CN108724173A - It is a kind of to the control method of robot motion, device, equipment and robot - Google Patents

Abstract

An embodiment of the present invention provides a kind of to the control method of robot motion, device, equipment and robot, and this method includes：Determine the current working status of robot；Obtain corresponding with current working status default coordinated movement of various economic factors strategy, wherein above-mentioned default coordinated movement of various economic factors strategy is：The holder for limiting robot is no more than the strategy of default rotational angle relative to the rotational angle on chassis；Based on acquired default coordinated movement of various economic factors strategy, the holder and chassis that control robot match resultant motion.Using the embodiment of the present invention to realize robot during the motion, cooperation acts between body and head so that robot more hommization.

Description

It is a kind of to the control method of robot motion, device, equipment and robot

Technical field

The present invention relates to robotic technology field, more particularly to it is a kind of to the control method of robot motion, device, set Standby and robot.

Background technology

With the development of science and technology, the increasingly hommization that robot is designed, robot complete machine can be based on chassis and rotate And rotate, the head of robot can be rotated based on cloud platform rotation.

In the prior art, robot is caused often to go out to appear there is no cooperation rotation between the chassis and holder of robot The uncoordinated phenomenon of body and head, influences user experience.

So, cooperation becomes urgent problem to be solved between how realizing the body and head of control robot.

Invention content

Being designed to provide for the embodiment of the present invention is a kind of to the control method of robot motion, device, equipment and machine People, to realize, cooperation acts between machine human body and head so that robot more hommization.Specific technical solution is such as Under：

On the one hand, an embodiment of the present invention provides a kind of control method to robot motion, the method includes：

Determine the current working status of robot；

Obtain default coordinated movement of various economic factors strategy corresponding with the current working status, wherein the default coordinated movement of various economic factors plan Slightly：The holder for limiting the robot is no more than the strategy of default rotational angle relative to the rotational angle on chassis；

Based on acquired default coordinated movement of various economic factors strategy, the holder and chassis that control the robot match resultant motion.

Optionally, when determine the robot current working status be stare interaction mode when, it is described acquisition with it is described The step of the corresponding default coordinated movement of various economic factors strategy of current working status, including：

It obtains and stares the corresponding default coordinated movement of various economic factors strategy of interaction mode with described；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion Step, including：

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, and the chassis for controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the holder for controlling the robot stops operating；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot controls the machine The holder of device people stops operating, and controls the chassis rotation of the robot, makes described to stare target and be located at regarding for the robot Wild central area；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot, according to the machine The rotation of the holder of device people controls the chassis rotation of the robot, keeps the chassis of the robot and holder axis unified；Or Person

According to target is stared, the cloud platform rotation of the robot is controlled, makes described to stare target and be located at the robot The central area in the visual field；According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the machine is made The chassis of people and holder axis are unified.

Optionally, if the rotational angle in the holder of the robot reaches the default rotational angle, the machine is controlled After the step of holder of device people stops operating, the method further includes：

When be not detected in the visual field of the robot in the first preset duration it is described stare target when, described in control At the cloud platform rotation of robot to the position unified with the chassis axis of the robot.

Optionally, the current working status that the method further includes the determining robot is the mistake for staring interaction mode Journey, wherein the process includes：

Obtain the image of the robot acquisition；

Based on acquired image, judges to whether there is in the visual field of the robot and stare target, wherein is described to stare Target is：Present position within the scope of third pre-determined distance and faces the institute of robot with the robot present position The time of place position is more than the target of the second preset duration, or, present position is pre- at a distance of the 4th with the robot present position If distance range is interior and faces the target of the robot present position, it is default that the third pre-determined distance is more than the described 4th Distance；

When in the visual field for judging the robot in the presence of target is stared, determine that the current working status of the robot is Stare interaction mode.

Optionally, when determine the robot current working status be interactive voice state when, it is described acquisition with it is described The step of the corresponding default coordinated movement of various economic factors strategy of current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the interactive voice state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion Step, including：

With determining the sound source on voice signal place sound source ground orientation；

Based on the sound source orientation and the direction of the robot determine the revolute to the sound source Target rotational angle and target rotational direction；

Based on the target rotational angle and the target rotational direction, the holder and chassis for controlling the robot are matched Resultant motion.

Optionally, described to be based on the target rotational angle and the target rotational direction, control the robot The step of resultant motion is matched on holder and chassis, including：

When the target rotational angle is more than the default rotational angle, the chassis for first controlling the robot does not turn Dynamic, the holder for controlling the robot is rotated along the target rotational direction；

After the holder of the robot rotates the first rotational angle along the target rotational direction, the robot is controlled Chassis rotate the target rotational angle along the target rotational direction, and control the holder of the robot along the target The negative direction of rotation direction rotates first rotational angle, wherein first rotational angle is not more than the default rotation Angle.

Optionally, described to be based on the target rotational angle and the target rotational direction, control the robot The step of resultant motion is matched on holder and chassis, including：

When the target rotational angle is less than or equal to the default rotational angle, the chassis of the robot is controlled not Rotation, the holder for controlling the robot rotate the target rotational angle along the target rotational direction.

Optionally, it is the mistake of interactive voice state that the method, which further includes the current working status of the determining robot, Journey, wherein the process includes：

Obtain the currently received voice signal of the robot；

Judge to whether there is the voice signal comprising presupposed information in acquired voice signal；

When judging there is the voice signal for including the presupposed information in acquired voice signal, the robot is determined Current working status be interactive voice state.

Optionally, the interactive voice state is specially voice wake-up states, and the presupposed information is specially to wake up word.

Optionally, when the current working status for determining the robot is following state, the acquisition and the current work Make the step of the corresponding default coordinated movement of various economic factors strategy of state, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the following state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion Step, including：

According to target is followed, the cloud platform rotation of the robot is controlled, makes described target to be followed to be located at the robot The central area in the visual field；

According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the cloud of the robot is made Platform is no more than the second rotational angle relative to the rotational angle on chassis, wherein second rotational angle is default no more than described Rotational angle.

Optionally, when it is navigational state to determine the current working status of the robot, the acquisition with it is described current The step of the corresponding default coordinated movement of various economic factors strategy of working condition, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the navigational state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion Step, including：

According to navigation routine, the chassis rotation of the robot is controlled；And the holder of the robot is controlled relative to institute The chassis for stating robot does not rotate.

On the other hand, an embodiment of the present invention provides a kind of control device to robot motion, described device includes：

First determining module, the current working status for determining robot；

Acquisition module, for obtaining default coordinated movement of various economic factors strategy corresponding with the current working status, wherein described pre- If coordinated movement of various economic factors strategy is：The holder for limiting the robot is no more than default rotational angle relative to the rotational angle on chassis Strategy；

First control module, holder for based on acquired default coordinated movement of various economic factors strategy, controlling the robot and Match resultant motion in chassis.

Optionally, when it is to stare interaction mode to determine the current working status of the robot, the acquisition module, tool Body is used for

It obtains and stares the corresponding default coordinated movement of various economic factors strategy of interaction mode with described；

First control module, is specifically used for

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, and the chassis for controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the holder for controlling the robot stops operating；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot controls the machine The holder of device people stops operating, and controls the chassis rotation of the robot, makes described to stare target and be located at regarding for the robot Wild central area；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot, according to the machine The rotation of the holder of device people controls the chassis rotation of the robot, keeps the chassis of the robot and holder axis unified；Or Person

According to target is stared, the cloud platform rotation of the robot is controlled, makes described to stare target and be located at the robot The central area in the visual field；According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the machine is made The chassis of people and holder axis are unified.

Optionally, described device further includes the second control module；

Second control module, if the rotational angle for the holder in the robot reaches the default angle of rotation Degree, control the robot holder stop operating after, when in the first preset duration in the visual field of the robot not When staring target described in detecting, the cloud platform rotation extremely position unified with the chassis axis of the robot of the robot is controlled Set place.

Optionally, described device further includes the second determining module, and second determining module is for determining the robot Current working status be to stare interaction mode, wherein second determining module include first acquisition unit, first judge it is single Member and the first determination unit；

The first acquisition unit, the image for obtaining the robot acquisition；

First judging unit judges to whether there is in the visual field of the robot for being based on acquired image Stare target, wherein the target of staring is：Present position is with the robot present position at a distance of third pre-determined distance range Time that is interior and facing the robot present position is more than the target of the second preset duration, or, present position and the machine People present position is in the 4th pre-determined distance and faces the target of the robot present position, and the third is preset Distance is more than the 4th pre-determined distance；

First determination unit, described in when in the visual field for judging the robot in the presence of target is stared, determining The current working status of robot is to stare interaction mode.

Optionally, when it is interactive voice state to determine the current working status of the robot, the acquisition module, tool Body is used for

Obtain default coordinated movement of various economic factors strategy corresponding with the interactive voice state；

First control module includes the second determination unit, third determination unit and the first control unit；

Second determination unit, for determining the sound source on sound source ground where voice signal orientation；

The third determination unit, for based on the sound source orientation and the direction of the robot, determine described in Target rotational angle and target rotational direction of the revolute to the sound source ground；

First control unit controls institute for being based on the target rotational angle and the target rotational direction The holder and chassis for stating robot match resultant motion.

Optionally, first control unit, is specifically used for

When the target rotational angle is more than the default rotational angle, the chassis for first controlling the robot does not turn Dynamic, the holder for controlling the robot is rotated along the target rotational direction；

After the holder of the robot rotates the first rotational angle along the target rotational direction, the robot is controlled Chassis rotate the target rotational angle along the target rotational direction, and control the holder of the robot along the target The negative direction of rotation direction rotates first rotational angle, wherein first rotational angle is not more than the default rotation Angle.

Optionally, first control unit, is specifically used for

When the target rotational angle is less than or equal to the default rotational angle, the chassis of the robot is controlled not Rotation, the holder for controlling the robot rotate the target rotational angle along the target rotational direction.

Optionally, described device further includes third determining module, and the third determining module is for determining the robot Current working status be interactive voice state, the third determining module include second acquisition unit, second judgment unit and 4th determination unit；

The second acquisition unit, the voice signal currently received for obtaining the robot；

The second judgment unit whether there is the voice comprising presupposed information for judging in acquired voice signal Signal；

4th determination unit judges there is the language for including the presupposed information in acquired voice signal for working as Sound signal determines that the current working status of the robot is interactive voice state.

Optionally, the interactive voice state is specially voice wake-up states, and the presupposed information is specially to wake up word.

Optionally, when determining that the current working status of the robot is following state, the acquisition module is specifically used for

Obtain default coordinated movement of various economic factors strategy corresponding with the following state；

First control module, is specifically used for

According to target is followed, the cloud platform rotation of the robot is controlled, makes described target to be followed to be located at the robot The central area in the visual field；

According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the cloud of the robot is made Platform is no more than the second rotational angle relative to the rotational angle on chassis, wherein second rotational angle is default no more than described Rotational angle.

Optionally it is determined that when the current working status of the robot is navigational state, the acquisition module is specifically used for

Obtain default coordinated movement of various economic factors strategy corresponding with the navigational state；

First control module, is specifically used for

According to navigation routine, the chassis rotation of the robot is controlled；And the holder of the robot is controlled relative to institute The chassis for stating robot does not rotate.

On the other hand, an embodiment of the present invention provides a kind of electronic equipment, including processor, communication interface, memory and Communication bus, wherein processor, communication interface, memory complete mutual communication by communication bus；

Communication interface, for being communicated with robot；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes what the embodiment of the present invention was provided Any control method step to robot motion.

On the other hand, an embodiment of the present invention provides a kind of robots, including processor, memory, holder and chassis；

Holder and chassis, for matching resultant motion；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes what the embodiment of the present invention was provided Any control method step to robot motion.

On the other hand, an embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storages Dielectric memory contains computer program, and times that the embodiment of the present invention is provided is realized when the computer program is executed by processor The control method step to robot motion described in one.

In the embodiment of the present invention, the current working status of robot can be determined first；It obtains and current working status pair The default coordinated movement of various economic factors strategy answered, wherein above-mentioned default coordinated movement of various economic factors strategy is：The holder of robot is limited relative to chassis Rotational angle is no more than the strategy of default rotational angle；Based on acquired default coordinated movement of various economic factors strategy, the cloud of robot is controlled Resultant motion is matched on platform and chassis.

In the embodiment of the present invention, after determining the current working status of robot, obtain corresponding with current working status Default coordinated movement of various economic factors strategy, to limit above-mentioned robot during the motion by above-mentioned default coordinated movement of various economic factors strategy, cloud Platform is no more than default rotational angle relative to the rotational angle on chassis and during the motion to avoid above-mentioned robot occurs it Uncoordinated phenomenon is moved between holder and chassis, that is, is avoided the occurrence of and do not met human figure between the body of robot and head The phenomenon that, realize robot during the motion, cooperation acts between body and head so that robot more human nature Change.Certainly, it implements any of the products of the present invention or method must be not necessarily required to reach all the above advantage simultaneously.

Description of the drawings

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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 invention for those of ordinary skill in the art without creative efforts, can be with Obtain other attached drawings according to these attached drawings.

Fig. 1 is a kind of flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 2A is a kind of another flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 2 B are a kind of another flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 2 C are a kind of another flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 2 D are a kind of another flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 3 is a kind of another flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 4 is a kind of another flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 5 is a kind of another flow diagram of control method to robot motion provided in an embodiment of the present invention；

Fig. 6 is a kind of structural schematic diagram of control device to robot motion provided in an embodiment of the present invention；

Fig. 7 is the structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention；

Fig. 8 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

An embodiment of the present invention provides a kind of to the control method of robot motion, device, equipment and robot, to realize During the motion, cooperation acts between body and head so that robot more hommization for robot.

May include walking as follows as shown in Figure 1, an embodiment of the present invention provides a kind of control method to robot motion Suddenly：

S101：Determine the current working status of robot；

It is understood that a kind of control method to robot motion that the embodiment of the present invention is provided, can be applied In any electronic equipment that can be communicated with above-mentioned robot, or applied in above-mentioned robot, this is all possible. In oneainstance, above-mentioned electronic equipment can be smart mobile phone, computer etc..

In one implementation, above-mentioned robot status may include off working state or working condition, when upper State robot status be off working state when, above-mentioned robot can acquire the voice signal of its local environment in real time, and And the image in its local environment can be acquired in real time, this is all possible.It is above-mentioned when above-mentioned robot is in running order Robot can not only acquire the voice signal of its local environment in real time, and can acquire the figure in its local environment in real time Picture, and the image in voice signal that can be based on local environment and/or the local environment that is acquired execute corresponding work Task achievees the effect that interact with personnel.

It in the embodiment of the present invention, can be triggered by button, the triggering modes such as sounds trigger and image triggering, in triggering State robot so that above-mentioned robot status is converted from off working state to working condition.

In oneainstance, the working condition of above-mentioned robot may exist a variety of, such as：Stare interaction mode, voice Interaction mode, following state and navigational state etc..

S102：Obtain default coordinated movement of various economic factors strategy corresponding with current working status, wherein above-mentioned default coordinated movement of various economic factors plan Slightly：The holder for limiting robot is no more than the strategy of default rotational angle relative to the rotational angle on chassis；

In one implementation, when the control method to robot motion that the embodiment of the present invention is provided is applied to electricity When in sub- equipment, in electronic equipment local or the storage device being connect with above-mentioned electronic equipment, above-mentioned machine can be stored with The correspondence of each working condition of people and default coordinated movement of various economic factors strategy, wherein different working conditions can correspond to identical Default coordinated movement of various economic factors strategy, different default coordinated movement of various economic factors strategies can be corresponded to, this is all possible.The embodiment of the present invention In, after electronic equipment determines the current working status of robot, above-mentioned correspondence can be based on, obtain with it is above-mentioned current The corresponding default coordinated movement of various economic factors strategy of working condition.Wherein, the connection type of above-mentioned electronic equipment and storage device can be to have Line connection may be to be wirelessly connected, and is not defined to above-mentioned connection type in the embodiment of the present invention.

When the control method to robot motion that the embodiment of the present invention is provided is applied in robot, above-mentioned machine The correspondence of each working condition of people and default coordinated movement of various economic factors strategy can be stored in robot local.Robot is true After the fixed current working status of itself, it can determine and obtain corresponding with current working status based on the correspondence stored Default coordinated movement of various economic factors strategy.

Wherein, resultant motion is matched between the holder and chassis in order to ensure above-mentioned robot, avoids the occurrence of and does not meet human body shape The phenomenon that state, above-mentioned default coordinated movement of various economic factors strategy can be：The holder for limiting robot does not surpass relative to the rotational angle on chassis Cross the strategy of default rotational angle.In one implementation, may include in above-mentioned default coordinated movement of various economic factors strategy：Control machine The rotation on the chassis of the rotation strategy of the rotation of the holder of people and the rotation control robot of the holder based on above-mentioned robot Rotation strategy；And/or control the chassis of above-mentioned robot rotation rotation strategy and the chassis based on above-mentioned robot Rotation control robot holder rotation rotation strategy.

In oneainstance, default rotational angle set in the corresponding default coordinated movement of various economic factors strategy of different working condition It may be the same or different, this is all possible.Above-mentioned default rotational angle the form of human body can be configured according to 's.

In oneainstance, above-mentioned default rotational angle can identify：The holder of robot is relative to chassis to the left The maximum angle for rotating and/or turning right.

S103：Based on acquired default coordinated movement of various economic factors strategy, the holder and chassis that control robot match resultant motion.

In this step, above-mentioned electronic equipment or robot can be based on acquired default coordinated movement of various economic factors strategy, control machines Resultant motion is matched on the holder of device people and chassis.In one implementation, the holder of robot is controlled in electronic equipment or robot During matching resultant motion with chassis, Ke Yishi：Control the cloud platform rotation of robot and the chassis of robot does not rotate；Alternatively, The cloud platform rotation of robot, and the rotation of the holder based on robot are controlled, the chassis rotation of robot is controlled；Alternatively, control The chassis of robot rotates, and the rotation on the chassis based on robot, controls the cloud platform rotation of robot；Alternatively, control machine The holder of people and chassis rotate respectively, this is all possible.Match the mistake of resultant motion in the holder of above-mentioned control robot and chassis The holder of journey, above-mentioned robot is no more than default rotational angle relative to the rotational angle on chassis.

In the embodiment of the present invention, after determining the current working status of robot, obtain corresponding with current working status Default coordinated movement of various economic factors strategy, to limit above-mentioned robot during the motion by above-mentioned default coordinated movement of various economic factors strategy, cloud Platform is no more than default rotational angle relative to the rotational angle on chassis and during the motion to avoid above-mentioned robot occurs it Uncoordinated phenomenon is moved between holder and chassis, that is, is avoided the occurrence of and do not met human figure between the body of robot and head The phenomenon that, realize robot during the motion, cooperation acts between body and head so that robot more human nature Change.

It is understood that the working condition of above-mentioned robot is there may be a variety of in the embodiment of the present invention, in a kind of feelings In condition, the function of being stared the target appeared in the visual field may be implemented in above-mentioned robot, at this point it is possible to determine above-mentioned machine The working condition of device people is to stare interaction mode.When the current working status of above-mentioned robot is to stare interaction mode, this hair In bright embodiment, above-mentioned electronic equipment or above-mentioned robot can stare the corresponding default coordination of interaction mode based on acquired Motion, the holder and chassis for controlling above-mentioned robot match resultant motion.

In one implementation, as shown in Figure 2 A, the controlling party to robot motion that the embodiment of the present invention is provided Method may include step：

S201A：Determine the current working status of robot；

Wherein, S101 shown in above-mentioned S201A and Fig. 1.

S202A：When the current working status for determining above-mentioned robot shape is interacted when staring interaction mode, to obtain and staring The corresponding default coordinated movement of various economic factors strategy of state；

Wherein, above-mentioned default coordinated movement of various economic factors strategy is：The holder for limiting robot does not surpass relative to the rotational angle on chassis Cross the strategy of default rotational angle；Wherein, which is：It is above-mentioned to stare the corresponding default coordinated movement of various economic factors of interaction mode Angle set by strategy；

S203A：According to target is stared, the cloud platform rotation of robot is controlled, so as to stare the visual field that target is located at robot Central area, and the chassis for controlling robot does not rotate；If the rotational angle of the holder of robot reaches default rotational angle, The holder of control robot stops operating.

In another implementation, as shown in Figure 2 B, the control to robot motion that the embodiment of the present invention is provided Method may include step：

S201B：Determine the current working status of robot；

Wherein, S101 shown in above-mentioned S201B and Fig. 1.

S202B：When the current working status for determining above-mentioned robot shape is interacted when staring interaction mode, to obtain and staring The corresponding default coordinated movement of various economic factors strategy of state；

Wherein, above-mentioned default coordinated movement of various economic factors strategy is：The holder for limiting robot does not surpass relative to the rotational angle on chassis Cross the strategy of default rotational angle；Wherein, which is：It is above-mentioned to stare the corresponding default coordinated movement of various economic factors of interaction mode Angle set by strategy；

S203B：According to target is stared, the cloud platform rotation of robot is controlled, so as to stare the visual field that target is located at robot Central area, first control robot chassis do not rotate；If the rotational angle of the holder of robot reaches default rotational angle, The central area that target is still not located at the visual field of robot is stared, the holder for controlling robot stops operating, and controls robot Chassis rotates, and makes the central area for staring the visual field that target is located at robot.

In another implementation, as shown in Figure 2 C, the control to robot motion that the embodiment of the present invention is provided Method may include step：

S201C：Determine the current working status of robot；

Wherein, S101 shown in above-mentioned S201C and Fig. 1.

S202C：When the current working status for determining above-mentioned robot shape is interacted when staring interaction mode, to obtain and staring The corresponding default coordinated movement of various economic factors strategy of state；

Wherein, above-mentioned default coordinated movement of various economic factors strategy is：The holder for limiting robot does not surpass relative to the rotational angle on chassis Cross the strategy of default rotational angle；Wherein, which is：It is above-mentioned to stare the corresponding default coordinated movement of various economic factors of interaction mode Angle set by strategy；

S203C：According to target is stared, the cloud platform rotation of robot is controlled, so as to stare the visual field that target is located at robot Central area, first control robot chassis do not rotate；If the rotational angle of the holder of robot reaches default rotational angle, It stares the central area that target is still not located at the visual field of robot and the bottom of robot is controlled according to the rotation of the holder of robot Disk rotates, and keeps the chassis of robot and holder axis unified.

In another implementation, as shown in Figure 2 D, the control to robot motion that the embodiment of the present invention is provided Method may include step：

S201D：Determine the current working status of robot；

Wherein, S101 shown in above-mentioned S201D and Fig. 1.

S202D：When the current working status for determining above-mentioned robot shape is interacted when staring interaction mode, to obtain and staring The corresponding default coordinated movement of various economic factors strategy of state；

Wherein, above-mentioned default coordinated movement of various economic factors strategy is：The holder for limiting robot does not surpass relative to the rotational angle on chassis Cross the strategy of default rotational angle；Wherein, which is：It is above-mentioned to stare the corresponding default coordinated movement of various economic factors of interaction mode Angle set by strategy；

S203D：According to target is stared, the cloud platform rotation of robot is controlled, makes to stare the visual field that target is located at robot Central area；According to the rotation of the holder of robot, the chassis rotation of robot is controlled, chassis and the holder axis of robot are made It is unified.

Wherein, the above-mentioned interaction mode of staring in the embodiment of the present invention can be：Above-mentioned robot is to existing in the visual field The working condition stared target and stared.In oneainstance, above-mentioned target of staring can be：Appear in regarding for robot The default target for staring condition of satisfaction in open country, wherein the above-mentioned default condition of staring may include facing the conditions such as robot.

The central area in the visual field of above-mentioned robot can be：The center line left side in the visual field of above-mentioned robot prolong 10% to 16% and the right region prolonged in the range of 10% to 16%；The central area in the visual field of above-mentioned robot may be：With it is upper The distance for stating the central point in the visual field of robot is no more than the region of the first pre-determined distance.

In one implementation, determine that the current working status of above-mentioned robot is Ke Yigen when staring interaction mode According to position of the target in the visual field of robot is stared, holder and/or the chassis rotation of robot are controlled, so as to stare target position Central area in the visual field of above-mentioned robot.In oneainstance, above-mentioned when to stare target be personnel, make to stare target and is located at The central area in the visual field of robot, Ke Yiwei：The face of personnel is set to be located at the central area in the visual field of robot.Electronic equipment Determine that the current working status of above-mentioned robot is when staring interaction mode, above-mentioned default rotational angle can be 60 degree, i.e. machine Rotational angle of the holder of device people relative to the chassis relative to robot to left back and/or to right back is no more than 60 degree.

In one implementation, in order to preferably realize the hommization of robot, the holder of robot can also be controlled Pitching, depression angle can be 40 degree to 70 degree, look up angle can be 40 degree to 70 degree, with guarantee stare target can With positioned at the central area in the visual field of robot, for example, when it is above-mentioned to stare target be personnel when, ensure that the face of personnel can position Central area in the visual field of robot.

In oneainstance, the cloud platform rotation of robot can be controlled and control the chassis of robot and do not rotated, so that solidifying It is located at the central area in the visual field of robot depending on target；At this point, the cloud platform rotation angle when robot reaches default rotational angle, The holder that robot can be controlled stops operating, so that the holder of robot is no more than default turn relative to the rotational angle on chassis Dynamic angle.

For example, work as the fringe region for determining and staring target in the visual field of robot, or determination stares target not in machine It when the central area in the visual field of people, the cloud platform rotation of robot can be controlled and control chassis does not rotate, so as to stare target position Central area in the visual field of robot；It is subsequent, whenever the fringe region stared target and be moved to the visual field of robot, or Determination stares target not at the central area in the visual field of robot, the cloud platform rotation of robot is controlled, so as to stare target position Central area in the visual field of robot；Until the holder when robot reaches pre- relative to the rotational angle on the chassis of robot If when rotational angle, control above-mentioned robot no longer stare it is above-mentioned stare target, that is, control above-mentioned robot holder stop turn It is dynamic.Wherein, the fringe region in the visual field of above-mentioned robot can be：The visual field of above-mentioned robot is vertically carried out to three Timesharing, the left and right edges region in the visual field of above-mentioned robot；Alternatively, the fringe region in the visual field of above-mentioned robot can be：With The distance of the central point in the visual field of above-mentioned robot is more than the region of the second pre-determined distance, wherein above-mentioned second pre-determined distance is not Less than the first pre-determined distance set by the above-mentioned central area for the visual field for stating robot.

It in another scenario, can be first according to position of the target in the visual field of robot be stared, in robot When holder is no more than default rotational angle relative to the rotational angle on chassis, the holder that can first control robot is rotated, And the chassis for controlling robot does not rotate；Until when the rotational angle of the holder of robot reaches default rotational angle, it is above-mentioned solidifying The central area in the visual field of robot is still not located at depending on target, the holder for controlling robot stops operating, and controls the bottom of robot Disk rotates, and makes the central area for staring the visual field that target is located at robot.In the above case said, when electronic equipment controls robot Holder stop operating, control robot chassis rotation when, the state that the holder of above-mentioned robot is presented can be：Relatively It is not rotated in the chassis of robot.I.e. when the holder of robot reaches default rotational angle relative to the rotational angle on chassis, Robot can stare target with wryneck.

Wherein, in the above case said, the opportunity of the cloud platform rotation of electronic equipment control robot can be：It is above-mentioned to stare mesh Mark is in the fringe region in the visual field of robot, Huo Zhewei：The above-mentioned central area stared target and be not located at the visual field of robot.

It in another scenario, can be first according to position of the target in the visual field of robot be stared, in robot When holder is no more than default rotational angle relative to the rotational angle on chassis, the holder that can first control robot is rotated, And the chassis for controlling robot does not rotate；Until when the rotational angle of the holder of robot reaches default rotational angle, it is above-mentioned solidifying It is still not located at the central area in the visual field of robot depending on target, according to the rotation of the holder of robot, controls the chassis of robot Rotation keeps the chassis of robot and holder axis unified.I.e. in one implementation, the rotational angle of the holder of robot reaches To default rotational angle, when the above-mentioned central area for staring the visual field that target is still not located at robot, the holder of robot is controlled It stops operating, while the chassis for controlling robot is rotated along the rotation direction of the holder of robot；And when control robot When chassis is along the rotation direction rotation of the holder of robot, the holder that can control above-mentioned robot turns along the chassis of robot The negative direction rotation in dynamic direction, until the chassis of robot and holder axis are unified, the corresponding robot of holder of robot Chassis stops operating, and in the rotation process of the chassis of above-mentioned robot and holder, above-mentioned target of staring is located at regarding for robot Wild central area.

In another scenario, when determining that the current working status of robot is to stare interaction mode, i.e., basis stares mesh It is marked on the position in the visual field of robot, controls the cloud platform rotation of robot, so as to stare the visual field that target is located at robot Central area, and while controlling the cloud platform rotation of robot controls the chassis of robot according to the holder of robot It rotates and rotates, so that the holder of robot and chassis axis are unified, to stare staring target.

In the embodiment of the present invention, when the current working status for determining above-mentioned robot is to stare interaction mode, controlling When the cloud platform rotation of above-mentioned robot, the velocity of rotation that can control above-mentioned holder is no more than 120 degree per seconds, so that above-mentioned machine For the holder of people in rotation process, speed is unlikely to too fast, and from so that the more hommization during the motion of above-mentioned robot, Improve user experience.

After determining that the holder of robot reaches default rotational angle relative to the rotational angle on chassis, no longer to staring mesh Mark is stared, that is, controls the holder of robot when stopping operating, when in the first preset duration in the visual field of robot not Detect it is above-mentioned stare target after, control at the cloud platform rotation of robot to the position unified with the chassis axis of robot.This In inventive embodiments, cloud platform rotation to the chassis axis with robot of robot can be uniformly：The holder of robot is opposite Rotational angle with chassis is 0.

Specifically, if the rotational angle in the holder of robot reaches default rotational angle, the holder for controlling robot stops After the dynamic step of rotation stop, the method can also include：

When be not detected in the visual field of robot in the first preset duration it is described stare target when, control robot At cloud platform rotation to the position unified with the chassis axis of robot.

Wherein, above-mentioned first preset duration can be pre-set duration, can be by electronic equipment default setting, Can also be that user is independently arranged, this is all possible, and in one implementation, above-mentioned first preset duration can be 2 seconds.

In one implementation, the control method to robot motion that the embodiment of the present invention is provided can also wrap It includes：Determine that the current working status of robot is the process for staring interaction mode, wherein the above process may include：

Obtain the image of robot acquisition；

Based on acquired image, judges to whether there is in the visual field of robot and stare target, wherein staring target is： Present position and robot present position are within the scope of third pre-determined distance and face time of the robot present position More than the target of the second preset duration, or, present position and within the scope of robot present position apart the 4th pre-determined distance and face Towards the target of robot present position, third pre-determined distance is more than the 4th pre-determined distance；

When in the visual field for judging robot in the presence of target is stared, determine that the current working status of robot is to stare interaction State.

Wherein, above-mentioned the characterized range of third pre-determined distance range can be 3~5 meters, i.e. electronic equipment can determine institute Locate position and robot present position in 3~5 meters, and when the time for facing robot present position is more than second default Long target, to stare target；The characterized range of above-mentioned 4th pre-determined distance range can be 0~3 meter, i.e. electronic equipment also may be used To determine apart 0~3 meter of present position and robot present position, and the target of robot present position is faced, to stare mesh Mark.

In the embodiment of the present invention, robot can acquire image by image capture device in real time, work as the embodiment of the present invention When the control method to robot motion provided is applied in electronic equipment, above-mentioned electronic equipment can obtain machine in real time People is identified by image capture device acquired image, and to image, determines to whether there is to be used as in image and stares mesh Target target.When electronic equipment is based on robot acquired image, determines that target is stared in presence in the visual field of robot, Determine that the current working status of robot is to stare interaction mode.When the embodiment of the present invention provided to robot motion's When control method is applied in robot, above-mentioned robot can be in real time to figure that its own is acquired by image capture device As being identified, determine in image with the presence or absence of as the target for staring target.

Wherein, above-mentioned image capture device can acquire color image and depth image, above-mentioned electronic equipment or machine The color image that people can be acquired by above-mentioned image capture device, determine in the visual field of robot whether there is target, and The depth image acquired by above-mentioned image capture device determines the depth information of target, that is, determines target range machine The distance of people；And then determining whether above-mentioned target is to stare target, i.e., above-mentioned electronic equipment or robot can be based on above-mentioned The color image and depth image that image capture device is acquired judge to whether there is in the visual field of robot and stare target.

In one implementation, as shown in figure 3, the controlling party to robot motion that the embodiment of the present invention is provided Method may include step：

S301：Determine the current working status of robot；

Wherein, S101 shown in above-mentioned S301 and Fig. 1.

S302：When it is interactive voice state to determine the current working status of above-mentioned robot, obtain and interactive voice shape The corresponding default coordinated movement of various economic factors strategy of state；Wherein, above-mentioned interactive voice state can be to be carried out to sound source where voice signal It positions and towards the working condition on the sound source ground；

Wherein, above-mentioned default coordinated movement of various economic factors strategy is：The holder for limiting robot does not surpass relative to the rotational angle on chassis Cross the strategy of default rotational angle；Wherein, which is：The corresponding default coordinated movement of various economic factors of above-mentioned interactive voice state Angle set by strategy；

S303：With determining the sound source on voice signal place sound source ground orientation；

S304：Based on sound source orientation and the direction of robot determine revolute to the target rotational on sound source ground Angle and target rotational direction；

S305：Based on target rotational angle and target rotational direction, the holder and chassis that control robot match resultant motion.

In the embodiment of the present invention, the current working status of above-mentioned robot is determined as that after interactive voice state, can obtain Default coordinated movement of various economic factors strategy corresponding with interactive voice state is taken, and determines the sound source place on voice signal place sound source ground Position；Wherein, above-mentioned voice signal can be：It is the signal of interactive voice state to activate the current working status of above-mentioned robot. It is interactive voice state by the current working status of the above-mentioned robot of above-mentioned activation for the convenience of description, in the embodiment of the present invention Voice signal be known as the first voice signal.

It is subsequent, electronic equipment or robot can based on sound source orientation and the direction of robot, determine robot Target rotational angle and the target rotational direction on sound source ground are turned to, and based on identified target rotational angle and target rotational Direction, the holder and chassis for controlling robot match resultant motion.Wherein, in order to reduce the energy consumption of robot, above-mentioned target rotational angle Degree and target rotational direction can be：Revolute to sound source relatively rotates the smaller angle and rotation direction of angle, i.e., When can be that robot turns to facing sound source from current direction, the smaller angle of angle and corresponding rotation be relatively rotated Direction.Such as：Robot is oriented the positive north, the sound source on sound source ground where the first voice signal orientation be north-east, machine It may include two kinds that device people turns to northeastern scheme of rotation from the positive north, Yi Zhongwei：45 degree are rotated to right back；It is another For：215 degree are rotated to left back.At this point, target rotational angle of the revolute determined by above-mentioned electronic equipment to sound source ground Degree is 45 degree, and target rotational direction is right back.

In oneainstance, based on sound source orientation and the direction of robot, identified above-mentioned target rotational angle Above-mentioned default rotational angle may be more than, at this point, in order to enable robot has more hommization, it is above-mentioned to be based on target rotational angle And target rotational direction, control robot holder and chassis match resultant motion the step of, may include：

When target rotational angle is more than default rotational angle, the chassis for first controlling robot does not rotate, and controls robot Holder along target rotational direction rotate；

After the holder of robot rotates the first rotational angle along target rotational direction, the chassis of robot is controlled along target Rotation direction rotating object rotational angle, and control negative direction rotation first rotation of the holder along target rotational direction of robot Angle, wherein the first rotational angle is not more than default rotational angle.

In embodiments of the present invention, the holder that can first control robot rotates the first angle of rotation along target rotational direction Degree, subsequent, the chassis for controlling robot is rotated along target rotational direction, in the embodiment of the present invention, controls the chassis of robot When rotation, the velocity of rotation of the holder of robot adds turning for the chassis of robot equal to the holder own rotation speed of robot Dynamic speed.At this point, when controlling the chassis rotation of robot, the velocity of rotation that electronic equipment controls the holder of robot is 0, i.e., The holder of above-mentioned robot is not rotated relative to the chassis of robot.In oneainstance, when the chassis of control robot is along mesh After marking rotation direction rotating object rotational angle, the negative direction rotation the of the holder of robot along target rotational direction can be controlled One rotational angle, so that the holder of robot and chassis axis are unified, and with facing voice signal place sound source.

Wherein, when it is interactive voice state to determine the current working status of robot, above-mentioned default rotational angle can Think 30 degree, i.e., the holder of robot does not surpass relative to the chassis of robot to left back and/or to the rotational angle of right back Cross 30 degree.In oneainstance, when above-mentioned default rotational angle can be 30 degree, above-mentioned first rotational angle can be 20 degree.

In the embodiment of the present invention, in order to enable robot has more hommization, it is in the current working status of above-mentioned robot When interactive voice state, the velocity of rotation that the holder of above-mentioned robot can be arranged is no more than 70 degree per seconds.

In another scenario, based on sound source orientation and the direction of robot, identified above-mentioned target rotational angle Degree is not more than above-mentioned default rotational angle.Specifically, above-mentioned be based on target rotational angle and target rotational direction, machine is controlled The step of resultant motion is matched on the holder of people and chassis, may include：

When target rotational angle is less than or equal to default rotational angle, the chassis for controlling robot does not rotate, control machine The holder of device people is along target rotational direction rotating object rotational angle.

When electronic equipment or robot determine that target rotational angle is less than or equal to default rotational angle, above-mentioned electronics Equipment or robot can only control the cloud platform rotation of robot, and the chassis for controlling robot does not rotate, so that robot With facing sound source where voice signal, and the chassis of robot is not towards sound source where voice signal for holder.

In one implementation, the control method to robot motion that the embodiment of the present invention is provided can also wrap It includes：Determine that the current working status of robot is the process of interactive voice state, wherein the above process may include：

Obtain the currently received voice signal of robot；

Judge to whether there is the voice signal comprising presupposed information in acquired voice signal；

When judging there is the voice signal comprising presupposed information in acquired voice signal, the current work of robot is determined It is interactive voice state to make state.

In oneainstance, above-mentioned interactive voice state is specially voice wake-up states, and above-mentioned presupposed information is specially to call out Awake word.Above-mentioned wake-up word can be pre-set information, and in oneainstance, above-mentioned wake-up word may include above-mentioned robot Identification information, such as the number of above-mentioned robot, title etc..

In the embodiment of the present invention, above-mentioned robot can be acquired by speech signal collection equipment in local environment in real time Voice signal, it is above-mentioned when the control method to robot motion that the embodiment of the present invention is provided is applied in electronic equipment Electronic equipment can obtain the voice signal that robot is acquired by speech signal collection equipment in real time, and to voice signal into Row identification, determines and whether there is the voice signal comprising presupposed information in acquired voice signal；When determining acquired language When there is the voice signal comprising presupposed information in sound signal, that is, determine that the current working status of robot is interactive voice shape State, and determine that the above-mentioned voice signal comprising presupposed information is：The current working status of above-mentioned robot is activated to be handed over for voice The signal of mutual state.When the control method to robot motion that the embodiment of the present invention is provided is applied in robot, on Can in real time the voice signal acquired by speech signal collection equipment be identified by stating robot, determine above-mentioned voice signal In whether there is the voice signal comprising presupposed information.

In one implementation, as shown in figure 4, the controlling party to robot motion that the embodiment of the present invention is provided Method may include step：

S401：Determine the current working status of robot；

Wherein, S101 shown in above-mentioned S401 and Fig. 1.

S402：When determining that the current working status of robot is following state, default association corresponding with following state is obtained Adjust Motion；Wherein, the working condition that above-mentioned following state can be for robot to following target to be followed；

Above-mentioned default coordinated movement of various economic factors strategy is：The holder of restriction robot is no more than default relative to the rotational angle on chassis The strategy of rotational angle；Wherein, which is：Set by the corresponding default coordinated movement of various economic factors strategy of above-mentioned following state Angle；

S403：According to target is followed, the cloud platform rotation of robot is controlled, is made in the visual field for following target to be located at robot Heart district domain；

S404：According to the rotation of the holder of robot, control the chassis rotation of robot, make the holder of robot relative to The rotational angle on chassis is no more than the second rotational angle, wherein second rotational angle is not more than the default rotational angle.

The central area in the visual field of above-mentioned robot can be：Prolong on the center line position left side in the visual field of above-mentioned robot 10% to 16% and the right region prolonged in the range of 10% to 16%；The central area in the visual field of above-mentioned robot can also For：With the region for being no more than the first pre-determined distance at a distance from the central point in the visual field of above-mentioned robot.

In the embodiment of the present invention, according to position of the target in the visual field of robot is followed, the holder for controlling robot turns It is dynamic, make the central area in the visual field for following target to be located at robot, and in order to follow it is above-mentioned follow target, need according to machine The rotation of the holder of people controls the chassis rotation of robot, i.e., according to the angular speed of the holder of robot, controls the bottom of robot The angular speed of disk makes the holder of robot be no more than the second rotational angle relative to the rotational angle on chassis, wherein the second rotation Angle is not more than default rotational angle.

It is understood that when following target, it is necessary first to which determination follows target position, that is, needs to control machine The cloud platform rotation of people so that follow target be located at robot the visual field central area, it is subsequent, according to the holder of robot Rotation controls the chassis rotation of robot.Due to following uncertainty of objective, the holder of above-mentioned robot is relative to chassis There is also uncertainties for rotational angle, when in order to enable robot can have more hommization, the holder for controlling above-mentioned robot is opposite Rotational angle in chassis is no more than the second rotational angle, wherein the second rotational angle is not more than default rotational angle.In one kind In situation, when following target to move along a straight line, and it is the direction of robot to follow the direction of motion of target, at this point it is possible to control The holder and chassis axis of above-mentioned robot uniformly follow target.In addition, even if being unsatisfactory for above-mentioned following target along straight line Movement, and it is the conditions such as the direction of robot to follow the direction of motion of target, can also control holder and the bottom of above-mentioned robot Disk axis uniformly follows target.

In oneainstance, above-mentioned second rotational angle can be 30 degree, i.e., the holder of above-mentioned robot is relative to chassis Rotational angle be no more than 30 degree.

In oneainstance, it when the above-mentioned robot of control follows target, can be controlled according to the movement velocity for following target The holder of robot processed and the rotation on chassis can control robot and follow mesh when control robot follows target The distance between mark is within the scope of certain distance, such as within the scope of 1.2 meters~1.8 meters；And the angular speed of the holder of robot It is no more than 120 degree per seconds relative to ground, the angular speed on the chassis of robot is no more than 120 degree per seconds relative to ground；And machine The linear velocity on the chassis of device people is no more than 0.8 metre per second (m/s) relative to ground.

The current working status of the above-mentioned above-mentioned robot of determination is the process of following state, may include：

Obtain the currently received voice signal of robot；

And judge in acquired voice signal with the presence or absence of the voice signal for following information comprising preset first；This hair For the convenience of description, following the voice signal of information to be known as the second voice letter comprising preset first by above-mentioned in bright embodiment Number；

When judging exist comprising the second voice signal in acquired voice signal, the work at present of the robot is determined State is following state；Or

Obtain the currently received triggering command of robot；

Judge whether acquired triggering command carries preset second and follow information；

When judging that acquired triggering command carrying preset second follows information, the work at present shape of robot is determined State is following state.

Wherein, above-mentioned preset first follow information that can be the identification information comprising robot and follow and wake up word Information, in oneainstance, the identification information of above-mentioned robot can include number, the title etc. of robot, and above-mentioned follow is called out Awake word can be the words such as " being walked with me ", " following me ".

Above-mentioned triggering command can be that user triggers for above-mentioned robot, can be by clicking robotic surface What set function button was triggered.

In one implementation, when determining that robot receives the second voice signal, electronic equipment can be to second It is positioned to sound source where voice signal, and is determined as the target that sound source where the second voice signal is located in follow target； In another implementation, when determine robot receive follow the triggering command of information comprising preset second when, by machine In the visual field of device people and present position, apart from nearest target, is determined as following target with robot present position.

In one implementation, as shown in figure 5, the controlling party to robot motion that the embodiment of the present invention is provided Method may include step：

S501：Determine the current working status of robot；

Wherein, S101 shown in above-mentioned S501 and Fig. 1.

S502：When determining that the current working status of robot is navigational state, default association corresponding with navigational state is obtained Adjust Motion；Wherein, above-mentioned navigational state can be robot from the working condition for being presently in position and moving to destination；

Above-mentioned default coordinated movement of various economic factors strategy is：The holder of restriction robot is no more than default relative to the rotational angle on chassis The strategy of rotational angle；Wherein, which is：Set by the corresponding default coordinated movement of various economic factors strategy of above-mentioned navigational state Angle；

S503：According to navigation routine, the chassis rotation of robot is controlled；And the holder of robot is controlled relative to robot Chassis do not rotate.

It is understood that when the current working status for determining robot is navigational state, it can be based on determined by Navigation routine controls the chassis rotation of robot, and the holder for controlling robot is not rotated relative to the chassis of robot, that is, is protected Holder and the chassis axis for holding robot are unified.

In embodiments of the present invention, it after the current working status for determining robot is navigational state, can obtain first Navigation map, and the location information that robot is presently in position is obtained, as current location information, and obtain determined purpose The location information on ground, as a purpose location information, wherein include the corresponding location information of each position in above-mentioned navigation map, Above-mentioned each position includes the position that robot is presently in position and destination；It is subsequent, based on navigation map, the mesh obtained Location information and current location information, determine robot from the navigation routine for being presently in position and arriving at；Into And it is based on navigation routine, control the chassis rotation of robot；And control the holder of robot relative to robot chassis not Rotation.Wherein, when determining navigation routine, can be based on the principle for making robot energy consumption minimum, or so that robot Institute determines that navigation routine, etc., the present invention are real through the shortest principle of distance or the shortest principle of institute of robot elapsed time Example is applied not to determining that the principle of navigation routine is defined.

The current working status of the above-mentioned above-mentioned robot of determination is the process of navigational state, may include：

Obtain the currently received voice signal of robot；

Judge in acquired voice signal with the presence or absence of the voice signal for including preset first navigation information；The present invention For the convenience of description, the above-mentioned voice signal comprising preset first navigation information is known as third voice signal in embodiment；

When judging exist comprising third voice signal in acquired voice signal, the current working status of robot is determined For navigational state；Or

Obtain the triggering command for robot；

Judge whether obtained triggering command carries preset second navigation information；

When judging that obtained triggering command carries preset second navigation information, the work at present shape of robot is determined State is navigational state.

Wherein, above-mentioned preset first navigation information can be the identification information comprising robot, navigation wake up word and The information of the location information of destination, in oneainstance, the identification information of above-mentioned robot can include robot number, Title etc., it is above-mentioned to follow that wake up word be the word about the task of execution, such as " take file ".

Above-mentioned triggering command can be that user triggers for above-mentioned robot, can be by clicking robotic surface What set function button was triggered.Alternatively, above-mentioned triggering command is what robot automatically generated, or it is directed to for electronic equipment Above-mentioned robot generates, this is all possible.

Corresponding to above method embodiment, as shown in fig. 6, an embodiment of the present invention provides a kind of controls to robot motion Device processed, described device may include：

First determining module 610, the current working status for determining robot；

Acquisition module 620, for obtaining default coordinated movement of various economic factors strategy corresponding with the current working status, wherein institute Stating default coordinated movement of various economic factors strategy is：The holder for limiting the robot is no more than default angle of rotation relative to the rotational angle on chassis The strategy of degree；

First control module 630, for based on acquired default coordinated movement of various economic factors strategy, controlling the holder of the robot Match resultant motion with chassis.

In the embodiment of the present invention, after determining the current working status of robot, obtain corresponding with current working status Default coordinated movement of various economic factors strategy, to limit above-mentioned robot during the motion by above-mentioned default coordinated movement of various economic factors strategy, cloud Platform is no more than default rotational angle relative to the rotational angle on chassis and during the motion to avoid above-mentioned robot occurs it Uncoordinated phenomenon is moved between holder and chassis, that is, is avoided the occurrence of and do not met human figure between the body of robot and head The phenomenon that, realize robot during the motion, cooperation acts between body and head so that robot more human nature Change.

In one implementation, described when it is to stare interaction mode to determine the current working status of the robot Acquisition module 620, is specifically used for

It obtains and stares the corresponding default coordinated movement of various economic factors strategy of interaction mode with described；

First control module 630, is specifically used for

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, and the chassis for controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the holder for controlling the robot stops operating；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot controls the machine The holder of device people stops operating, and controls the chassis rotation of the robot, makes described to stare target and be located at regarding for the robot Wild central area；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot, according to the machine The rotation of the holder of device people controls the chassis rotation of the robot, keeps the chassis of the robot and holder axis unified；Or Person

According to target is stared, the cloud platform rotation of the robot is controlled, makes described to stare target and be located at the robot The central area in the visual field；According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the machine is made The chassis of people and holder axis are unified.

In one implementation, described device can also include the second control module；

Second control module, if the rotational angle for the holder in the robot reaches the default angle of rotation Degree, control the robot holder stop operating after, when in the first preset duration in the visual field of the robot not When staring target described in detecting, the cloud platform rotation extremely position unified with the chassis axis of the robot of the robot is controlled Set place.

In one implementation, described device can also include the second determining module, and second determining module is used for Determine that the current working status of the robot is to stare interaction mode, wherein second determining module includes the first acquisition Unit, the first judging unit and the first determination unit；

The first acquisition unit, the image for obtaining the robot acquisition；

First judging unit judges to whether there is in the visual field of the robot for being based on acquired image Stare target, wherein the target of staring is：Present position is with the robot present position at a distance of third pre-determined distance range Time that is interior and facing the robot present position is more than the target of the second preset duration, or, present position and the machine People present position is in the 4th pre-determined distance and faces the target of the robot present position, and the third is preset Distance is more than the 4th pre-determined distance；

First determination unit, described in when in the visual field for judging the robot in the presence of target is stared, determining The current working status of robot is to stare interaction mode.

In one implementation, described when it is interactive voice state to determine the current working status of the robot Acquisition module 620, is specifically used for

Obtain default coordinated movement of various economic factors strategy corresponding with the interactive voice state；

First control module 630 includes the second determination unit, third determination unit and the first control unit；

Second determination unit, for determining the sound source on sound source ground where voice signal orientation；

The third determination unit, for based on the sound source orientation and the direction of the robot, determine described in Target rotational angle and target rotational direction of the revolute to the sound source ground；

First control unit controls institute for being based on the target rotational angle and the target rotational direction The holder and chassis for stating robot match resultant motion.

In one implementation, first control unit, is specifically used for

When the target rotational angle is more than the default rotational angle, the chassis for first controlling the robot does not turn Dynamic, the holder for controlling the robot is rotated along the target rotational direction；

After the holder of the robot rotates the first rotational angle along the target rotational direction, the robot is controlled Chassis rotate the target rotational angle along the target rotational direction, and control the holder of the robot along the target The negative direction of rotation direction rotates first rotational angle, wherein first rotational angle is not more than the default rotation Angle.

In one implementation, first control unit, is specifically used for

When the target rotational angle is less than or equal to the default rotational angle, the chassis of the robot is controlled not Rotation, the holder for controlling the robot rotate the target rotational angle along the target rotational direction.

In one implementation, described device further includes third determining module, and the third determining module is for determining The current working status of the robot is interactive voice state, and the third determining module includes second acquisition unit, second Judging unit and the 4th determination unit；

The second acquisition unit, the voice signal currently received for obtaining the robot；

The second judgment unit whether there is the voice comprising presupposed information for judging in acquired voice signal Signal；

4th determination unit judges there is the language for including the presupposed information in acquired voice signal for working as Sound signal determines that the current working status of the robot is interactive voice state.

In one implementation, the interactive voice state is specially voice wake-up states, and the presupposed information is specific To wake up word.

In one implementation, when the current working status for determining the robot is following state, the acquisition mould Block 620, is specifically used for

Obtain default coordinated movement of various economic factors strategy corresponding with the following state；

First control module 630, is specifically used for

According to target is followed, the cloud platform rotation of the robot is controlled, makes described target to be followed to be located at the robot The central area in the visual field；

According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the cloud of the robot is made Platform is no more than the second rotational angle relative to the rotational angle on chassis, wherein second rotational angle is default no more than described Rotational angle.

In one implementation, when determining that the current working status of the robot is navigational state, the acquisition mould Block is specifically used for

Obtain default coordinated movement of various economic factors strategy corresponding with the navigational state；

First control module, is specifically used for

According to navigation routine, the chassis rotation of the robot is controlled；And the holder of the robot is controlled relative to institute The chassis for stating robot does not rotate.

In a kind of realization method, realize that the function for the control method to robot motion that the embodiment of the present invention is provided is soft Part can be installed in the electronic equipment communicated with robot.Above-mentioned electronic equipment can by communication interface with it is upper Robot is stated to be communicated, and control above-mentioned robot holder and chassis match resultant motion.Above-mentioned robot can include control Second motor of the first motor and the rotation of control chassis of cloud platform rotation, electronic equipment is at holder and the bottom for controlling above-mentioned robot When disk matches resultant motion, instruction can be sent to above-mentioned first motor and/or the second motor respectively by communication interface, with by upper It states instruction control first motor rotation and controls cloud platform rotation, and/or, the rotation of the second motor is controlled by above-metioned instruction by is controlled Chassis rotates.

In oneainstance, above-mentioned robot can also include image capture device and speech signal collection equipment.Its In, above-mentioned image capture device can be used for acquiring image, and above-mentioned image may include color image and depth image；Upper predicate Sound signal collecting device can be used for acquiring voice signal.Wherein, above-mentioned image capture device can be camera, above-mentioned voice Signal collecting device can be sensor.

In another realization method, the function for the control method to robot motion that the embodiment of the present invention is provided is realized Software can be installed in robot, above-mentioned robot can be provided through the embodiment of the present invention to robot motion Control method, control the holder for itself being included and chassis and match resultant motion.

Corresponding to above method embodiment, the embodiment of the present invention additionally provides a kind of electronic equipment, as shown in fig. 7, comprises Processor 710, communication interface 720, memory 730 and communication bus 740, wherein processor 710, communication interface 720, storage Device 730 completes mutual communication by communication bus 740,

Communication interface 720, for being communicated with robot；

Memory 730, for storing computer program；

Processor 710 when for executing the computer program stored on memory 730, realizes institute of the embodiment of the present invention Any of the above-described control method to robot motion provided, wherein the control method to robot motion may include step Suddenly：

Determine the current working status of robot；

Obtain default coordinated movement of various economic factors strategy corresponding with the current working status, wherein the default coordinated movement of various economic factors plan Slightly：The holder for limiting the robot is no more than the strategy of default rotational angle relative to the rotational angle on chassis；

Based on acquired default coordinated movement of various economic factors strategy, the holder and chassis that control the robot match resultant motion.

In the embodiment of the present invention, after determining the current working status of robot, obtain corresponding with current working status Default coordinated movement of various economic factors strategy, to limit above-mentioned robot during the motion by above-mentioned default coordinated movement of various economic factors strategy, cloud Platform is no more than default rotational angle relative to the rotational angle on chassis and during the motion to avoid above-mentioned robot occurs it Uncoordinated phenomenon is moved between holder and chassis, that is, is avoided the occurrence of and do not met human figure between the body of robot and head The phenomenon that, realize robot during the motion, cooperation acts between body and head so that robot more human nature Change.

In one implementation, described when it is to stare interaction mode to determine the current working status of the robot Default coordinated movement of various economic factors strategy corresponding with the current working status is obtained, including：

It obtains and stares the corresponding default coordinated movement of various economic factors strategy of interaction mode with described；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, and the chassis for controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the holder for controlling the robot stops operating；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot controls the machine The holder of device people stops operating, and controls the chassis rotation of the robot, makes described to stare target and be located at regarding for the robot Wild central area；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot, according to the machine The rotation of the holder of device people controls the chassis rotation of the robot, keeps the chassis of the robot and holder axis unified；Or Person

According to target is stared, the cloud platform rotation of the robot is controlled, makes described to stare target and be located at the robot The central area in the visual field；According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the machine is made The chassis of people and holder axis are unified.

In one implementation, if the rotational angle in the holder of the robot reaches the default rotational angle, Control the robot holder stop operating after, further include：

When be not detected in the visual field of the robot in the first preset duration it is described stare target when, described in control At the cloud platform rotation of robot to the position unified with the chassis axis of the robot.

In one implementation, the current working status for further including the determining robot is the mistake for staring interaction mode Journey, wherein the process includes：

Obtain the image of the robot acquisition；

Based on acquired image, judges to whether there is in the visual field of the robot and stare target, wherein is described to stare Target is：Present position within the scope of third pre-determined distance and faces the institute of robot with the robot present position The time of place position is more than the target of the second preset duration, or, present position is pre- at a distance of the 4th with the robot present position If distance range is interior and faces the target of the robot present position, it is default that the third pre-determined distance is more than the described 4th Distance；

When in the visual field for judging the robot in the presence of target is stared, determine that the current working status of the robot is Stare interaction mode.

In one implementation, described when it is interactive voice state to determine the current working status of the robot Default coordinated movement of various economic factors strategy corresponding with the current working status is obtained, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the interactive voice state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

With determining the sound source on voice signal place sound source ground orientation；

Based on the sound source orientation and the direction of the robot determine the revolute to the sound source Target rotational angle and target rotational direction；

Based on the target rotational angle and the target rotational direction, the holder and chassis for controlling the robot are matched Resultant motion.

In one implementation, described to be based on the target rotational angle and the target rotational direction, control institute It states the holder of robot and resultant motion is matched on chassis, including：

When the target rotational angle is more than the default rotational angle, the chassis for first controlling the robot does not turn Dynamic, the holder for controlling the robot is rotated along the target rotational direction；

After the holder of the robot rotates the first rotational angle along the target rotational direction, the robot is controlled Chassis rotate the target rotational angle along the target rotational direction, and control the holder of the robot along the target The negative direction of rotation direction rotates first rotational angle, wherein first rotational angle is not more than the default rotation Angle.

In one implementation, described to be based on the target rotational angle and the target rotational direction, control institute It states the holder of robot and resultant motion is matched on chassis, including：

When the target rotational angle is less than or equal to the default rotational angle, the chassis of the robot is controlled not Rotation, the holder for controlling the robot rotate the target rotational angle along the target rotational direction.

In one implementation, the current working status for further including the determining robot is the mistake of interactive voice state Journey, wherein the process includes：

Obtain the currently received voice signal of the robot；

Judge to whether there is the voice signal comprising presupposed information in acquired voice signal；

When judging there is the voice signal for including the presupposed information in acquired voice signal, the robot is determined Current working status be interactive voice state.

In one implementation, the interactive voice state is specially voice wake-up states, and the presupposed information is specific To wake up word.

In one implementation, when determine the robot current working status be following state, it is described acquisition with The corresponding default coordinated movement of various economic factors strategy of the current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the following state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to target is followed, the cloud platform rotation of the robot is controlled, makes described target to be followed to be located at the robot The central area in the visual field；

According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the cloud of the robot is made Platform is no more than the second rotational angle relative to the rotational angle on chassis, wherein second rotational angle is default no more than described Rotational angle.

In one implementation, when it is navigational state to determine the current working status of the robot, the acquisition Default coordinated movement of various economic factors strategy corresponding with the current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the navigational state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to navigation routine, the chassis rotation of the robot is controlled；And the holder of the robot is controlled relative to institute The chassis for stating robot does not rotate.

The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, controlling bus etc..For just It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.

Communication interface is for the communication between above-mentioned electronic equipment and other equipment.

Memory may include random access memory (Random Access Memory, RAM), can also include non-easy The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also To be at least one storage device for being located remotely from aforementioned processor.

Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal Processing, DSP), it is application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete Door or transistor logic, discrete hardware components.

Corresponding to above method embodiment, as shown in figure 8, the embodiment of the present invention additionally provides a kind of robot, including place Manage device 810, memory 820, holder 830 and chassis 840；

Holder 830 and chassis 840, for matching resultant motion；

Memory 820, for storing computer program；

Processor 810 when for executing the computer program stored on memory, realizes that the embodiment of the present invention is provided Any of the above-described control method to robot motion, wherein the control method to robot motion, may include step：

Determine the current working status of robot；

Obtain default coordinated movement of various economic factors strategy corresponding with the current working status, wherein the default coordinated movement of various economic factors plan Slightly：The holder for limiting the robot is no more than the strategy of default rotational angle relative to the rotational angle on chassis；

Based on acquired default coordinated movement of various economic factors strategy, the holder and chassis that control the robot match resultant motion.

In the embodiment of the present invention, after determining the current working status of robot, obtain corresponding with current working status Default coordinated movement of various economic factors strategy, to limit above-mentioned robot during the motion by above-mentioned default coordinated movement of various economic factors strategy, cloud Platform is no more than default rotational angle relative to the rotational angle on chassis and during the motion to avoid above-mentioned robot occurs it Uncoordinated phenomenon is moved between holder and chassis, that is, is avoided the occurrence of and do not met human figure between the body of robot and head The phenomenon that, realize robot during the motion, cooperation acts between body and head so that robot more human nature Change.

In one implementation, described when it is to stare interaction mode to determine the current working status of the robot Default coordinated movement of various economic factors strategy corresponding with the current working status is obtained, including：

It obtains and stares the corresponding default coordinated movement of various economic factors strategy of interaction mode with described；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, and the chassis for controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the holder for controlling the robot stops operating；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot controls the machine The holder of device people stops operating, and controls the chassis rotation of the robot, makes described to stare target and be located at regarding for the robot Wild central area；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot, according to the machine The rotation of the holder of device people controls the chassis rotation of the robot, keeps the chassis of the robot and holder axis unified；Or Person

According to target is stared, the cloud platform rotation of the robot is controlled, makes described to stare target and be located at the robot The central area in the visual field；According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the machine is made The chassis of people and holder axis are unified.

In one implementation, if the rotational angle in the holder of the robot reaches the default rotational angle, Control the robot holder stop operating after, further include：

When be not detected in the visual field of the robot in the first preset duration it is described stare target when, described in control At the cloud platform rotation of robot to the position unified with the chassis axis of the robot.

In one implementation, the current working status for further including the determining robot is the mistake for staring interaction mode Journey, wherein the process includes：

Obtain the image of the robot acquisition；

Based on acquired image, judges to whether there is in the visual field of the robot and stare target, wherein is described to stare Target is：Present position within the scope of third pre-determined distance and faces the institute of robot with the robot present position The time of place position is more than the target of the second preset duration, or, present position is pre- at a distance of the 4th with the robot present position If distance range is interior and faces the target of the robot present position, it is default that the third pre-determined distance is more than the described 4th Distance；

When in the visual field for judging the robot in the presence of target is stared, determine that the current working status of the robot is Stare interaction mode.

In one implementation, described when it is interactive voice state to determine the current working status of the robot Default coordinated movement of various economic factors strategy corresponding with the current working status is obtained, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the interactive voice state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

With determining the sound source on voice signal place sound source ground orientation；

Based on the sound source orientation and the direction of the robot determine the revolute to the sound source Target rotational angle and target rotational direction；

Based on the target rotational angle and the target rotational direction, the holder and chassis for controlling the robot are matched Resultant motion.

In one implementation, described to be based on the target rotational angle and the target rotational direction, control institute It states the holder of robot and resultant motion is matched on chassis, including：

When the target rotational angle is more than the default rotational angle, the chassis for first controlling the robot does not turn Dynamic, the holder for controlling the robot is rotated along the target rotational direction；

After the holder of the robot rotates the first rotational angle along the target rotational direction, the robot is controlled Chassis rotate the target rotational angle along the target rotational direction, and control the holder of the robot along the target The negative direction of rotation direction rotates first rotational angle, wherein first rotational angle is not more than the default rotation Angle.

In one implementation, described to be based on the target rotational angle and the target rotational direction, control institute It states the holder of robot and resultant motion is matched on chassis, including：

When the target rotational angle is less than or equal to the default rotational angle, the chassis of the robot is controlled not Rotation, the holder for controlling the robot rotate the target rotational angle along the target rotational direction.

In one implementation, the current working status for further including the determining robot is the mistake of interactive voice state Journey, wherein the process includes：

Obtain the currently received voice signal of the robot；

Judge to whether there is the voice signal comprising presupposed information in acquired voice signal；

When judging there is the voice signal for including the presupposed information in acquired voice signal, the robot is determined Current working status be interactive voice state.

In one implementation, the interactive voice state is specially voice wake-up states, and the presupposed information is specific To wake up word.

In one implementation, when determine the robot current working status be following state, it is described acquisition with The corresponding default coordinated movement of various economic factors strategy of the current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the following state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to target is followed, the cloud platform rotation of the robot is controlled, makes described target to be followed to be located at the robot The central area in the visual field；

According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the cloud of the robot is made Platform is no more than the second rotational angle relative to the rotational angle on chassis, wherein second rotational angle is default no more than described Rotational angle.

In one implementation, when it is navigational state to determine the current working status of the robot, the acquisition Default coordinated movement of various economic factors strategy corresponding with the current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the navigational state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to navigation routine, the chassis rotation of the robot is controlled；And the holder of the robot is controlled relative to institute The chassis for stating robot does not rotate.

Corresponding to above method embodiment, the embodiment of the present invention additionally provides a kind of computer readable storage medium, described It is stored with computer program in computer readable storage medium, realizes that the present invention is real when the computer program is executed by processor Apply any of the above-described control method to robot motion that example is provided, wherein the control method to robot motion, it can be with Including step：

Determine the current working status of robot；

Obtain default coordinated movement of various economic factors strategy corresponding with the current working status, wherein the default coordinated movement of various economic factors plan Slightly：The holder for limiting the robot is no more than the strategy of default rotational angle relative to the rotational angle on chassis；

Based on acquired default coordinated movement of various economic factors strategy, the holder and chassis that control the robot match resultant motion.

In the embodiment of the present invention, after determining the current working status of robot, obtain corresponding with current working status Default coordinated movement of various economic factors strategy, to limit above-mentioned robot during the motion by above-mentioned default coordinated movement of various economic factors strategy, cloud Platform is no more than default rotational angle relative to the rotational angle on chassis and during the motion to avoid above-mentioned robot occurs it Uncoordinated phenomenon is moved between holder and chassis, that is, is avoided the occurrence of and do not met human figure between the body of robot and head The phenomenon that, realize robot during the motion, cooperation acts between body and head so that robot more human nature Change.

In one implementation, described when it is to stare interaction mode to determine the current working status of the robot Default coordinated movement of various economic factors strategy corresponding with the current working status is obtained, including：

It obtains and stares the corresponding default coordinated movement of various economic factors strategy of interaction mode with described；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, and the chassis for controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the holder for controlling the robot stops operating；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot controls the machine The holder of device people stops operating, and controls the chassis rotation of the robot, makes described to stare target and be located at regarding for the robot Wild central area；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at the robot The visual field central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches To the default rotational angle, the central area stared target and be still not located at the visual field of the robot, according to the machine The rotation of the holder of device people controls the chassis rotation of the robot, keeps the chassis of the robot and holder axis unified；Or Person

According to target is stared, the cloud platform rotation of the robot is controlled, makes described to stare target and be located at the robot The central area in the visual field；According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the machine is made The chassis of people and holder axis are unified.

In one implementation, if the rotational angle in the holder of the robot reaches the default rotational angle, Control the robot holder stop operating after, further include：

When be not detected in the visual field of the robot in the first preset duration it is described stare target when, described in control At the cloud platform rotation of robot to the position unified with the chassis axis of the robot.

In one implementation, the current working status for further including the determining robot is the mistake for staring interaction mode Journey, wherein the process includes：

Obtain the image of the robot acquisition；

Based on acquired image, judges to whether there is in the visual field of the robot and stare target, wherein is described to stare Target is：Present position within the scope of third pre-determined distance and faces the institute of robot with the robot present position The time of place position is more than the target of the second preset duration, or, present position is pre- at a distance of the 4th with the robot present position If distance range is interior and faces the target of the robot present position, it is default that the third pre-determined distance is more than the described 4th Distance；

When in the visual field for judging the robot in the presence of target is stared, determine that the current working status of the robot is Stare interaction mode.

In one implementation, described when it is interactive voice state to determine the current working status of the robot Default coordinated movement of various economic factors strategy corresponding with the current working status is obtained, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the interactive voice state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

With determining the sound source on voice signal place sound source ground orientation；

Based on the sound source orientation and the direction of the robot determine the revolute to the sound source Target rotational angle and target rotational direction；

Based on the target rotational angle and the target rotational direction, the holder and chassis for controlling the robot are matched Resultant motion.

In one implementation, described to be based on the target rotational angle and the target rotational direction, control institute It states the holder of robot and resultant motion is matched on chassis, including：

When the target rotational angle is more than the default rotational angle, the chassis for first controlling the robot does not turn Dynamic, the holder for controlling the robot is rotated along the target rotational direction；

After the holder of the robot rotates the first rotational angle along the target rotational direction, the robot is controlled Chassis rotate the target rotational angle along the target rotational direction, and control the holder of the robot along the target The negative direction of rotation direction rotates first rotational angle, wherein first rotational angle is not more than the default rotation Angle.

In one implementation, described to be based on the target rotational angle and the target rotational direction, control institute It states the holder of robot and resultant motion is matched on chassis, including：

When the target rotational angle is less than or equal to the default rotational angle, the chassis of the robot is controlled not Rotation, the holder for controlling the robot rotate the target rotational angle along the target rotational direction.

In one implementation, the current working status for further including the determining robot is the mistake of interactive voice state Journey, wherein the process includes：

Obtain the currently received voice signal of the robot；

Judge to whether there is the voice signal comprising presupposed information in acquired voice signal；

When judging there is the voice signal for including the presupposed information in acquired voice signal, the robot is determined Current working status be interactive voice state.

In one implementation, the interactive voice state is specially voice wake-up states, and the presupposed information is specific To wake up word.

In one implementation, when determine the robot current working status be following state, it is described acquisition with The corresponding default coordinated movement of various economic factors strategy of the current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the following state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to target is followed, the cloud platform rotation of the robot is controlled, makes described target to be followed to be located at the robot The central area in the visual field；

According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the cloud of the robot is made Platform is no more than the second rotational angle relative to the rotational angle on chassis, wherein second rotational angle is default no more than described Rotational angle.

In one implementation, when it is navigational state to determine the current working status of the robot, the acquisition Default coordinated movement of various economic factors strategy corresponding with the current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the navigational state；

The holder and chassis for based on acquired default coordinated movement of various economic factors strategy, controlling the robot matches resultant motion, Including：

According to navigation routine, the chassis rotation of the robot is controlled；And the holder of the robot is controlled relative to institute The chassis for stating robot does not rotate.

It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

Each embodiment in this specification is all made of relevant mode and describes, identical similar portion between each embodiment Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality For applying example, since it is substantially similar to the method embodiment, so description is fairly simple, related place is referring to embodiment of the method Part explanation.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims (10)

1. a kind of control method to robot motion, which is characterized in that the method includes：

Determine the current working status of robot；

Obtain corresponding with the current working status default coordinated movement of various economic factors strategy, wherein the default coordinated movement of various economic factors strategy is： The holder for limiting the robot is no more than the strategy of default rotational angle relative to the rotational angle on chassis；

Based on acquired default coordinated movement of various economic factors strategy, the holder and chassis that control the robot match resultant motion.

2. according to the method described in claim 1, it is characterized in that, when determining that the current working status of the robot is to stare When interaction mode, the step for obtaining default coordinated movement of various economic factors strategy corresponding with the current working status, including：

It obtains and stares the corresponding default coordinated movement of various economic factors strategy of interaction mode with described；

It is described based on acquired default coordinated movement of various economic factors strategy, control the holder of the robot and the step of resultant motion matched on chassis Suddenly, including：

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at regarding for the robot Wild central area, and the chassis for controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches institute Default rotational angle is stated, the holder for controlling the robot stops operating；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at regarding for the robot Wild central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches institute Default rotational angle is stated, the central area stared target and be still not located at the visual field of the robot controls the robot Holder stop operating, control the chassis rotation of the robot, make the visual field stared target and be located at the robot Central area；Or

According to target is stared, the cloud platform rotation of the robot is controlled, so that the target of staring is located at regarding for the robot Wild central area, the chassis for first controlling the robot does not rotate；If the rotational angle of the holder of the robot reaches institute State default rotational angle, the central area stared target and be still not located at the visual field of the robot, according to the robot Holder rotation, control the chassis rotation of the robot, keep the chassis of the robot and holder axis unified；Or

According to target is stared, the cloud platform rotation of the robot is controlled, makes described to stare the visual field that target is located at the robot Central area；According to the rotation of the holder of the robot, the chassis rotation of the robot is controlled, the robot is made Chassis and holder axis are unified.

3. if according to the method described in claim 2, it is characterized in that, the rotational angle in the holder of the robot reaches institute Default rotational angle is stated, after controlling the step of the holder of the robot stops operating, the method further includes：

When be not detected in the visual field of the robot in the first preset duration it is described stare target when, control the machine At the cloud platform rotation of people to the position unified with the chassis axis of the robot.

4. according to the method in claim 2 or 3, which is characterized in that the method further includes working as the determining robot Preceding working condition is to stare the process of interaction mode, wherein the process includes：

Obtain the image of the robot acquisition；

Based on acquired image, judges to whether there is in the visual field of the robot and stare target, wherein is described to stare target For：Present position within the scope of third pre-determined distance and faces position residing for the robot with the robot present position The time set is more than the target of the second preset duration, or, present position and the robot present position at a distance of the 4th it is default away from From in range and the target of the robot present position is faced, the third pre-determined distance is more than the 4th pre-determined distance；

When in the visual field for judging the robot in the presence of target is stared, determine that the current working status of the robot is to stare Interaction mode.

5. according to the method described in claim 1, it is characterized in that, when determining that the current working status of the robot is voice When interaction mode, the step for obtaining default coordinated movement of various economic factors strategy corresponding with the current working status, including：

Obtain default coordinated movement of various economic factors strategy corresponding with the interactive voice state；

It is described based on acquired default coordinated movement of various economic factors strategy, control the holder of the robot and the step of resultant motion matched on chassis Suddenly, including：

With determining the sound source on voice signal place sound source ground orientation；

Based on the sound source orientation and the direction of the robot determine the revolute to the mesh on the sound source ground Mark rotational angle and target rotational direction；

Based on the target rotational angle and the target rotational direction, the holder and chassis cooperation fortune of the robot are controlled It is dynamic.

6. according to the method described in claim 5, it is characterized in that, described be based on the target rotational angle and the target Rotation direction, control the robot holder and chassis match resultant motion the step of, including：

When the target rotational angle is more than the default rotational angle, the chassis for first controlling the robot does not rotate, control The holder for making the robot is rotated along the target rotational direction；

After the holder of the robot rotates the first rotational angle along the target rotational direction, the bottom of the robot is controlled Disk rotates the target rotational angle along the target rotational direction, and controls the holder of the robot along the target rotational The negative direction in direction rotates first rotational angle, wherein first rotational angle is not more than the default rotational angle.

7. a kind of control device to robot motion, which is characterized in that described device includes：

First determining module, the current working status for determining robot；

Acquisition module, for obtaining default coordinated movement of various economic factors strategy corresponding with the current working status, wherein the default association Adjust Motion be：The holder for limiting the robot is no more than the plan of default rotational angle relative to the rotational angle on chassis Slightly；

First control module, for based on acquired default coordinated movement of various economic factors strategy, controlling holder and the chassis of the robot With resultant motion.

8. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein processing Device, communication interface, memory complete mutual communication by communication bus；

Communication interface, for being communicated with robot；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes that claim 1-6 is any described to machine The control method step of device people movement.

9. a kind of robot, which is characterized in that including processor, memory, holder and chassis；

Holder and chassis, for matching resultant motion；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes that claim 1-6 is any described to machine The control method step of device people movement.

10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium Program realizes claim 1-6 any controls to robot motion when the computer program is executed by processor Method and step.