CN108972565A - Robot instruction's method of controlling operation and its system - Google Patents
Robot instruction's method of controlling operation and its system Download PDFInfo
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- CN108972565A CN108972565A CN201811128190.XA CN201811128190A CN108972565A CN 108972565 A CN108972565 A CN 108972565A CN 201811128190 A CN201811128190 A CN 201811128190A CN 108972565 A CN108972565 A CN 108972565A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 230000000875 corresponding effect Effects 0.000 claims abstract description 20
- 230000001276 controlling effect Effects 0.000 claims abstract description 12
- 230000002452 interceptive effect Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000153 supplemental effect Effects 0.000 description 2
- 241000272814 Anser sp. Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses robot instruction's method of controlling operation, robot ambulation path is carried out gridding in advance by technical staff, and the content of robot execution movement is marked on the grid of each position, then in advance give robotic programming, make robot after reaching designated position can with automatic sensing present position and execute present position mark movement content；User, which inputs robot, can be used mobile terminal, magnetic card swipe or directly issues phonetic order by user when instructing, so that operation robot is more freely convenient.Its control system includes instruction input module, instruction identification module, location sensitive module, control centre's module, database update module and robot execution unit, and mutually coordinated cooperation makes robot execute corresponding actions under the control of user's instruction action between each module.The mode for controlling robot the invention enables user's instruction action is more comprehensively convenient, and the entertainment interactive of robot is also more preferable.
Description
Technical field
The present invention relates to artificial intelligence and robot location's induction technology field, specially a kind of robot instruction acts control
Method and its system processed.
Background technique
In recent years, the Artificial Intelligence Development impetus was swift and violent, had come into a variety of different fields.The conduct of interaction education robot
One of representative technology of artificial intelligence gradually come into family, school, by the mode taught through lively activities, can excite comprehensively
Students ' interest of study, training student integration capability.Interaction education robot likes by parents of student, the development of technology
With progress also all the time not by the concern of people.
The invention of the prior art such as Publication No. CN106985150A is related to a kind of method for controlling robot motion: obtaining
The action movie supplemental characteristic of user's input；Action movie program file is generated according to action movie supplemental characteristic, and is each of generation
Action movie program file distributes action movie serial number；By the connection relationship with robot pre-established, by the action movie of generation
Program file and the corresponding action movie serial number of action movie program file are sent to robot；Establish action movie serial number and action movie control
The mapping relations one by one of button processed；User is obtained to the trigger action of action movie control button, machine is generated according to trigger action
Robot motion instruction is sent to robot, so that robot is according to the action movie carried in action command by human action instruction
Serial number searches corresponding action movie program file, and executes lookup action movie program file and make corresponding movement.The invention
It is a kind of control robot motion method robot can be made neatly to make various movement according to user demand.But it is being realized
User interacts aspect with robot, and robot instruction's action control mode is single, and entertainment is poor.
Summary of the invention
The purpose of the present invention is to provide robot instruction's method of controlling operation and its systems, to solve above-mentioned background technique
The technology that the existing control robot of middle proposition is interacted with user is there are robot instruction's action control mode is single, entertainment
The problem of difference.
To achieve the above object, the invention provides the following technical scheme:
Robot instruction's method of controlling operation, method the following steps are included:
S1, mark robot to be executed by the travelling route gridding of robot and on the grid of each position in advance
The content of movement, while the grid in each position divides into seated position sensing device；
S2, technical staff are programmed robot in the specific action that specifiable lattice position should execute, and make robot
It is executed when reaching the grid position and the consistent movement of marked content in the position grid；
S3, user give robot to send instruction by operational order sending device, to control robot according to using
Person requires to move on route；
S4, robot reach user specify grid position when, position induction device judge robot at this time locating for
The location information is simultaneously fed back to control centre of robot by position；
It is consistent dynamic with marked content on the grid of present position that S5, control centre of robot control corresponding execution unit execution
Make.
Preferably, the instruction sending device of robot is mobile terminal, magnetic card or microphone in the S3.
Preferably, position induction device includes pressure sensor and wireless communication apparatus in the S1 and S4.
Preferably, execution unit is the telecontrol equipment and loudspeaker of robot in the S5, and the telecontrol equipment is for machine
The walking of device people, the loudspeaker realize interaction for robot and user.
Robot instruction's motion control system comprising:
Instruction input module sends to robot for user and instructs comprising telecommand input unit, finger of swiping the card
Enable input unit and voice command input unit；Instruction identification module receives and recognizes the instruction of user for robot,
Including telecommand recognition unit, instruction identification of swiping the card unit and phonetic order recognition unit；Location sensitive module, for incuding
The specific location and the signal for sensing robot is sent to control centre's module that robot is expert on diameter route；In control
Core module, for parse user transmission instruction, judge robot present position and to robot sending action instruct simultaneously
It controls robot and executes corresponding actions comprising master cpu, execution movement judging unit, action execution unit and database；
Database update module, the update for control centre's database data；And robot execution unit, it is dynamic for executing walking
Make and various other interactive actions comprising Motor execution components and functionality execution unit；
Wherein, the input terminal difference of telecommand recognition unit, instruction identification of swiping the card unit and phonetic order recognition unit
Connection telecommand input unit swipes the card instruction input unit and voice command input unit, output end are all connected with master cpu,
Master cpu, execution movement judging unit, database, database update module are sequentially connected with, and the connection of location sensitive module executes dynamic
Make judging unit, action execution unit is separately connected master cpu, database, Motor execution component and function executing unit part.
Preferably, the telecommand input unit is mobile terminal, and the instruction input unit of swiping the card is magnetic card, described
Voice command input unit is microphone.
Preferably, the telecommand recognition unit is signal receiving device, and the instruction identification unit of swiping the card is magnetic card
Card reader, the phonetic order recognition unit are signal picker.
Preferably, the location sensitive module includes pressure sensor and wireless communication apparatus.
Preferably, the database purchase has location information and the corresponding robot of the location information to be executed movement
Content information and content-data.
Preferably, the Motor execution component is that robot walking device is used for robot motion, the function executing unit
Part is that loudspeaker is interacted for robot with user's realization.
Compared with prior art, the beneficial effects of the present invention are: robot instruction's method of controlling operation of the invention and its
Robot ambulation path is carried out gridding in advance by system, technical staff, and is marked robot on the grid of each position and held
Then the content that action is made gives robotic programming in advance, makes robot can be with position locating for automatic sensing after reaching designated position
Set and execute the movement content of present position mark；In addition, mobile terminal, magnetic card brush can be used when inputting and instructing to robot
Block and phonetic order is directly issued by user, so that user is more freely convenient when operating robot.The present invention makes
The mode that user's instruction action controls robot is more comprehensively convenient, and the amusement interactivity of robot is also more preferable.
Detailed description of the invention
Fig. 1 is robot instruction's control method flow diagram in the present invention；
Fig. 2 is robot instruction's control system architecture schematic diagram in the present invention.
Specific embodiment
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 description, 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.
As shown in Figure 1, be robot instruction's method of controlling operation of the invention, method the following steps are included:
S1, mark robot to be executed by the travelling route gridding of robot and on the grid of each position in advance
The content of movement, while the grid in each position divides into seated position sensing device.
Technical staff is arranged to robot in advance to advance " map ", then the map is carried out gridding, and in each grid
Surface write need robot execution act content.Such as " reciting Tang poetry " chanting goose " ", " reciting " multiplication formula table " ",
" give song recitals " griggles " " etc., while dividing into seated position sensing device in each grid pressure sensor and connects therewith
The wireless communication apparatus connect, and each pressure sensor, which is numbered, to hold it with the robot marked on corresponding grid
The content that action is made corresponds.
S2, technical staff are programmed robot in the specific action that specifiable lattice position should execute, and make robot
It is executed when reaching the grid position and the consistent movement of marked content in the position grid.
Technical staff travels to specific position robot and executes corresponding actions automatically and is programmed, and reaches robot
When any one grid position, the content marked on grid can be executed automatically.For example, robot ambulation is to being labeled with, " performance is sung
When the grid of bent " griggles " ", " griggles " music can be played automatically.
S3, user give robot to send instruction by operational order sending device, to control robot according to using
Person requires to move on route.
User can be walked by sending instruction control robot to robot according to the idea of oneself.User can make
Instruction sending device includes mobile terminal, magnetic card or microphone.Mobile terminal can be to have downloaded robot instruction's input
Smart phone, ipad or the PC machine of software are inputted when instructing, the write operation instruction code in magnetic card in advance, Mike with magnetic card
Wind is used to receive the phonetic order of user's sending.Control robot ambulation instruction include similar to " to the left into a lattice ", " to
Retreat three lattice ", " march forward two lattice " etc., robot receives and walked corresponding lattice number after instruction according to instruction.
S4, robot reach user specify grid position when, position induction device judge robot at this time locating for
The location information is simultaneously fed back to control centre of robot by position.
It is more than certain time that the position that robot reaches any one user formulation, which stops, such as at 5 seconds, location sensitive
The pressure sensor of device senses the weight of robot, judges that robot stop is fed back in this position, and by this information
Control centre of robot.
It is consistent dynamic with marked content on the grid of present position that S5, control centre of robot control corresponding execution unit execution
Make.
After control centre of robot receives the signal of pressure sensor feedback, the corresponding execution unit of robot is controlled
It is acted.Execution unit mainly has Motor execution component, is robot walking device, is used for robot motion；There are also machines
People's function executing unit part, is loudspeaker, realizes the content on grid for robot.
As shown in Fig. 2, the invention also discloses robot instruction's motion control systems comprising:
Instruction input module sends to robot for user and instructs comprising telecommand input unit, finger of swiping the card
Enable input unit and voice command input unit；Instruction identification module receives and recognizes the instruction of user for robot,
Including telecommand recognition unit, instruction identification of swiping the card unit and phonetic order recognition unit；Location sensitive module, for incuding
The specific location and the signal for sensing robot is sent to control centre's module that robot is expert on diameter route；In control
Core module, for parse user transmission instruction, judge robot present position and to robot sending action instruct simultaneously
It controls robot and executes corresponding actions comprising master cpu, execution movement judging unit, action execution unit and database；
Database update module, the update for control centre's database data；And robot execution unit, it is dynamic for executing walking
Make and various other interactive actions comprising Motor execution components and functionality execution unit；
Wherein, the input terminal difference of telecommand recognition unit, instruction identification of swiping the card unit and phonetic order recognition unit
Connection telecommand input unit swipes the card instruction input unit and voice command input unit, output end are all connected with master cpu,
Master cpu, execution movement judging unit, database, database update module are sequentially connected with, and the connection of location sensitive module executes dynamic
Make judging unit, action execution unit is separately connected master cpu, database, Motor execution component and function executing unit part.
Instruction input module and instruction identification module are respectively used to user and send instruction and robot reception to robot
The instruction that user issues.The telecommand input unit of instruction input module, swipe the card instruction input unit and phonetic order it is defeated
Enter the telecommand recognition unit, instruction identification of swiping the card unit and phonetic order recognition unit of unit and instruction identification module one by one
It is corresponding.Such as user utilizes mobile terminal, including smart phone, ipad by the input instruction of telecommand input unit
Or when PC machine input instruction, robot receives the instruction that user sends using telecommand recognition unit, i.e., is connect using signal
Receiving apparatus receives instruction；Likewise, user can be with going in robot with the magnetic card of code through brush magnetic card swipe in advance
Device inputs instruction code；User can also directly against machine human hair phonetic order, the microphone being arranged thereon and and its
The signal picker of connection can acquire the phonetic order of user.
Control centre's module, for parsing the instruction of user's transmission, judging robot present position and to robot
Sending action, which instructs and controls robot, executes corresponding actions comprising master cpu, execution movement judging unit, movement execute
Unit and database.After user issues instruction to robot, the master cpu control robot of control centre of robot is moved
Robot is instructed according to user as execution unit to advance, when reaching a certain grid, the pressure sensor of grid setting
The execution movement judging unit of control centre's module can be transmitted signals to, execution movement judging unit is compared by database
Is judged by robot location at this time, then re-maps and finds out according to the number of the pressure sensor in signal source for analysis
Robot should execute the content of movement, and then master cpu can control robot motion execution unit and execute in the position grid
Movement content.Master cpu is signal resolution control centre；Execution acts judging unit, for judging robot present position
With the movement content finding out the position robot and should executing；Action execution unit connects the execution unit of robot, executes packet
Include the relevant action of robot traveling and interaction；And database, it is stored with location information and the location information is corresponding
The content information and content-data of the robot movement of being executed, facilitate control centre to transfer.
Location sensitive module, for incuding the specific location and will sense robot that robot is expert on diameter route
Signal is sent to control centre's module.Location sensitive module includes pressure sensor and wireless communication apparatus, is arranged at machine
For the grid of device people's driving path in the following, when robot reaches the grid of a certain position, pressure sensor, which senses, represents machine
It can will be similar to that this signal of " robot is at me " is sent to control centre's mould by wireless communication apparatus when the weight of people
Block.
Database update module, the update for control centre's database data.Data update module is PC machine or has
The equipment of corresponding function, when robot exercises the content on path " map " and changes, position and be somebody's turn to do that robot reaches
The position content to be executed is also required to update, and is at this moment carried out more using related data of the database update module to robot
Newly, it is ensured that robot works normally.
Robot execution unit, for executing walking motion and various other interactive actions comprising Motor execution component
With function executing unit part.Motor execution component is advanced for robot, may be generally designed to wheel or crawler belt；Function executing unit
Part realizes interaction for robot and user, is typically designed as loudspeaker.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of robot instruction's method of controlling operation, which is characterized in that method includes the following steps:
S1, mark robot to be executed movement by the travelling route gridding of robot and on the grid of each position in advance
Content, while the grid in each position divides into seated position sensing device；
S2, technical staff are programmed robot in the specific action that specifiable lattice position should execute, and arrive robot
It is executed when up to the grid position and the consistent movement of marked content in the position grid；
S3, user are sent to robot by operational order sending device and are instructed, and are wanted to control robot according to user
It asks and is moved on route；
S4, robot reach user specify grid position when, position induction device judges robot present position at this time
And the location information is fed back into control centre of robot；
S5, control centre of robot control corresponding execution unit and execute and the consistent movement of marked content on the grid of present position.
2. robot instruction's method of controlling operation according to claim 1, which is characterized in that the finger of robot in the S3
Enabling sending device is mobile terminal, magnetic card or microphone.
3. robot instruction's method of controlling operation according to claim 1, which is characterized in that position in the S1 and S4
Setting sensing device includes pressure sensor and wireless communication apparatus.
4. robot instruction's method of controlling operation according to claim 1, which is characterized in that execution unit is in the S5
The telecontrol equipment and loudspeaker of robot, the telecontrol equipment are used for the walking of robot, the loudspeaker for robot and
User realizes interaction.
5. a kind of robot instruction's motion control system characterized by comprising
Instruction input module sends to robot for user and instructs comprising telecommand input unit swipes the card that it is defeated to instruct
Enter unit and voice command input unit；
Instruction identification module receives and recognizes the instruction of user for robot comprising telecommand recognition unit is swiped the card
Instruction identification unit and phonetic order recognition unit；
Location sensitive module, for incuding the specific location and the signal that will sense robot that robot is expert on diameter route
It is sent to control centre's module；
Control centre's module, for parse user transmission instruction, judge robot present position and to robot transmission
Action command simultaneously controls robot execution corresponding actions comprising master cpu, execution act judging unit, action execution unit
And database；
Database update module, the update for control centre's database data；And
Robot execution unit, for executing walking motion and various other interactive actions comprising Motor execution component and function
It can execution unit；
Wherein, the input terminal difference of the telecommand recognition unit, instruction identification of swiping the card unit and phonetic order recognition unit
Connection telecommand input unit swipes the card instruction input unit and voice command input unit, output end are all connected with master cpu,
The master cpu, execution movement judging unit, database, database update module are sequentially connected with, and the location sensitive module connects
Execution movement judging unit is connect, the action execution unit is separately connected master cpu, database, Motor execution component and function
It can execution unit.
6. robot instruction's motion control system according to claim 5, which is characterized in that the telecommand input is single
Member is mobile terminal, and the instruction input unit of swiping the card is magnetic card, and the voice command input unit is microphone.
7. robot instruction's motion control system according to claim 5, which is characterized in that the telecommand identification is single
Member is signal receiving device, and the instruction identification unit of swiping the card is magnetic card swipe device, and the phonetic order recognition unit is signal
Collector.
8. robot instruction's motion control system according to claim 5, which is characterized in that the location sensitive module packet
Include pressure sensor and wireless communication apparatus.
9. robot instruction's motion control system according to claim 5, which is characterized in that the database purchase has position
Confidence ceases the content information and content-data of the robot movement of being executed corresponding with the location information.
10. robot instruction's motion control system according to claim 5, which is characterized in that the Motor execution component
It is used for robot motion for robot walking device, the function executing unit part to be that loudspeaker is realized for robot and user
Interaction.
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| CN201811128190.XA CN108972565A (en) | 2018-09-27 | 2018-09-27 | Robot instruction's method of controlling operation and its system |
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