CN108733084A - Control method, device, robot and the storage medium of revolute - Google Patents
Control method, device, robot and the storage medium of revolute Download PDFInfo
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- CN108733084A CN108733084A CN201810237055.2A CN201810237055A CN108733084A CN 108733084 A CN108733084 A CN 108733084A CN 201810237055 A CN201810237055 A CN 201810237055A CN 108733084 A CN108733084 A CN 108733084A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000002452 interceptive effect Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000003993 interaction Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the present invention provides a kind of control method of revolute, device, robot and storage medium, this method：When satisfaction playbacks back positive condition, the positive goal parameter that playbacks back is searched；If finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, control robot is moved to the corresponding orientation of positive goal parameter that playbacks go back to.Control method, device, robot and the storage medium of revolute provided by the invention so that robot can turn to the corresponding orientation of positive goal parameter that playbacks go back to, and improves machine task efficiency.
Description
Technical field
The present embodiments relate to robotic technology field more particularly to a kind of control method of revolute, device,
Robot and storage medium.
Background technology
With the rapid development of artificial intelligence technology, robot has been applied to multiple fields.For example, when robot and certain
When one target user interacts, the location information according to the target user is needed, holder and the chassis of the robot is rotated, makes
Obtaining robot can be with the position of the face target user, to be interacted with the target user.
After interacting completion with target user, position, the direction of machine user tripod head and the side on chassis of robot
To may change, the variation of the position and angle may influence whether interaction next time.For example, working as robot application
When receptionist in market, robot may make because of interaction before on the inside of holder and chassis face market, this
Sample can cause robot that can not see the visitor to enter at the first time, to influence machine task efficiency, therefore, one
After secondary interaction is completed, which needs to turn to initial position (position before interacting).
However, in currently existing scheme, do not relate to how the robot turns to initial position, machine can be caused in this way
People can not see the visitor to enter at the first time, to influence machine task efficiency.
Invention content
The embodiment of the present invention provides a kind of control method of revolute, device, robot and storage medium, so that
Revolute improves machine task efficiency to initial position.
In a first aspect, the embodiment of the present invention provides a kind of control method of revolute, including：
When satisfaction playbacks back positive condition, the positive goal parameter that playbacks back is searched；
If finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, the machine is controlled
People is moved to the corresponding orientation of positive goal parameter that playbacks go back to.
In one possible implementation, the positive condition that playbacks back, including：
Receive the positive order that playbacks back, robot task terminates at least one of to terminate with robot interactive.
In one possible implementation, the positive goal parameter that playbacks back includes：Robot home position, robot
Positive direction is returned on chassis, robot PTZ level returns positive direction and machine user tripod head vertically returns at least one of positive direction.
In one possible implementation, before searching the positive goal parameter that playbacks back, further include：
First is received to playback back positive goal parameter setting instruction；
The robot current orientation parameters are obtained as the positive goal parameter that playbacks back.
In one possible implementation, before obtaining the positive goal parameter that playbacks back, further include：
Second is received to playback back positive goal parameter setting instruction；
It obtains the described second playback carried in positive goal parameter setting instruction of playbacking back and returns positive goal parameter.
In one possible implementation, when the positive goal parameter that playbacks back includes：Robot home position, machine
When positive direction and robot PTZ level time positive direction are returned in people chassis, according to the positive goal parameter that playbacks back, the machine is controlled
Device people is moved to the corresponding orientation of positive goal parameter that playbacks go back to, including：
Positive direction, which is returned, according to the robot home position and the robot chassis controls the control robot chassis
It is moved to the robot home position, and positive direction is returned towards the robot chassis；
Positive direction is returned according to the robot PTZ level and controls the cloud platform rotation so that the holder is towards the machine
Device user tripod head level returns positive direction.
In one possible implementation, the method further includes：
If searching less than the positive goal parameter that playbacks back, the initial orientation parameter of the robot is obtained；
According to the initial orientation parameter, controls the robot and be returned to the corresponding orientation of the initial orientation parameter.
In one possible implementation, the initial orientation parameter includes：Robot initial position, robot chassis
At least one of inceptive direction, robot PTZ level inceptive direction and the vertical inceptive direction of machine user tripod head.
In one possible implementation, when the initial orientation parameter includes robot initial position and robot bottom
When disk inceptive direction, according to the initial orientation parameter, controlling the robot, to be returned to the initial orientation parameter corresponding
Orientation, including：
After control robot chassis direction is identical with machine user tripod head direction, control robot chassis is moved to the machine
People's initial position, and towards robot chassis inceptive direction.
In one possible implementation, control robot chassis direction is identical with machine user tripod head direction, including：
It controls robot chassis and machine user tripod head relatively rotates, until robot chassis and machine user tripod head axis are united
One.
Second aspect, the embodiment of the present invention also provide a kind of control device of robot, including：
Searching unit, for when satisfaction playbacks back positive condition, searching the positive goal parameter that playbacks back；
Control unit, if for finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back,
It controls the robot and is moved to the corresponding orientation of positive goal parameter that playbacks go back to.
In one possible implementation, the positive condition that playbacks back, including：
Receive the positive order that playbacks back, robot task terminates at least one of to terminate with robot interactive.
In one possible implementation, the positive goal parameter that playbacks back includes：Robot home position, robot
Positive direction is returned on chassis, robot PTZ level returns positive direction and machine user tripod head vertically returns at least one of positive direction.
In one possible implementation, described device further includes：
First receiving unit playbacks back positive goal parameter setting instruction for receiving first；
First acquisition unit, for obtaining the robot current orientation parameters as the positive goal parameter that playbacks back.
In one possible implementation, described device further includes：
Second receiving unit playbacks back positive goal parameter setting instruction for receiving second；
Second acquisition unit returns just for obtaining the described second playback carried in positive goal parameter setting instruction of playbacking back
Target component.
In one possible implementation, when the positive goal parameter that playbacks back includes：Robot home position, machine
When positive direction and robot PTZ level time positive direction are returned in people chassis, described control unit is specifically used for according to the robot
Home position and the robot chassis go back to the positive direction control control robot chassis and are moved to robot playback position
It sets, and positive direction is returned towards the robot chassis；And positive direction is returned according to the robot PTZ level and controls the holder
Rotation so that the holder returns positive direction towards the robot PTZ level.
In one possible implementation, described device further includes
If third acquiring unit obtains the first of the robot for searching less than the positive goal parameter that playbacks back
Beginning direction parameter；
Described control unit, is additionally operable to according to the initial orientation parameter, control the robot be returned to it is described initial
The corresponding orientation of direction parameter.
In one possible implementation, the initial orientation parameter includes：Robot initial position, robot chassis
At least one of inceptive direction, robot PTZ level inceptive direction and the vertical inceptive direction of machine user tripod head.
In one possible implementation, when the initial orientation parameter includes robot initial position and robot bottom
When disk inceptive direction, described control unit, be specifically used for control robot chassis direction it is identical with machine user tripod head direction after, control
Robot chassis processed is moved to the robot initial position, and towards robot chassis inceptive direction.
In one possible implementation, described control unit is specifically used for control robot chassis and robot cloud
Platform relatively rotates, until robot chassis and machine user tripod head axis are unified.
The third aspect, the embodiment of the present invention also provide a kind of robot, which may include：
Processor；And
Memory, the executable instruction for storing the processor；
Wherein, the processor is configured to by executing the executable instruction come above-mentioned first aspect any embodiment institute
The step of control method for the revolute shown.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, are stored thereon with computer journey
Sequence realizes the control of the revolute shown in above-mentioned first aspect any embodiment when described program is executed by processor
The step of method.
Control method, device, robot and the storage medium of a kind of revolute provided in an embodiment of the present invention, true
It is fixed to meet when playback back positive condition, search the positive goal parameter that playbacks back；If the positive goal parameter that playbacks back is found, according to playback
Positive goal parameter is returned, control robot is moved to the corresponding orientation of positive goal parameter that playbacks go back to.It can be seen that the embodiment of the present invention
Control method, device, robot and the storage medium of the revolute of offer lead to when determining satisfaction playbacks back positive condition
It crosses and searches the positive goal parameter that playbacks back, and when finding the playback time positive goal parameter, according to the positive goal parameter that playbacks back, control
Robot processed is moved to playback the go back to corresponding orientation of positive goal parameter, in this way when there is customer to enter market, robot
In the customer that first time finds to need to assist, to improve machine task efficiency.
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 this hair
Some bright embodiments for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of flow chart of the control method of revolute provided in an embodiment of the present invention；
Fig. 2 is provided in an embodiment of the present invention a kind of according to the positive goal parameter that playbacks back, and control robot is moved to playback
Return the schematic diagram in the corresponding orientation of positive goal parameter；
Fig. 3 is the flow chart of the control method of another revolute provided in an embodiment of the present invention；
Fig. 4 is provided in an embodiment of the present invention a kind of according to initial orientation parameter, and control robot is returned to initial orientation
The schematic diagram in the corresponding orientation of parameter；
Fig. 5 is a kind of structural schematic diagram of the control device of revolute provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the control device of another revolute provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Term " first ", " second ", " third " " in description and claims of this specification and above-mentioned attached drawing
The (if present)s such as four " are for distinguishing similar object, without being used to describe specific sequence or precedence.It should manage
The data that solution uses in this way can be interchanged in the appropriate case, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " comprising " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, production
Product or equipment those of are not necessarily limited to clearly to list step or unit, but may include not listing clearly or for this
The intrinsic other steps of processes, method, product or equipment or unit a bit.
A kind of possible application scenarios of the embodiment of the present invention are：Receptionist of the robot application in market, at this
In scene, robot may make because of interaction before on the inside of holder and chassis face market, can lead to robot in this way
The visitor to enter can not be being seen at the first time, to influence machine task efficiency, therefore, in primary interaction completion
Afterwards, which needs to turn to initial position (position before interacting).
However, in currently existing scheme, do not relate to how the robot turns to initial position, so as to cause robot
Working efficiency it is relatively low.In order to realize revolute to initial position (such as corresponding orientation of positive goal parameter), and improve machine
Device task efficiency, an embodiment of the present invention provides a kind of control methods of revolute, playback back just determining to meet
When condition, the positive goal parameter that playbacks back is searched；If finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back,
Control robot is moved to the corresponding orientation of positive goal parameter that playbacks go back to.It can be seen that robot provided in an embodiment of the present invention
The control method of rotation by searching for the positive goal parameter that playbacks back, and is finding this when determining satisfaction playbacks back positive condition
When the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, control robot is moved to the positive goal parameter correspondence that playbacks back
Orientation, in this way when there is customer to enter market, robot can find to need the customer that assists in first time, to carry
High machine task efficiency.
How the technical solution of technical scheme of the present invention and the application is solved with specific embodiment below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for same or analogous concept
Or process repeats no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
It should be noted that in embodiments of the present invention, control robot be moved to playback back just arrive initial position when,
It can be realized by following at least two possible modes, in one possible implementation, initial position can be playback
Positive goal parameter is returned, which, which returns positive goal parameter, to be arranged by default, so that when satisfaction playbacks back positive condition,
Search the positive goal parameter that playbacks back；And positive goal parameter is returned according to the playback, control robot is moved to the positive goal ginseng that playbacks back
The corresponding orientation of number, specifically refers to the description in following embodiments one.In alternatively possible realization method, without advance
Setting playback back card target component, but is playbacked back positive condition in satisfaction, and lookup less than playback back positive goal parameter when, then obtain
Take the initial orientation parameter of robot；And according to initial orientation parameter, it is corresponding that control robot is returned to initial orientation parameter
Orientation specifically refers to the description in following embodiments two.In the following, will can to two kinds by following embodiments one and embodiment two
The realization method of energy is described in detail.
Embodiment one：
Fig. 1 is a kind of flow chart of the control method of revolute provided in an embodiment of the present invention, the revolute
Control method can be executed by the control device of revolute, the control device of the revolute can be integrated in machine
In the processor of people.Shown in Figure 1, the control method of the revolute may include：
S101, it receives first and playbacks back positive goal parameter setting instruction.
It is exemplary, when positive goal parameter setting instruction is playbacked back in reception first, the interactive interface of robot can be passed through
This is received first to playback back positive goal parameter setting instruction.The interactive interface of the robot can be speech interface, or
Input interface.When interactive interface is speech interface, the voice that robot can receive operator's input by speech interface refers to
Enable information；When interactive interface is input interface, robot can receive the literal order of operator's input by input interface
Information.Further, command information can be " please obtain current orientation parameters ", it is of course also possible to be similarly used for referring to for other
Show the instruction information for obtaining current orientation parameters.It should be noted that the current orientation parameters are the positive goal parameter that playbacks back.
S102, robot current orientation parameters are obtained as the positive goal parameter that playbacks back.
Optionally, the positive goal parameter that playbacks back may include robot home position, robot chassis time positive direction, machine
User tripod head level returns positive direction and machine user tripod head vertically returns at least one of positive direction.
After positive goal parameter setting instruction is playbacked back in reception first, so that it may work as front to execute S102 acquisitions robot
Position parameter, and using current orientation parameters as the positive goal parameter that playbacks back.To return positive goal state modulator machine by the playback
People is moved to the corresponding orientation of positive goal parameter that playbacks go back to.
It is to receive the first playback when positive goal parameter is playbacked back in acquisition it can be seen that in above-mentioned S101 and S102
It returns after positive goal parameter setting instruction, obtains the current orientation parameters of robot, and using the current orientation parameters as playback
Positive goal parameter is returned, positive goal parameter is returned to obtain the playback.Certainly, obtain playback back positive goal parameter when, can be with
Playback back positive goal parameter setting instruction by receiving second, and this second playback back in positive goal parameter setting instruction carrying this
Playback back positive goal parameter, so that the playback carried in positive goal parameter setting instruction of playbacking back according to second is returned just
Target component directly acquires the playback and returns positive goal parameter.
S103, meet playback back positive condition when, search and playback back positive goal parameter.
Optionally, in embodiments of the present invention, the positive condition that playbacks back may include receiving the positive order that playbacks go back to, robot
Task terminates at least one of to terminate with robot interactive.
Wherein, determine robot interactive terminate whether at the end of, can be by preset time, judging whether to detect
To the characteristic information of target object, if not detecting the characteristic information of target object, illustrate that robot interactive terminates.Example
, preset time period can be 5 seconds, or 6 seconds, it is of course also possible to be 8 seconds.It can specifically carry out according to actual needs
Setting, here, specially how many for preset time period, the embodiment of the present invention is not particularly limited.It is exemplary, target object
Characteristic information can be face information, or human body information.
When determining satisfaction playbacks back positive condition, then need first to search and obtain the positive goal parameter that playbacks back, to pass through this
The positive goal state modulator robot that playbacks back is moved to the corresponding orientation of positive goal parameter that playbacks go back to.
If S104, finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, control robot is moved to
The corresponding orientation of the positive goal parameter that playbacks back.
Optionally, in embodiments of the present invention, when the positive goal parameter that playbacks back includes：Robot home position, robot
When positive direction and robot PTZ level time positive direction are returned in chassis, then S102 controls robot according to the positive goal parameter that playbacks back
It is moved to the corresponding orientation of positive goal parameter that playbacks go back to, can be by following S1041 and S1042, shown in Figure 2, Fig. 2 is
Provided in an embodiment of the present invention a kind of according to the positive goal parameter that playbacks back, control robot is moved to the positive goal parameter pair that playbacks back
The schematic diagram in the orientation answered.
If S1041, finding the positive goal parameter that playbacks back, positive direction is returned according to robot home position and robot chassis
Control robot chassis is moved to robot home position, and returns positive direction towards robot chassis.
It is moved to robot home position on control robot chassis, and returns the process of positive direction towards robot chassis
In, can chassis first be controlled according to the home position of robot and be moved to the home position, the home position is moved on chassis
And then positive direction control chassis rotation is returned according to robot chassis so that pros are gone back in robot chassis towards robot chassis
To.It is of course also possible to first return positive direction control chassis rotation according to robot chassis so that robot chassis is towards robot bottom
Disk returns positive direction, the home position is moved to further according to the home position control chassis of robot, if according to the playback of robot
During position control chassis is moved to the home position so that positive direction is returned in chassis when front direction deviates from chassis, then
It can return positive direction when front direction and chassis according to the chassis and adjust chassis rotation again, so that robot chassis is moved to
Robot home position, and positive direction is returned towards robot chassis, in this way when there is customer to enter market, robot can be
The customer for needing to assist is found at the first time, to improve machine task efficiency.
It should be noted that in embodiments of the present invention, chassis returns positive direction towards robot chassis and can be understood as this
Positive direction is returned on face robot chassis in chassis, it is understood that has predetermined angle to return positive direction with face robot chassis.
Wherein, by taking face robot chassis time positive direction is 0 degree as an example, which can be with -7 degree to any value in 7 degree.
If S1042, finding the positive goal parameter that playbacks back, positive direction control holder is returned according to robot PTZ level and is turned
It is dynamic so that holder returns positive direction towards robot PTZ level.
During controlling holder towards robot PTZ level time positive direction, it can be returned according to robot PTZ level
Positive direction controls cloud platform rotation, so that holder returns positive direction towards robot PTZ level.
Likewise, in embodiments of the present invention, holder returns positive direction towards robot PTZ level and can be understood as the cloud
Platform face robot PTZ level returns positive direction, it is understood that for face robot PTZ level return positive direction have it is default
Angle.
It should be noted that in embodiments of the present invention, having no sequencing before S1041 and S1042, can first carrying out
S1041, then execute S1042；S1042 can also be first carried out, then executes S1041, here, the embodiment of the present invention is only to first carry out
S1041, then execute and illustrate for S1042, but do not represent the embodiment of the present invention and be limited only to this.
An embodiment of the present invention provides a kind of control methods of revolute, when determining satisfaction playbacks back positive condition,
Search the positive goal parameter that playbacks back；If finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, machine is controlled
People is moved to the corresponding orientation of positive goal parameter that playbacks go back to.It can be seen that the control of revolute provided in an embodiment of the present invention
Method processed by searching for the positive goal parameter that playbacks back, and is returned just when determining satisfaction playbacks back positive condition finding the playback
When target component, according to the positive goal parameter that playbacks back, control robot is moved to the corresponding orientation of positive goal parameter that playbacks go back to, this
For sample when there is customer to enter market, robot can find the customer for needing to assist in first time, to improve machine
Task efficiency.
Embodiment two：
Fig. 3 is the flow chart of the control method of another revolute provided in an embodiment of the present invention, which turns
Dynamic control method can equally be executed by the control device of revolute, and the control device of the revolute can integrate
In the processor of robot.Shown in Figure 3, the control method of the revolute may include：
S301, meet playback back positive condition when, search and playback back positive goal parameter.
Optionally, in embodiments of the present invention, the positive condition that playbacks back may include receiving the positive order that playbacks go back to, robot
Task terminates at least one of to terminate with robot interactive.
Wherein, determine robot interactive terminate whether at the end of, can be by preset time, judging whether to detect
To the characteristic information of target object, if not detecting the characteristic information of target object, illustrate that robot interactive terminates.Example
, preset time period can be 5 seconds, or 6 seconds, it is of course also possible to be 8 seconds.It can specifically carry out according to actual needs
Setting, here, specially how many for preset time period, the embodiment of the present invention is not particularly limited.It is exemplary, target object
Characteristic information can be face information, or human body information.
When determining satisfaction playbacks back positive condition, then need first to search and obtain the positive goal parameter that playbacks back, to pass through this
The positive goal state modulator robot that playbacks back is moved to the corresponding orientation of positive goal parameter that playbacks go back to.
If S302, searching less than the positive goal parameter that playbacks back, the initial orientation parameter of robot is obtained.
Optionally, initial orientation parameter may include robot initial position, robot chassis inceptive direction, robot cloud
At least one of the horizontal inceptive direction of platform and the vertical inceptive direction of machine user tripod head.
When search less than playback back positive goal parameter when, the initial orientation parameter of robot can be obtained.It is exemplary, it is obtaining
When taking the initial orientation parameter of robot, current ambient image information and initial environment image information acquisition machine can be passed through
The initial orientation parameter of people.
S303, according to initial orientation parameter, control robot is returned to the corresponding orientation of initial orientation parameter.
Optionally, when initial direction parameter includes robot initial position and robot chassis inceptive direction, S303 roots
According to initial orientation parameter, control robot is returned to the corresponding orientation of initial orientation parameter, can by following S3031 and
S3032, shown in Figure 4, Fig. 4 is provided in an embodiment of the present invention a kind of according to initial orientation parameter, and control robot returns
Return to the schematic diagram in the corresponding orientation of initial orientation parameter.
S3031, control robot chassis direction are identical with machine user tripod head direction.
Optionally, it can be relatively rotated by controlling robot chassis and machine user tripod head, until robot chassis and machine
Device user tripod head axis is unified, so that robot chassis direction is identical with machine user tripod head direction.
It is exemplary, it is relatively rotated on control robot chassis and machine user tripod head, until robot chassis and robot cloud
When platform axis is unified, it can first control holder and stop operating, and obtain holder works as front direction, work as front get holder
To later, so that it may to control chassis rotation, due to velocity of rotation (velocity of rotation of the speed of holder equal to holder oneself of holder
The sum of with the velocity of rotation on chassis) therefore the velocity of rotation that is more than chassis works as in order to avoid holder deviates under the drive on chassis
Front direction needs to control holder and the rotation of chassis negative direction, until robot chassis and machine user tripod head axis are unified, to make
It is identical with machine user tripod head direction to obtain robot chassis direction.
It should be noted that in embodiments of the present invention, the axis on holder and chassis uniformly can be understood as the holder and
Angle between chassis is 0 degree, it is understood that the angle between holder and chassis is default angle.
S3032, control robot chassis are moved to robot initial position, and towards robot chassis inceptive direction.
By S3031 control robot chassis direction with machine user tripod head direction it is identical after, can be according to robot
Initial position control robot chassis is moved to robot initial position, and is turned according to robot chassis inceptive direction control chassis
It is dynamic so that holder rotates together with chassis under the drive on chassis and towards robot chassis inceptive direction, having customer in this way
When into market, robot can find the customer for needing to assist in first time, to improve the work effect of robot
Rate.
An embodiment of the present invention provides a kind of control methods of revolute, when determining satisfaction playbacks back positive condition,
Search the positive goal parameter that playbacks back；If searching less than the positive goal parameter that playbacks back, when satisfaction playbacks back positive condition, machine is obtained
The initial orientation parameter of device people, and according to initial orientation parameter, control robot is returned to the corresponding orientation of initial orientation parameter.
It can be seen that the control method of revolute provided in an embodiment of the present invention, meets playback back positive condition and lookup determining
Less than playback back positive goal parameter when, by obtaining the initial orientation parameter of robot, and according to initial orientation parameter, control machine
Device people is returned to the corresponding orientation of initial orientation parameter, and in this way when there is customer to enter market, robot can be at first
Between find to need the customer that assists, to improve machine task efficiency.
Fig. 5 is a kind of structural schematic diagram of the control device 50 of revolute provided in an embodiment of the present invention, is referred to
Shown in Fig. 5, the control device 50 of the revolute may include：
Searching unit 501, for when satisfaction playbacks back positive condition, searching the positive goal parameter that playbacks back.
Control unit 502, if for finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, control
Robot is moved to the corresponding orientation of positive goal parameter that playbacks go back to.
Optionally, playback back positive condition, including：Receive the positive order that playbacks back, robot task terminates to hand over robot
At least one of mutually terminate.
Optionally, the positive goal parameter that playbacks back includes：Positive direction, robot are gone back in robot home position, robot chassis
PTZ level returns positive direction and machine user tripod head vertically returns at least one of positive direction.
Optionally, the control device 50 of the revolute can also include：First receiving unit 503 and first obtains single
Member 504, shown in Figure 6, Fig. 6 is the structure of the control device 50 of another revolute provided in an embodiment of the present invention
Schematic diagram.
First receiving unit 503 playbacks back positive goal parameter setting instruction for receiving first.
First acquisition unit 504, for obtaining robot current orientation parameters as the positive goal parameter that playbacks back.
Optionally, the control device 50 of the revolute can also include：
Second receiving unit 505 playbacks back positive goal parameter setting instruction for receiving second.
Second acquisition unit 506 returns just for obtaining the second playback carried in positive goal parameter setting instruction of playbacking back
Target component.
Optionally, when the positive goal parameter that playbacks back includes：Positive direction and machine are returned in robot home position, robot chassis
When user tripod head level returns positive direction, control unit 502 is specifically used for going back to pros according to robot home position and robot chassis
It is moved to robot home position to control robot chassis, and positive direction is returned towards robot chassis；And according to robot cloud
Platform level returns positive direction and controls cloud platform rotation so that holder returns positive direction towards the robot PTZ level.
Optionally, the control device 50 of the revolute can also include：
If third acquiring unit 507 obtains the initial orientation of robot for searching less than the positive goal parameter that playbacks back
Parameter.
Control unit 502 is additionally operable to according to initial orientation parameter, and it is corresponding that control robot is returned to initial orientation parameter
Orientation.
Optionally, initial orientation parameter includes：Robot initial position, robot chassis inceptive direction, machine user tripod head
At least one of horizontal inceptive direction and the vertical inceptive direction of machine user tripod head.
Optionally, when initial direction parameter includes robot initial position and robot chassis inceptive direction, control is single
Member 502, be specifically used for control robot chassis direction it is identical with machine user tripod head direction after, control robot chassis is moved to machine
Device people's initial position, and towards robot chassis inceptive direction.
Optionally, control unit 502, are specifically used for control robot chassis and machine user tripod head relatively rotates, until machine
Device people chassis and machine user tripod head axis are unified.
The control device 50 of revolute provided in an embodiment of the present invention accordingly can perform shown in any embodiment
The technical solution of the control method of revolute, implementing principle and technical effect are similar, and details are not described herein.
Fig. 7 is a kind of structural schematic diagram of robot 70 provided in an embodiment of the present invention, is referred to shown in 7, the robot
May include：
Processor 701；And
Memory 702, the executable instruction for storing processor 701；
Wherein, processor 701 is configured to execute machine shown in any of the above-described embodiment by executing executable instruction
The step of control method of device people rotation.
Robot 70 provided in an embodiment of the present invention accordingly can perform the control of revolute shown in any embodiment
The technical solution of method processed, implementing principle and technical effect are similar, and details are not described herein.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, program quilt
The step of control method of revolute shown in any of the above-described embodiment is realized when processor executes.
Computer readable storage medium provided in an embodiment of the present invention accordingly can perform machine shown in any embodiment
The technical solution of the control method of people's rotation, implementing principle and technical effect are similar, and details are not described herein.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer read/write memory medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：Read-only memory
(Read-Only Memory, abbreviation ROM), random access memory (random access memory, abbreviation RAM), magnetic disc
Or the various media that can store program code such as CD.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of control method of robot, which is characterized in that including：
When satisfaction playbacks back positive condition, the positive goal parameter that playbacks back is searched；
If finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, controls the robot and move
It moves to the corresponding orientation of positive goal parameter that playbacks back.
2. according to the method described in claim 1, it is characterized in that, the positive condition that playbacks back, including：
Receive the positive order that playbacks back, robot task terminates at least one of to terminate with robot interactive.
3. according to the method described in claim 1, it is characterized in that, the positive goal parameter that playbacks back includes：Robot playbacks
Positive direction is returned in position, robot chassis, robot PTZ level returns positive direction and machine user tripod head vertically returns in positive direction extremely
It is one few.
4. according to the method described in claim 1, it is characterized in that, before searching the positive goal parameter that playbacks back, further include：
First is received to playback back positive goal parameter setting instruction；
The robot current orientation parameters are obtained as the positive goal parameter that playbacks back.
5. according to the method described in claim 1, it is characterized in that, before searching the positive goal parameter that playbacks back, further include：
Second is received to playback back positive goal parameter setting instruction；
It obtains the described second playback carried in positive goal parameter setting instruction of playbacking back and returns positive goal parameter.
6. according to the method described in claim 3, it is characterized in that, when the positive goal parameter that playbacks back includes：Robot is returned
When position position, robot chassis return positive direction and robot PTZ level and return positive direction, according to the positive goal parameter that playbacks back,
It controls the robot and is moved to the corresponding orientation of positive goal parameter that playbacks go back to, including：
Positive direction, which is returned, according to the robot home position and the robot chassis controls the control robot chassis movement
Positive direction is returned to the robot home position, and towards the robot chassis；
Positive direction is returned according to the robot PTZ level and controls the cloud platform rotation so that the holder is towards the robot
PTZ level returns positive direction.
7. according to the method described in claim 1, it is characterized in that, further including：
If searching less than the positive goal parameter that playbacks back, the initial orientation parameter of the robot is obtained；
According to the initial orientation parameter, controls the robot and be returned to the corresponding orientation of the initial orientation parameter.
8. a kind of control device of robot, which is characterized in that including：
Searching unit, for when satisfaction playbacks back positive condition, searching the positive goal parameter that playbacks back；
Control unit, if for finding the positive goal parameter that playbacks back, according to the positive goal parameter that playbacks back, control
The robot is moved to the corresponding orientation of positive goal parameter that playbacks go back to.
9. a kind of robot, which is characterized in that including：
Processor；And
Memory, the executable instruction for storing the processor；
Wherein, the processor is configured to require any one of 1~7 machine by executing the executable instruction come perform claim
The step of control method of device people rotation.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described program is handled
The step of control method of any one of claim 1~7 revolute is realized when device executes.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810237055.2A CN108733084A (en) | 2018-03-21 | 2018-03-21 | Control method, device, robot and the storage medium of revolute |
| PCT/CN2019/078904 WO2019179470A1 (en) | 2018-03-21 | 2019-03-20 | Robot rotation control method and apparatus, and robot and storage medium |
| TW108109762A TW201941006A (en) | 2018-03-21 | 2019-03-21 | Robot rotation control method and apparatus, and robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810237055.2A CN108733084A (en) | 2018-03-21 | 2018-03-21 | Control method, device, robot and the storage medium of revolute |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108733084A true CN108733084A (en) | 2018-11-02 |
Family
ID=63940457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810237055.2A Pending CN108733084A (en) | 2018-03-21 | 2018-03-21 | Control method, device, robot and the storage medium of revolute |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN108733084A (en) |
| TW (1) | TW201941006A (en) |
| WO (1) | WO2019179470A1 (en) |
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|---|---|---|---|---|
| WO2019179470A1 (en) * | 2018-03-21 | 2019-09-26 | 北京猎户星空科技有限公司 | Robot rotation control method and apparatus, and robot and storage medium |
| CN114384909A (en) * | 2021-12-27 | 2022-04-22 | 达闼机器人有限公司 | Robot path planning method and device and storage medium |
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Also Published As
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| TW201941006A (en) | 2019-10-16 |
| WO2019179470A1 (en) | 2019-09-26 |
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Application publication date: 20181102 |