the specified control command image passes through following sides
Formula obtains：
If the package image is located in the corresponding band of position of the package image, by the band of position, remove
Control command image other than the package image is determined as specified control command image；
And/or if the package image is located at except the corresponding band of position of the package image, by the position area
Control command image in domain is determined as specified control command image.
4. according to the method described in claim 3, it is characterized in that, if the package image is located at package image correspondence
The band of position except, by the control command image in the band of position, be determined as specified control command image
Step, including：
If the package image is located at the designated position except the corresponding band of position of the package image, by institute's rheme
The control command image in region is set, specified control command image is determined as.
5. according to the method described in claim 1, it is characterized in that, the package image has specific characteristic；The specified spy
Sign includes one kind in image type, shape, color or brightness.
6. a kind of determining device of control command, which is characterized in that described device is set to robot, and described device includes：
Image capture module, for acquiring multiple control command images；
Order determining module, if for there are package images in the control command image, according to the package image, institute is right
The specified corresponding control command of control command image in the band of position answered determines the corresponding control life of the package image
It enables.
7. device according to claim 6, which is characterized in that the order determining module is additionally operable to：
By the specified corresponding control command of control command image in the band of position corresponding to the package image, it is determined as
Subcommand；
It is determined according to the position relationship of the specified control command image and executes sequence between the subcommand；
Execution sequence between the subcommand and the subcommand is determined as the corresponding control command of the package image.
8. the device described according to claim 6 or 7, which is characterized in that the specified control command image passes through following sides
Formula obtains：
If the package image is located in the corresponding band of position of the package image, by the band of position, remove
Control command image other than the package image is determined as specified control command image；
And/or if the package image is located at except the corresponding band of position of the package image, by the position area
Control command image in domain is determined as specified control command image.
9. device according to claim 6, which is characterized in that the package image has specific characteristic；The specified spy
Sign includes one kind in image type, shape, color or brightness.
10. a kind of robot, which is characterized in that including processor and executing agency；Claim 6-9 any one of them devices
It is set in the processor.
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| WO2020227977A1 (en) * | 2019-05-15 | 2020-11-19 | 深圳市大疆创新科技有限公司 | Control method and device for remotely controlled movable platform and a readable storage medium |
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Address after: Building 65, No. 17, Jiujiang Road, Tongji New Economic Zone, Jimo District, Qingdao City, Shandong Province, 266200 Patentee after: Qingdao Evolver xiaopang Robot Technology Co.,Ltd. Address before: 100192 1005-008, floor 1, building 27, 25 North Third Ring Road West, Haidian District, Beijing Patentee before: BEIJING EVOLVER ROBOTICS Co.,Ltd. |
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