CN109048900A - robot, robot control system, method and device - Google Patents
robot, robot control system, method and device Download PDFInfo
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- CN109048900A CN109048900A CN201810928748.6A CN201810928748A CN109048900A CN 109048900 A CN109048900 A CN 109048900A CN 201810928748 A CN201810928748 A CN 201810928748A CN 109048900 A CN109048900 A CN 109048900A
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- robot
- control
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- motion
- less radio
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
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Abstract
The application proposes a kind of robot, robot control method, apparatus and system；Wherein, which includes: receiving and identifying at least one preset less radio-frequency according to predetermined order and controls signal；At least one preset less radio-frequency control signal, which is parsed, according to the predetermined order obtains at least one motion control instruction signal；And the motion path of the robot is controlled according at least one motion control instruction signal.By the robot control method of the application, the walking path of robot can be more steadily controlled.
Description
Technical field
This application involves robot control fields, in particular to a kind of robot, robot control system, method
And device.
Background technique
Most of controlling of path thereof of intelligent robot currently on the market using video identification path clustering
Method is analyzed and is handled to the image that it is captured using the camera in robot, by analyzing obtained instruction
To control the path clustering of robot.However the higher cost of path clustering, module phase are carried out to robot in this way
To complexity, and when object causes camera that can not correctly capture the image of object due to the problems such as placement angle, machine
People then can not correctly identify the information in image, and so, robot will be unable to walk according to correct path, path clustering
Stability will reduce.
Summary of the invention
The application propose a kind of robot, robot control system, robot control method, robot controller and
Emission of radio frequency signals device, to solve the problems, such as that the robot ambulation in existing robot path control method is unstable.
According to the one side of the application, a kind of robot control method is proposed, which includes: according to pre-
It is fixed sequentially to receive and identify at least one preset less radio-frequency control signal；Parsing at least one according to the predetermined order, this is pre-
If less radio-frequency control signal obtain at least one motion control instruction signal；And referred to according at least one motion control
Signal is enabled to control the motion path of the robot.
In some embodiments, the motion path of the robot is controlled according at least one motion control instruction signal,
Further include: timing is carried out to the run duration of the robot within a predetermined time, and the machine is controlled according to the predetermined time
The motion state of people.
In some embodiments, the motion state of the robot is controlled according to the predetermined time, comprising: when in the pre- timing
When the timing result that the interior run duration to the robot carries out timing is equal to the predetermined time, controls the robot and stop fortune
It is dynamic.
In some embodiments, the motion state of the robot is controlled according to the predetermined time, comprising: whenever predetermined at this
When one of being received in the time at least one this preset less radio-frequency control signal, by the predetermined time to this
The timing result that the run duration of robot carries out timing is reset, and control the robot according to current kinetic control instruction after
Reforwarding is dynamic.
In some embodiments, it when being reset the timing result, is recorded.
In some embodiments, per when the recording is completed, restart timing.
In some embodiments, after restarting timing, the robot is controlled according to the current motion control instruction
Signal finds next preset less radio-frequency and controls signal.
In some embodiments, which is direction of motion control instruction signal.
According to the another aspect of the application, a kind of robot control control method is proposed, which includes:
At least one less radio-frequency control signal is preset according to predetermined order；According to the predetermined order, by least one, this is preset wireless
RF control signal is sent to the robot, which receives, identifies and parse at least one preset less radio-frequency control
Signal processed, and at least one motion control instruction signal is obtained, which is controlled according at least one movement instruction signal
Motion path.
According to the another aspect of the application, a kind of robot controller is proposed, which includes: to receive
Module controls signal for receiving and identifying at least one preset less radio-frequency according to predetermined order；Parsing module is used for root
At least one preset less radio-frequency control signal, which is parsed, according to the predetermined order obtains at least one motion control instruction signal；
Control module, for controlling the motion path of the robot according at least one motion control instruction signal.
In some embodiments, which is also used to: within a predetermined time to the run duration of the robot into
Row timing, and control according to the predetermined time motion state of the robot.
In some embodiments, which controls the motion state of the robot according to the predetermined time, comprising: when
When the timing result for carrying out timing to the run duration of the robot within the predetermined time is equal to the predetermined time, the control mould
Block controls the robot stop motion.
In some embodiments, which controls the motion state of the robot according to the predetermined time, comprising: every
When one of being received within the predetermined time at least one this preset less radio-frequency control signal, this is made a reservation for
The timing result for carrying out timing to the run duration of the robot in time is reset, and controls the robot according to current kinetic
Control instruction continues to move.
In some embodiments, which is also used to: when being reset the timing result, being recorded.
In some embodiments, which is also used to: per when the recording is completed, restarting timing.
In some embodiments, which is also used to: after restarting timing, which controls the machine
Device people finds next preset less radio-frequency according to the current motion control instruction signal and controls signal.
In some embodiments, which is direction of motion control instruction signal.
According to the another aspect of the application, a kind of radio frequency signal emitter, radio frequency signal transmitting are proposed
Device includes: setup module, for presetting at least one less radio-frequency control signal according to predetermined order；Sending module is used for
According to the predetermined order, by least one, the preset less radio-frequency control signal is sent to robot, and wherein the robot connects
It receives, identify and parse at least one preset less radio-frequency control signal, and obtain at least one motion control instruction signal,
The motion path of the robot is controlled according at least one movement instruction signal.
According to the another aspect of the application, a kind of robot control system is proposed, which includes: at least
One radio frequency signal emitter and robot controller；Wherein, at least one radio frequency signal transmitting dress
Setting includes: setup module, for presetting at least one less radio-frequency control signal according to predetermined order；Sending module is used for root
According to the predetermined order, by least one, the preset less radio-frequency control signal is sent to the robot, and wherein the robot connects
It receives, identify and parse at least one preset less radio-frequency control signal, and obtain at least one motion control instruction signal,
The motion path of the robot is controlled according at least one movement instruction signal；The robot controller includes: reception mould
Block controls signal for receiving and identifying at least one preset less radio-frequency according to the predetermined order；Parsing module is used for
At least one preset less radio-frequency control signal, which is parsed, according to the predetermined order obtains at least one motion control instruction
Signal；Control module, for controlling the motion path of the robot according at least one motion control instruction signal.
According to the another aspect of the application, a kind of robot is proposed, which includes fuselage body and robot control
Device processed, the robot controller include: receiving module, and configuration is default to receive and identify at least one according to predetermined order
Less radio-frequency control signal；Parsing module configures to parse at least one preset less radio-frequency according to the predetermined order
Control signal obtains at least one motion control instruction signal；Control module configures to be referred to according at least one motion control
Signal is enabled to control the motion path of the robot.
The revealed robot of the embodiment of the present application, robot control system, robot control method, robot control dress
It sets and radio frequency signal emitter, radio RF recognition technology, this path control is used to the control path of robot
Path clustering scheme of the implementation of system relative to video identification, cost is lower, and module is simpler, while path clustering is more
Add stabilization.
Referring to following description and accompanying drawings, apply for specific implementations of the present application in detail, specifies the original of the application
Reason can be in a manner of adopted.It should be understood that presently filed embodiment is not so limited in range.In appended power
In the range of the spirit and terms that benefit requires, presently filed embodiment includes many changes, modifications and is equal.
The feature for describing and/or showing for a kind of embodiment can be in a manner of same or similar one or more
It uses in a other embodiment, is combined with the feature in other embodiment, or the feature in substitution other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but simultaneously
It is not excluded for the presence or additional of one or more other features, one integral piece, step or component.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those skilled in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
One or more embodiments carry out exemplary explanation, these exemplary description and accompanying drawings by corresponding attached drawing
The restriction to embodiment is not constituted, the element with same reference numbers label is expressed as similar element, attached drawing in attached drawing
Composition does not limit, and wherein:
Fig. 1 is the overall flow figure according to the robot control method of the application；
Fig. 2 is a clearance according to the robot control method control robot with the application of the embodiment of the present application
The schematic diagram that map is put；
Fig. 3 is the overall flow figure according to another robot control method of the application；
Fig. 4 is the overall structure diagram according to the robot controller of the application；
Fig. 5 is the overall structure diagram according to the radio frequency signal emitter of the application；
Fig. 6 is the overall structure diagram according to the robot control system of the application；
Fig. 7 is the schematic perspective view according to the robot of the application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Those skilled in the art will understand that presently filed embodiment can be implemented as a kind of system, device, equipment,
Method or computer program product.Therefore, the application can be with specific implementation is as follows, it may be assumed that complete hardware, complete soft
The form that part (including firmware, resident software, microcode etc.) or hardware and software combine.
Below with reference to several representative embodiments of the application, the principle and spirit of the application are illustrated in detail.
It can show the route of clearance map in the corresponding APP of portable electronic device, user can be according to showing in APP
The route of clearance map movement instruction card is put in reality so that on route composed by movement instruction card and mobile phone
Show that the route of clearance map is consistent, after robot receives Bluetooth control instruction or phonetic control command, for example (,) it is blue
Tooth control instruction can be to press START button as user in the interface APP of portable electronic device, and voice control
Instruction can be the voice signal that user issues " beginning " to robot, and robot can be according to the movement instruction on card on ground
Walk on figure, if user puts correctly, robot can the route according to composed by movement instruction card smoothly arrive at the destination,
Its route walked is consistent with clearance route on the APP of portable electronic device, and clearance success, portable electronic among the above is set
Standby including but not limited to mobile phone, computer, tablet computer etc..Since robot is received and recognized by radio RF recognition technology
Corresponding control signal in card, and signal resolution will be controlled accordingly and be motion control instruction signal and then finally control machine
The motion path of device people, path clustering scheme of the implementation of this path clustering relative to video identification, cost is lower, mould
Block is simpler, while path clustering is more stable.
The robot control method of the application is described in detail referring to Fig. 1, Fig. 2 and Fig. 3.Fig. 1 is according to the application
Robot control method overall flow figure；As shown in the step S11 of Fig. 1, at least one is received and identified according to predetermined order
A preset less radio-frequency controls signal, and Fig. 2 is the robot control method control with the application according to the embodiment of the present application
The schematic diagram that one clearance map of robot processed is put, as shown in Fig. 2, the predetermined order in step S11 is " advance-right-hand rotation-
Advance-right-hand rotation-advance-destination ", that is to say, that the predetermined order in the present embodiment is the clearance sequence for putting map.This
The clearance sequence for putting map in embodiment is only schematical, and user can design different clearances according to the actual situation
Map is to design different predetermined orders.Less radio-frequency control signal is from being embedded in each Zhang Tongguan order card
What transponder issued, wherein less radio-frequency control signal is pre-set into the transponder in every clearance order card, user
It only needs to find corresponding order card according to the corresponding text prompt on card and put.In the present embodiment, clearance is transported
The quantity of dynamic order card is six, i.e., the reader in robot need to receive and identify according to predetermined order six it is preset
Less radio-frequency controls signal.As shown in Fig. 2, each ash point represents the transponder in a map card, a complete walking
Path is made of multiple map cards, in the embodiment shown in Figure 2, is needed six map cards, is " advance-right-hand rotation-respectively
Advance-right-hand rotation-advance-destination ", wherein movement instruction corresponding to " destination " is to stop.In other implementations of the application
In example, at least one preset less radio-frequency control signal, the application docking can be received according to different clearance Map Designs
The quantity for the default less radio-frequency control signal received is with no restriction.
After executing the step S11, step S12 is executed, i.e., parsing at least one according to predetermined order, this is preset wireless
RF control signal obtains at least one motion control instruction signal.When user to robot issue Bluetooth control instruction or
After phonetic control command, robot starts to travel forward, due to being using low frequency passive radio RF recognition technology, often
The frequency for the less radio-frequency control signal that transponder in one card issues is lower, so field region decline is quickly, but
It is that can generate relatively uniform read-write region, so the top that the reader of robot just moves to every map card is attached
Proximity receives the movement instruction that the transponder in corresponding expansion card piece is issued.The predetermined order of step S12 is in step S11
Predetermined order and map clearance sequence, preset wirelessly penetrated when the reader in robot is received and identified to one
After frequency control signal, the preset less radio-frequency received control signal is sent to the micro-control unit in robot by reader
(MCU), since the movement instruction of the transponder in each card is previously written unique order by less radio-frequency read-write equipment
Code, so the different movement instructions in map on each card have the command code of oneself, for example, " advance " instruction is corresponding
Command code can be 000001, and it can be 000002 that " right-hand rotation ", which instructs corresponding command code, and the command code of " left-hand rotation " can be
000003, the corresponding command code of " destination " is the command code being off, and can be " 000004 ".Movement refers in the present embodiment
The setting of the command code of order is only schematical, and designer can design movement instruction different orders according to the actual situation
Yard, command code corresponding to each different movement instruction is different.
When above robot motion to every card nearby, internal reader receives and identifies answering in card
Answer the less radio-frequency control signal that device is issued, later order corresponding to the movement instruction on the further identification card of reader
The MCU that command code sends robot interior to is carried out dissection process by code, subsequent reader, and command code is resolved to movement by MCU
Command signal sends the motor of control robot motion to.
After executing the step S12, execute step S13, i.e., it should according to the control of at least one motion control instruction signal
The motion path of robot.Command code is resolved to the motor that movement instruction signal sends control robot motion to by MCU, by electricity
Machine controls robot and completes corresponding motion path according to the movement instruction on every card.
Fig. 3 is the overall flow figure according to another robot control method of the application；Robot control method in Fig. 3
Corresponding is control method performed by transponder in every card in above-described embodiment.As shown in figure 3, step S21 is first carried out,
At least one less radio-frequency control signal is preset according to predetermined order, predetermined order here is in step S11 or S12
The clearance sequence of predetermined order namely map, as described in above-described embodiment, the movement of the transponder in each card refers to
Order is all previously written unique command code by less radio-frequency read-write equipment.After executing the step S21, step S22, i.e. root are executed
According to the predetermined order, by least one, the preset less radio-frequency control signal is sent to the robot, which receives, knows
Not and at least one preset less radio-frequency control signal is parsed, and obtains at least one motion control instruction signal, according to
At least one movement instruction signal controls the motion path of the robot.Step S22 has been retouched in detail in the above-described embodiments
It states, details are not described herein.
The control path of robot control method disclosed in the present application, robot uses radio RF recognition technology, this
Path clustering scheme of the implementation of kind path clustering relative to video identification, cost is lower, and module is simpler, while road
Diameter control is more stable.
In some embodiments, step S13 further include: the run duration of the robot is counted within a predetermined time
When, and control according to the predetermined time motion state of the robot.
In some embodiments, the motion state of the robot is controlled according to the predetermined time, comprising: when in the pre- timing
When the timing result that the interior run duration to the robot carries out timing is equal to the predetermined time, controls the robot and stop fortune
It is dynamic.
In some embodiments, the motion state of the robot is controlled according to the predetermined time, comprising: whenever predetermined at this
When one of being received in the time at least one this preset less radio-frequency control signal, by the predetermined time to this
The timing result that the run duration of robot carries out timing is reset, and control the robot according to current kinetic control instruction after
Reforwarding is dynamic.
User can carry out one to robot before assigning Bluetooth control instruction or phonetic control command to robot
The setting of secondary predetermined time, to prevent robot from the unexpected motion path track for deviateing clearance map occur.Specifically, working as machine
People receive every time Bluetooth control instruction or phonetic control command after setting in motion when, positioned at robot interior clock just
It can start timing, near the top that robot moves to according to projected route the transponder of next card and predetermined
After the less radio-frequency control signal for receiving the sending of this card transponder in time, MCU can control timer for current meter
When the time reset, the motor control machine people of robot interior continues to move according to the motion control instruction being currently received.Example
Such as, as shown in Figure 2, robot is from origin setting in motion, and clock starts timing at this time, when robot is by a timing
Between, for example, 10s time move to first " advance " card transponder nearby top when, the reader of robot receives
The preset less radio-frequency of this transponder controls signal, i.e., has received preset less radio-frequency control in the given time
When signal, MCU controls timer and resets current timing time, and robot continues to move according to current kinetic control instruction,
I.e. robot moves forward and prepares to receive the movement instruction of next card transponder.It should notice here
It is that, since robot is 10s by the time of origin to first card transponder, current timing time is
10s, run duration of the robot between two cards are less than user before assigning voice or Bluetooth control instruction
To the predetermined time of robot setting, therefore, user will rationally setting be pre- according to the distance between transponder of two cards
It fixes time, for example, in this embodiment, the predetermined time 20s can will be set as, that is to say, that if robot is receiving
Wirelessly penetrating for next transponder sending is received again within 20s after the less radio-frequency control signal that one transponder issues
Frequency control signal, then MCU controls timer and resets current timing time, and the distance between two transponders should control
Within the distance range that the 20s of robot motion is walked.
If accident occurs during the motion in robot, such as robot deviates from tracks, at this moment robot
Do not reach near above the transponder of next card in the given time due to deviating from tracks, robot
Clock will constantly timing, when timing time be equal to the predetermined time when, for example, when timing time be equal to predetermined time 20s
When, MCU to motor send stop signal, motor control machine people's stop motion, can effectively prevent in this way robot due to
The contingency that offset track occurs, such as hit wall etc., prevents the damage of robot, increase robot using safe
Property.When robot is due to offset track stop motion, the interface of portable electronic device can show " clearance failure ".Equally
, user is also required to be limited the size dimension of map in kind within limits according to different scenes, prevent in this way by
Between two cards put apart from it is excessive and cause clock reach the predetermined time the case where generation.
In some embodiments, it when being reset the timing result, is recorded.Per when the recording is completed, open again
Beginning timing.After restarting timing, the robot is controlled according to the current motion control instruction signal and finds next be somebody's turn to do
Preset less radio-frequency controls signal.
Whenever robot pass by the transponder of a card top near when, clock can reset timing result, at this time
The information received can be sent to MCU in such a way that window communicates by the reader positioned at robot bottom, thus robot
Internal MCU can record each transponder, using the embodiment in Fig. 2 as explanation, as shown in Fig. 2, when robot is walked
When near to the transponder of the card of first " advance ", clock resets present timing result, and MCU records this transponder
Come, when a recording is finished, clock restarts timing, and robot continually looks for next according to the movement instruction of current " advance "
Preset less radio-frequency controls signal, and in the embodiment shown in Figure 2, next preset less radio-frequency control signal is " right
Turn " card transponder issued less radio-frequency control signal.Therefore, in the motion path of entire map, due to machine
Device people can pass through six transponders, therefore MCU can carry out six records in total, and clock can also be reset six times accordingly.MCU will
The step number for the clearance that the number of record and map are arranged is compared, if robot arrive at the destination by transponder
Number and outpost setting step number be not identical, then the interface of portable electronic device can show " clearance failure ".
If shown in the outpost APP in the movement instruction and portable electronic device on a certain card in map in kind
The corresponding instruction shown is not inconsistent, then the interface of portable electronic device can show " clearance failure ".Which prevent maps in kind
Transponder record number it is consistent with the step number for the clearance that map is arranged, but practical card movement instruction put sequentially with
The case where clearance route shown on portable electronic device interface is not consistent appearance.Using the embodiment in Fig. 2 as explanation, such as
Shown in Fig. 2, correct clearance route are as follows: advance-right-hand rotation-advance-right-hand rotation-advance-stopping, transponder record 6 times in total, however
If card is put by user: advance-right-hand rotation-right-hand rotation-advance-left-hand rotation-stopping, robot also can equally reach purpose
Ground, and transponder is also record 6 times in total, it is apparent that being shown in such disposing way and portable electronic device correct
Disposing way is different.
In some embodiments, motion control instruction signal is direction of motion control instruction signal.That is, the reading of robot
Device the transponder of each card receive and identify be one control robot motion direction less radio-frequency control signal.
After the method for describing the application illustrative embodiments, next, showing with reference to Fig. 4 and Fig. 5 the application
The robot controller of example property embodiment is introduced.The implementation of the device may refer to above-mentioned robot control method
Implement, overlaps will not be repeated.Term " module " used below and " unit " can be the software for realizing predetermined function
And/or hardware.Although module described in following embodiment is preferably realized with software, hardware or software and hard
The realization of the combination of part is also that may and be contemplated.
Fig. 4 is the overall structure diagram according to the robot controller of the application.As shown in figure 4, in the present embodiment
In, robot controller 100 includes: receiving module 101, preset for receiving and identifying at least one according to predetermined order
Less radio-frequency controls signal；Parsing module 102, for parsing at least one preset less radio-frequency control according to the predetermined order
Signal processed obtains at least one motion control instruction signal；Control module 103, for according at least one motion control instruction
Signal controls the motion path of the robot.
In some embodiments, control module 103 is also used to: within a predetermined time to the run duration of the robot into
Row timing, and control according to the predetermined time motion state of the robot.
In some embodiments, control module 103 is according to the motion state of pre-timed controller device people, comprising: when
When the timing result for carrying out timing to the run duration of robot in predetermined time is equal to the predetermined time, control module controls machine
People's stop motion.
In some embodiments, control module 103 is according to the motion state of pre-timed controller device people, comprising: whenever
It, will be right in the predetermined time when one of receiving at least one preset less radio-frequency control signal in the given time
The timing result that the run duration of robot carries out timing is reset, and is controlled robot and continued according to current kinetic control instruction
Movement.
In some embodiments, control module 103 is also used to: when being reset timing result, being recorded.
In some embodiments, control module 103 is also used to: per when the recording is completed, restarting timing.
In some embodiments, control module 103 is also used to: after restarting timing, control module 103 controls machine
Device people finds next preset less radio-frequency according to current kinetic control instruction signal and controls signal.
In some embodiments, motion control instruction signal is direction of motion control instruction signal.
In the preferred embodiment of the application, receiving module 101 can be mounted on robot bottom reception it is wireless
The reader of RF control signal；Parsing module 102 can be the MCU for being mounted on robot interior；Control module 103 can wrap
The motor that the two-wheel of the robot containing control moves and the clock positioned at robot interior or outside.Robot controller 100
Function performed by receiving module 101, parsing module 102 and the control module 103 for including is in above method embodiment
Middle detailed description, details are not described herein.
Fig. 5 is the overall structure diagram according to the radio frequency signal emitter of the application.As shown in figure 5, wireless
Emission of radio frequency signals device 200 includes: setup module 201, for presetting the control of at least one less radio-frequency according to predetermined order
Signal；Sending module 202, at least one preset less radio-frequency control signal to be sent to machine according to predetermined order
People, wherein the robot is received, is identified and parses at least one preset less radio-frequency control signal, and obtains at least one fortune
Dynamic control instruction signal, according to the motion path of at least one movement instruction signal controlling machine device people.
In the preferred embodiment of the application, sending module 202 can be every card being arranged in through map path
Transponder inside piece.Function performed by setup module 201 and sending module 202 is detailed in above method embodiment
Thin description, details are not described herein.
The control path of robot controller disclosed in the present application, robot uses radio RF recognition technology, this
Path clustering scheme of the implementation of kind path clustering relative to video identification, cost is lower, and module is simpler, while road
Diameter control is more stable.
It is introduced below with reference to robot control system of the Fig. 6 to the application illustrative embodiments.The robot
The implementation of control system may refer to the implementation of above-mentioned robot control method and robot controller, repeat place no longer
It repeats.Term " module " used below and " unit " can be the software and/or hardware for realizing predetermined function.Although with
Module described in lower embodiment is preferably realized with software, but the combined realization of hardware or software and hardware
It may and be contemplated.
Fig. 6 is the overall structure diagram according to the robot control system of the application；As shown in fig. 6, in this embodiment
In, robot control system 300 includes: at least one radio frequency signal emitter 200 and robot controller
100；Wherein, at least one radio frequency signal emitter 200 includes: setup module 201, for default according to predetermined order
At least one less radio-frequency controls signal；Sending module 202, for this preset wirelessly to be penetrated by least one according to predetermined order
Frequency control signal is sent to robot, and wherein robot is received, identified and parses at least one preset less radio-frequency control letter
Number, and at least one motion control instruction signal is obtained, according to the movement road of at least one movement instruction signal controlling machine device people
Diameter；Robot controller 100 includes: receiving module 101, preset for receiving and identifying at least one according to predetermined order
Less radio-frequency controls signal；Parsing module 102, for parsing at least one preset less radio-frequency control letter according to predetermined order
Number obtain at least one motion control instruction signal；Control module 103, for according at least one motion control instruction signal control
The motion path of robot processed.
In the preferred embodiment of the application, receiving module 101 can be mounted on robot bottom reception it is wireless
The reader of RF control signal；Parsing module 102 can be the MCU for being mounted on robot interior；Control module 103 can wrap
The motor that the two-wheel of the robot containing control moves and the clock positioned at robot interior or outside.Robot controller 100
Function performed by receiving module 101, parsing module 102 and the control module 103 for including is in above method embodiment
Middle detailed description, details are not described herein.
In the preferred embodiment of the application, sending module 202 can be to be arranged in every card of passage path
The transponder in portion.Function performed by setup module 201 and sending module 202 is retouched in above method embodiment in detail
It states, details are not described herein.
The control path of robot control system disclosed in the present application, robot uses radio RF recognition technology, this
Path clustering scheme of the implementation of kind path clustering relative to video identification, cost is lower, and module is simpler, while road
Diameter control is more stable.
It is introduced below with reference to robot of the Fig. 7 to the application illustrative embodiments.The implementation of the robot can
With referring to the implementation for above addressing robot control method and robot controller, overlaps will not be repeated.It is following to be made
Term " module " and " unit " can be the software and/or hardware for realizing predetermined function.Although described by following embodiment
Module preferably realize that but the combined realization of hardware or software and hardware is also that may and be contemplated with software
's.
Fig. 7 is the schematic perspective view according to the robot of the application；As shown in fig. 7, in this embodiment, robot
400 include fuselage body and robot controller 100, and robot controller 100 includes: receiving module 101, and configuration comes
At least one preset less radio-frequency control signal is received and identified according to predetermined order；Parsing module 102 configures and comes according to pre-
Fixed at least one preset less radio-frequency control signal that sequentially parses obtains at least one motion control instruction signal；Control module
103, configuration carrys out the motion path according at least one motion control instruction signal controlling machine device people.
In the preferred embodiment of the application, receiving module 101 can be the reception nothing for being mounted on 400 bottom of robot
The reader of line RF control signal；Parsing module 102 can be the MCU being mounted on inside robot 400；Control module 103
The motor and the clock inside or outside robot 400 that may include the two-wheel movement of control robot 400.Robot
Function performed by receiving module 101, parsing module 102 and the control module 103 that control device 100 includes is above-mentioned
It is described in detail in embodiment of the method, details are not described herein.
Robot disclosed in the present application, the control path of robot use radio RF recognition technology, this path control
Path clustering scheme of the implementation of system relative to video identification, cost is lower, and module is simpler, while path clustering is more
Add stabilization.
It should be understood by those skilled in the art that, embodiments herein can provide as method, apparatus or robot.Cause
This, the shape of complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Formula.Moreover, the application, which can be used, can use storage in the computer that one or more wherein includes computer usable program code
The form for the computer program product implemented on medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.).
The application is referring to according to the method, apparatus (system) of the embodiment of the present application and flow chart and/or the side of robot
Block diagram describes.It should be understood that each process and/or the side in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in frame and flowchart and/or the block diagram.These computer program instructions be can provide to logical
With the processor of computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate a machine
Device, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for realizing in process
The device for the function of being specified in figure one process or multiple processes and/or block diagrams one box or multiple boxes.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Particular embodiments described above has carried out further in detail the purpose of the application, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not intended to limit this application the foregoing is merely the specific embodiment of the application
Within spirit herein and principle, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the application
Within the scope of shield.
Claims (20)
1. a kind of robot control method, which is characterized in that the robot control method includes:
At least one preset less radio-frequency control signal is received and identified according to predetermined order；
At least one described preset less radio-frequency control signal, which is parsed, according to the predetermined order obtains at least one movement control
Command signal processed；And
The motion path of the robot is controlled according to motion control instruction signal described at least one.
2. robot control method according to claim 1, which is characterized in that referred to according to motion control described at least one
Signal is enabled to control the motion path of the robot, further includes:
Timing is carried out to the run duration of the robot within a predetermined time, and the machine is controlled according to the predetermined time
The motion state of device people.
3. robot control method according to claim 2, which is characterized in that control the machine according to the predetermined time
The motion state of device people, comprising:
When the timing result for carrying out timing to the run duration of the robot within the predetermined time is equal to the pre- timing
Between when, control the robot stop motion.
4. robot control method according to claim 2, which is characterized in that control the machine according to the predetermined time
The motion state of device people, comprising:
Whenever one of being received within the predetermined time at least one described preset less radio-frequency control signal
When, the timing result for carrying out timing to the run duration of the robot in the predetermined time is reset, and described in control
Robot continues to move according to current kinetic control instruction.
5. robot control method according to claim 4, which is characterized in that when being reset the timing result, into
Row record.
6. robot control method according to claim 5, which is characterized in that when being completed the record, open again
Beginning timing.
7. robot control method according to claim 6, which is characterized in that after restarting timing, control institute
It states robot and next preset less radio-frequency control signal is found according to the current kinetic control instruction signal.
8. robot control method as claimed in any of claims 1 to 7, which is characterized in that the motion control
Command signal is direction of motion control instruction signal.
9. a kind of robot controls control method, which is characterized in that the robot control method includes:
At least one less radio-frequency control signal is preset according to predetermined order；
At least one described preset less radio-frequency control signal is sent to the robot according to the predetermined order, it is described
Robot is received, is identified and parses at least one described preset less radio-frequency control signal, and obtains at least one movement control
Command signal processed controls the motion path of the robot according to movement instruction signal described at least one.
10. a kind of robot controller, which is characterized in that the robot controller includes:
Receiving module controls signal for receiving and identifying at least one preset less radio-frequency according to predetermined order；
Parsing module, for according to the predetermined order parse at least one described preset less radio-frequency control signal obtain to
A few motion control instruction signal；
Control module, for controlling the motion path of the robot according to motion control instruction signal described at least one.
11. robot controller according to claim 10, which is characterized in that the control module is also used to:
Timing is carried out to the run duration of the robot within a predetermined time, and the machine is controlled according to the predetermined time
The motion state of device people.
12. robot controller according to claim 11, which is characterized in that the control module is according to described predetermined
Time controls the motion state of the robot, comprising:
When the timing result for carrying out timing to the run duration of the robot within the predetermined time is equal to the pre- timing
Between when, the control module controls the robot stop motion.
13. robot controller according to claim 11, which is characterized in that the control module is according to described predetermined
Time controls the motion state of the robot, comprising:
Whenever one of being received within the predetermined time at least one described preset less radio-frequency control signal
When, the timing result for carrying out timing to the run duration of the robot in the predetermined time is reset, and described in control
Robot continues to move according to current kinetic control instruction.
14. robot controller according to claim 13, which is characterized in that the control module is also used to:
When being reset the timing result, recorded.
15. robot controller according to claim 14, which is characterized in that the control module is also used to:
When being completed the record, restart timing.
16. robot controller according to claim 15, which is characterized in that the control module is also used to:
After restarting timing, the control module controls the robot according to the current kinetic control instruction signal
Find next preset less radio-frequency control signal.
17. robot controller described in any one of 0 to 16 according to claim 1, which is characterized in that the movement control
Command signal processed is direction of motion control instruction signal.
18. a kind of radio frequency signal emitter, which is characterized in that the radio frequency signal emitter includes:
Setup module, for presetting at least one less radio-frequency control signal according to predetermined order；
Sending module, at least one described preset less radio-frequency control signal to be sent to machine according to the predetermined order
Device people, wherein the robot is received, is identified and parses at least one described preset less radio-frequency control signal, and obtain to
A few motion control instruction signal, the motion path of the robot is controlled according to movement instruction signal described at least one.
19. a kind of robot control system, which is characterized in that the robot control system includes:
At least one radio frequency signal emitter and robot controller；Wherein, at least one described less radio-frequency
Sender unit includes:
Setup module, for presetting at least one less radio-frequency control signal according to predetermined order；
Sending module, at least one described preset less radio-frequency control signal to be sent to institute according to the predetermined order
Robot is stated, wherein the robot is received, identified and parses at least one described preset less radio-frequency control signal, and is obtained
To at least one motion control instruction signal, the movement road of the robot is controlled according to movement instruction signal described at least one
Diameter；The robot controller includes:
Receiving module, for receiving and identifying at least one described preset less radio-frequency control letter according to the predetermined order
Number；
Parsing module, for according to the predetermined order parse at least one described preset less radio-frequency control signal obtain to
A few motion control instruction signal；
Control module, for controlling the motion path of the robot according to motion control instruction signal described at least one.
20. a kind of robot, which is characterized in that the robot includes fuselage body and robot controller, the machine
Device people's control device includes:
Receiving module, configuration control signal to receive and identify at least one preset less radio-frequency according to predetermined order；
Parsing module, configuration obtain to parse at least one described preset less radio-frequency control signal according to the predetermined order
At least one motion control instruction signal；
Control module configures to control the motion path of the robot according to motion control instruction signal described at least one.
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| CN201810928748.6A CN109048900B (en) | 2018-08-15 | 2018-08-15 | Robot, robot control system, method and device |
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| CN201810928748.6A CN109048900B (en) | 2018-08-15 | 2018-08-15 | Robot, robot control system, method and device |
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