CN109176559A - A kind of robot and control method, system - Google Patents
A kind of robot and control method, system Download PDFInfo
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- CN109176559A CN109176559A CN201811243054.5A CN201811243054A CN109176559A CN 109176559 A CN109176559 A CN 109176559A CN 201811243054 A CN201811243054 A CN 201811243054A CN 109176559 A CN109176559 A CN 109176559A
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- robot
- information
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- control instruction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot and control method, system, which includes: reception control instruction；The control instruction is parsed, obtains functional information, wherein the functional information is used to indicate the function that robot needs to be implemented；Judge whether the functional information meets flying condition, if it is, starting the flight system of the robot, and controls the robot and execute the feature operation to match with the functional information.Since there is flight system can fly in the sky for the robot, and multiple functions operation can be executed by flight, meet the demand of a variety of use environments, solve the problems, such as that robot use environment is limited.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of robot and control method, system.
Background technique
With the development of science and technology, robot application field is also increasingly wider, gradually develops to service business, has people
Class resemblance can imitate human behavior ability and be concerned, and existing robot is the machine walked on the ground mostly
Device people only has some simple walking ability, and this kind of robotic movement is slow, flexibility is lower, therefore to use environment
It will there are certain requirements, limit the field and method of service that robot can service, it is a variety of using ring to be also unable to satisfy user
The demand in border.
Summary of the invention
It is directed to the above problem, the present invention provides a kind of robot and control method, system, and solving existing robot makes
The problem of with the limitation of environment and being unable to satisfy the use demand of user.
To achieve the goals above, the present invention provides the following technical scheme that
A kind of robot, the robot include: interactive system, control system and flight system, wherein the interaction system
System and the flight system are connected with the control system respectively；
The control instruction for obtaining the control instruction of user, and is sent to the control and is by the interactive system
System；
The control system, for being parsed to the control instruction, if the control instruction meets flying condition,
The corresponding flight directive of the control instruction is sent to the flight system；
The flight system, for responding the flight directive, so that the robot carries out flight operation.
Optionally, the flight system includes: motor and coaxial spirals paddle, wherein the motor is arranged in the machine
In the main body of people, the coaxial spirals paddle is fixed on the motor, drives the coaxial spirals by the rotation of the motor
Paddle rotation, enables the robot to fly in the sky.
Optionally, the robot further includes display module, and the display module is arranged on the robot body,
In,
The display module, the response message for obtaining after being executed to the robot according to the control instruction, is pressed
It is shown according to preset display pattern, the display pattern includes text importing and graphical display.
Optionally, the robot further include:
Positioning system, for the robot current location and the corresponding target position of the control instruction determine
Position obtains location information；
Anti-collision system, the robot for being issued according to control system are started at a distance from barrier, prevent machine
The collision of people and barrier；
Network system is sent to remote terminal for receiving remote control commands, and by feedback information.
A kind of control method is applied to control system, this method comprises:
Receive control instruction；
The control instruction is parsed, functional information is obtained, wherein the functional information is used to indicate robot and needs
The function to be executed；
Judge whether the functional information meets flying condition, if it is, start the flight system of the robot, and
It controls the robot and executes the feature operation to match with the functional information.
It is optionally, described to judge whether the functional information meets flying condition, comprising:
It parses the functional information and obtains command information；
Judge whether described instruction information includes flight deictic words in flying condition, if it is, indicating the function
Information meets the flying condition.
Optionally, the feature operation to match with the functional information is executed in response to the robot, this method is also wrapped
It includes:
According to the feature operation, information to be displayed is generated；
According to the information type of the information to be displayed, display pattern is determined；
According to the display pattern, the information to be displayed is shown in the robot.
Optionally, this method further include:
Obtain the current location and the corresponding target position of the control instruction of the robot；
According to the current location and the target position, candidate movement routine is generated；
According to pre-set flight path condition, target movement routine is determined in the candidate movement routine, so that the machine
Device people flies according to the target movement routine.
Optionally, barrier, this method are encountered in flight course in response to the robot further include:
Judge whether the citing between the current location of the robot and the barrier meets pre-determined distance threshold value, such as
Fruit is then to start the collision avoidance system of the robot, realizes the Anti-bumping protection of the robot.
A kind of control system, comprising:
Receiving unit, for receiving control instruction；
Resolution unit obtains functional information for parsing to the control instruction, wherein the functional information is used
In the function that instruction robot needs to be implemented；
Control unit, for judging whether the functional information meets flying condition, if it is, starting the robot
Flight system, and control the robot and execute the feature operation to match with the functional information.
Compared to the prior art, the present invention provides a kind of robot and control method, system, have in the robot
Flight system can start the flight system according to the user's control instruction received, which is being controlled
Flight, is performed simultaneously feature operation corresponding with the control instruction.Since the robot realizes the excercises flown in the sky
Make, solve the limitation of the difficulty in walking when the robot of ground running encounters barrier and use environment in the prior art,
And application demand in particular circumstances can be realized based on the flying robot, meet the demand of a variety of use environments,
Solve the problems, such as that robot use environment is limited.
Detailed description of the invention
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 technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention；
Fig. 2 is a kind of morphosis schematic diagram of robot provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of control system provided in an embodiment of 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.
Term " first " and " second " in description and claims of this specification and above-mentioned attached drawing etc. are for area
Not different objects, rather than for describing specific sequence.Furthermore term " includes " and " having " and their any deformations,
It is intended to cover and non-exclusive includes.Such as it contains the process, method of a series of steps or units, system, product or sets
It is standby not to be set in listed step or unit, but may include the step of not listing or unit.
A kind of robot is provided in embodiments of the present invention, and referring to Fig. 1, which includes: control system 10, interaction
System 11 and flight system 12, wherein interactive system 11 and flight system 12 are connected with control system 10 respectively；
Interactive system 11 is sent to control system 10 for obtaining the control instruction of user, and by control instruction；
Control system 10, for being parsed to control instruction, if control instruction meets flying condition, by control instruction
Corresponding flight directive is sent to flight system 12；
Flight system 12, for responding flight directive, so that robot carries out flight operation.
It should be noted that interactive system 11 can be voice interactive system, MIC array and loudspeaker can be specifically configured,
It is responsible for and user carries out interactive voice；Certain interactive system 11 or remote interactive system, the i.e. interactive system 11 include
Communication connection module, smartwatch that can for example can communicate with remote terminal or wearable control system etc. carry out
Communication connection receives the control instruction that remote control terminal issues.Interactive system includes input work in the function of interactive system
Energy and output function, wherein input function can receive the phonetic control command of user by microphone, can be connect according to camera
Message in-coming word information command can also receive the control instruction that remote control terminal issues by communication module；Output function can be with
By loudspeaker carry out information voice output, can also by display screen carry out information text image or influence form it is defeated
Out, output information can also be sent to by corresponding remote control terminal by communication module.
Control system 10 is responsible for the business information of the every other system of processing, including parses to control instruction, if control
System instruction is information inquiry instruction, then will do it local or network information query, obtains target query as a result, by query result
Shown or be sent to user；If control instruction is motor performance instruction, flight control instruction can be generated, is sent to winged
Row system controls the starting of flight system to realize the motor performance；If control instruction is intelligent instruction of accompanying and attending to, control system
The interactive system and information processing system and user that will start robot carry out intelligent interaction.
The major part of flight system 12 includes motor and coaxial spirals paddle, by the way that coaxial spirals paddle is fixed on motor
On, it drives the coaxial spirals paddle to rotate by the rotation of motor to realize, allows the robot to fly in the sky.Why
Using the design structure of coaxial spirals paddle, it is to have due to coaxial spirals paddle small in size, and robot flight attitude can be made
Stable function so that this programme provide meeting flight robot compared to the prior art in robot have
Compact can be convenient for carrying, and flight reaches better counterbalance effect in the sky.When flight system 12 receives flight
After instruction, motor will start to start coaxial spirals paddle and the robot is driven to fly.
It should be noted that just corresponding flight directive can be sent to only when control instruction meets flying condition
Flight system is started without flight system if only including information inquiry in control instruction or the instruction such as interaction of accompanying and attending to.
The present invention provides a kind of robots, have flight system in the robot, can be according to the use received
Family control instruction starts the flight system, which is flown in control, is performed simultaneously corresponding with the control instruction
Feature operation.Since the robot realizes the motor performance to fly in the sky, solve in the prior art in ground running
Difficulty in walking and use environment of the robot when encountering barrier limitation, and can be realized based on the flying robot
Application demand in particular circumstances meets the demand of a variety of use environments, solves that robot use environment is limited to ask
Topic.
Referring to fig. 2, it is a kind of structural schematic diagram of robot provided in an embodiment of the present invention, is assembled in the robot
One secondary coaxial spirals paddle, coaxial spirals paddle is that small in size, flight attitude is steady a little, can not increase robot burden
Under the premise of, the flight characteristic of robot is realized, while the robot is also equipped with microphone array, is picked up at a distance to realize
Sound.Positioning and the determination in path can be carried out by being also equipped with laser radar, and screen and loudspeaker, energy are also equipped in the main body of robot
Enough displays and broadcasting realized to information, being also configured with camera environment-identification or can be taken pictures and information collection.
In order to facilitate the movement and carrying of the robot, wheel, such as universal wheel can be set in the lower section of robot body, facilitate machine
Corresponding brake apparatus also can be set certainly in the case where there is wheel for the movement of device people, convenient for the fixation of robot.
Referring to Fig. 1, which further includes display module 13, positioning system 14, anti-collision system 15 and network system 16.It is right
Answer, interactive system can by Fig. 2 microphone array and loudspeaker realized that and screen can be used as display module, institute
Display module is stated, the response message for obtaining after executing to the robot according to the control instruction, according to preset aobvious
Show that mode is shown, the display pattern includes text importing and graphical display.Laser radar can be used as positioning system, institute
State positioning system, for the robot current location and the corresponding target position of the control instruction position, obtain
Obtain location information.
It should be noted that preset display pattern includes but is not limited to that text information, graphical display and image are shown,
For example, simple information inquiry can carry out text importing, for example, route survey instruction can corresponding display information be image
The information of information shows route surrounding road condition situation, carry out processing life after can also obtaining query information according to inquiry instruction
At the display of the forms such as chart.Positioning system may include radar or GPS positioning module, carry out to the geographical location of robot
Positioning obtains corresponding informance.
It is corresponding, the robot further include: anti-collision system, robot and barrier for being issued according to control system
Distance is started, and the collision of robot and barrier is prevented.The collision avoidance system can assemble laser radar, GPS module, take the photograph
As head and infrared system, indoor map is established to reach anticollision identification and avoid robot because of loss caused by colliding.Simultaneously should
Robot can also include that network system is attached network module and extraneous communication, i.e. reception remote control commands, by target
Information is sent to remote terminal etc..
A kind of control method is additionally provided in another embodiment of the invention, and this method is applied to the control system of robot
System, referring to Fig. 3, this method comprises:
S301, control instruction is received.
It is applied to a kind of intelligent robot in control method provided in an embodiment of the present invention, which has flight
System can also fly in the sky in ground running.The intelligent robot, which is based on control instruction, may be implemented intelligent accompany
The functions such as shield, home appliance control, information consultation, rescue, exploration.Wherein, the control instruction is that user issues, Yong Huke
Control instruction is output on intelligent robot with the output system based on the intelligent robot, can also be believed by interactive voice
Breath, which is directly exported control instruction with speech form, gives the robot.It should be noted that the control instruction is the friendship of robot
Mutual system is sent to control system, the form present invention of the control instruction of the user received for the interactive system of robot
With no restrictions, it can be text control instruction, can be phonetic control command etc., for example, user needs to obtain some information
Related information can be acquired the information by the camera of robot, so that acquisition target information is inquired, it can also be with base
A phonetic order is directly exported in the microphone of robot, controls the operation of robot.
S302, the control instruction is parsed, obtains functional information.
Wherein, the functional information is used to indicate the function that robot needs to be implemented, can be right after receiving control instruction
The control instruction is parsed, to obtain the status information or expectation robot that indicate that robot can reach in control instruction
The function that can be realized, the processes such as movement, information feedback, the movement execution of control robot that can be more accurate.For example,
Control instruction is " me please be helped to take mobile phone ", then corresponding functional information is adept machine after parsing, then subsequent to machine
In the control process of people, the mobile phone that the robot takes user can be controlled, and the mobile phone is given into user.
S303, judge whether the functional information meets flying condition, if it is, executing S304；
Since the intelligent robot is a kind of robot that can be winged, can pass through parsing obtain functional information to determine whether
Meet flying condition, it also may include the determination information of optimal route that wherein the flying condition, which may include flight command information,
Or indirect analysis obtains the information for meeting flying condition.For example, flying condition is to include field letter relevant to flare maneuver
Breath includes then words words such as " taking off " " flying to " in functional information when parsing obtains, then can be determined as that the functional information meets and fly
Row condition.
The flight system of S304, the starting robot, and control the robot and execute and the functional information phase
The feature operation matched.
When functional information meets flying condition, then it will start flight system, so that the robot may be implemented in the sky
The function of flight, and control the robot and execute the feature operation to match with functional information.For example, functional information is aerial claps
According to, then the functional information meets flying condition, will start the flight system of robot, and robot can be flown in the sky, and
Execute the function of taking pictures.
The present invention provides a kind of control methods, after robot has received control instruction, can solve to control instruction
Analysis obtains functional information, if functional information meets flying condition, will start flight system, and execute and the functional information phase
The feature operation matched can fly in the sky since the robot has flight system, and can be executed by flight a variety of
Feature operation meets the demand of a variety of use environments, solves the problems, such as that robot use environment is limited.
On the basis of the above embodiments, it should be noted that the optimization and function of the action in order to ensure that robot
The maximization of realization and small and exquisite and portable on robot substance, in embodiments of the present invention preferred robot
Kinematic system only includes flight system, i.e., the robot only passes through flight progress motion process.But to robot volume structure
Requirement it is less strict in the case where, which can also configure running gear other than flight system, and the present invention is to this
With no restrictions, however, to ensure that the optimal design of robot only remains flight system.It is winged whether arbitration functions information meets
It in another embodiment of the invention include two kinds of judgment modes when row condition, one is:
It parses the functional information and obtains command information；
Judge whether described instruction information meets flight deictic words in flying condition, if it is, indicating the function letter
Breath meets the flying condition.
It needs to parse functional information in this method, whether judgement includes wherein specific flight deictic words, if packet
Flight deictic words is included, then judgement meets flying condition.For example, functional information is that " please taking pictures in the sky " then command information is " empty
In " it include flight deictic words sky in flying condition, then judge that it meets flying condition, flight system is opened in rear extended meeting.
Specifically, flight deictic words may include this road that flight is explicitly indicated, for example, in the air, sky, height parameter, fly, take off
Deng.
Another kind is, if the robot when flight function further includes walking function according to movement routine in addition to that can judge to be
It is no to meet flying condition, it specifically includes:
It parses the functional information and obtains the robot target position to be reached；
Detection obtains the current location of the robot；
According to the current location and the target position, the movement routine of the robot is determined；
Judge whether the movement routine meets flying condition.
It should be noted that the judgement of this method is the mobile road between current location and target position according to robot
Diameter determines whether to meet flying condition, needs to determine robot according to the information fed back in robot positioning system at this time
Current location, target position is determined according to functional information, current location and target position is then based on and determines movement routine, sentence
Whether disconnected movement routine meets flying condition.For example, the command information of user is that " whether please help me check swimming pool opposite has me
Slippers ", then parse the functional information " swimming pool opposite has checked whether slippers " of acquisition, then target position be swimming pool pair
Face, if the current location detected is the one side of swimming pool, determining movement routine is to obtain its opposite on one side from swimming pool,
Then optimal path is then to judge that robot cannot directly enter in water according to path at this time, but can directly across swimming pool
To fly through the air, then prove to meet flying condition, it is subsequent to will start flight system.
It should be noted that need to obtain an optimal movement routine when obtaining movement routine, the optimal road
Diameter not only needs to meet apart from shortest condition, it is also necessary to meet the condition for being suitble to robot mobile, if apart from shortest path
In there are barriers, then will not select path destination path the most, one can be selected apart from relatively short, but do not hindered
Hinder target movement routine of the path of object as the robot.
Robot in embodiments of the present invention also has collision avoidance system, specifically, moving in response to the robot
When encountering barrier during dynamic, this method further include:
Whether the current location and the distance between the barrier for judging the robot meet pre-determined distance threshold value, such as
Fruit is then to start the collision avoidance system of the robot, realizes the Anti-bumping protection of the robot.
If detected in the moving process of robot encounter barrier or occur temporarily block object when, can sentence
Whether the citing between disconnected robot and barrier meets pre-determined distance threshold value, that is, when being less than a certain distance, can open machine
The collision avoidance system of people reduces the degree that robot is damaged, needs, which specifically executed
Journey, the embodiment of the present invention with no restrictions, can be collision avoidance system instruction robot avoiding obstacles, be also possible to anticollision system
Barrier is encountered by system expansion protective device, protection robot.
A kind of control method that information is shown is additionally provided in another embodiment of the invention, i.e., in response to the machine
People executes the feature operation to match with the functional information, this method further include:
According to the feature operation, information to be displayed is generated；
According to the information type of the information to be displayed, display pattern is determined；
According to the display pattern, the information to be displayed is shown in the robot.
It is equipped with plurality of display modes in the information of the robot is shown, can be carried out according to the type of the information of acquisition
The confirmation of display pattern, for example, text importing, image show still graphical display etc., so as to visualize to information
Etc. various modes display.It, can be by acquisition if control instruction is remote control commands when simultaneously for display information output
Target information formats or Information Compression processing, so that target information is adapted to the display requirement of remote terminal, it will
Target information is sent to remote terminal, so that the information is shown in remote terminal.
If including voice interactive system in robot, control instruction includes phonetic control command, corresponding, to the control
System instruction carries out parsing
According to the phonetic control command, speech recognition is carried out, and exports institute's speech recognition result.
It needs first to be identified, then exported according to the voice of the user detected input information i.e. phonetic control command
Speech recognition result, the speech recognition result can be sent directly to the control system of robot, can also be by speech recognition knot
Fruit exports to user, convenient for the secondary-confirmation of user, improves the accuracy of information processing.
It should be noted that the feature operation includes but is not limited to following functions in embodiments of the present invention: auxiliary
Help take pictures, information consultation assistant, rescue, exploration and intelligence accompany and attend to.
In the application scenarios solitary for certain the elderlys, when old man and robot are in, old man can pass through robot
Voice interactive system control instruction is issued to robot, then robot, which receives the control instruction, can execute corresponding function behaviour
Make, it, may be compared with for small and exquisite humanoid robot its height for example, the control instruction that old man issues is " me please be helped to take a whole body photograph "
It is low, it will start flight system at this time, fly to certain altitude and then take pictures, to reach higher effect of taking pictures, be convenient for old man
Oneself relatives and friend can be issued by obtaining the whole body photo met.Certain robot can also have the function remotely controlled
Energy, such as the children of old man issue control instruction by the mobile terminal of oneself, and then robot is executed according to the control instruction
Corresponding operating function, for example, when children worry that combustion gas and water, electricity etc. are safe in parent family one can be issued to robot
The control instruction of " there are the articles of security risk in tour man ", then robot can parse the control instruction, determine function
Energy information, that is, include the article to be maked an inspection tour, target position, and whether state meets safety condition etc., can basis during tour
The height of relative article, position start flight system, to guarantee that entirely accurate make an inspection tour.Then it will test result transmission
To the mobile terminal for issuing control instruction, certainly at home in the case where someone, if detecting the presence of security risk, can issue
Warning message can then issue speech prompt information " tap for woulding you please close kitchen " for example, detecting water tap leakage.One
Aspect ensure that the safety of the elderly, on the other hand ensure that children can obtain the status information of parent in time.
If control instruction is information inquiry instruction, for example, user exports the control instruction for obtaining target information, then robot
It can be realized by camera and network connection device to the acquisition of entity information and the acquisition of the network information, to extract user's phase
The target information of prestige, and target information is shown and exported.If the coaxial of robot can be passed through for making an inspection tour function
Propeller makes robot flight reach certain height, and the information for being then based on tour can be shown on a display screen,
Such as when the tour of gardens, architectural images can be shown on a display screen, loudspeaker can also be passed through and export corresponding tour result letter
Breath, for example, the first garden is safe, there are the trees etc. scraped by wind in the second garden.It can solve the artificial inconvenient environment entered, or
The scene of person's manual operation inconvenience, more efficient, safety and intelligence so that inspection works.
Certainly it can be provided with memory in robot, the information of tour or collected relevant information are carried out real-time
Storage, facilitates checking for staff.
Therefore, the robot application can directly be carried out in some opposite mankind in conjunction with technical solution provided by the invention
The scene of exploration or the more dangerous perhaps difficulty of inspection is for example, to the unknown inspection for detecting scene or auxiliary rescue etc..At certain
Scene after a natural calamity, since existing building or road are more serious by the persecution of natural calamity, then existing navigation ground
Figure cannot achieve better rescue, can be reconnoitred using robot provided by the invention to scene, obtain most effective rescue
Path is helped, rescue time etc. is shortened.To which the application of more scene multizones may be implemented in robot provided by the invention, solve
The limited problem of robot application scene in the prior art.
It is corresponding, referring to fig. 4, a kind of control system is additionally provided in embodiments of the present invention, which includes:
Receiving unit 401, for receiving control instruction；
Resolution unit 402 obtains functional information, wherein the functional information for parsing to the control instruction
It is used to indicate the function that robot needs to be implemented；
Control unit 403, for judging whether the functional information meets flying condition, if it is, starting the machine
The flight system of device people, and control the robot and execute the feature operation to match with the functional information.
The present invention provides a kind of control systems, can be in resolution unit to control after robot has received control instruction
System instruction carries out parsing and obtains functional information, if functional information meets flying condition, control unit will start flight system, and
The feature operation to match with the functional information is executed, since there is flight system can fly in the sky for the robot, and
Can by flight execute multiple functions operation, meet the demand of a variety of use environments, solve robot use environment by
The problem of limit.
It on the basis of the above embodiments, in another embodiment of the invention, further include judging unit, wherein described
Judging unit, for judging whether the functional information meets flying condition.
Corresponding, the judging unit includes:
Parsing subunit obtains command information for parsing the functional information；
Judgment sub-unit, for judging whether described instruction information meets flight deictic words in flying condition, if it is,
Indicate that the functional information meets the flying condition.
Further, on the basis of the above embodiments, it is executed and the functional information phase in response to the robot
The feature operation matched, the system further include:
Information generating unit is shown, for generating information to be displayed according to the feature operation；
Pattern determining unit determines display pattern for the information type according to the information to be displayed；
Information display unit, for according to the display pattern, the information to be displayed to be carried out in the robot
Display.
On the basis of the above embodiments, the system further include:
Position acquisition unit has the current location for obtaining the robot and the corresponding target position of the control instruction with you
It sets；
Coordinates measurement unit, for generating candidate movement routine according to the current location and the target position；
Path determining unit, for determining that target is moved in the candidate movement routine according to pre-set flight path condition
Dynamic path, so that the robot flies according to the target movement routine.
Further, the system further include:
Whether collision judgment unit, the current location and the distance between the barrier for judging the robot are full
Sufficient pre-determined distance threshold value realizes the Anti-bumping protection of the robot if it is, starting the collision avoidance system of the robot.
No matter indoors or outdoor the control system of the robot provided through the embodiment of the present invention is, can follow use
Family assists user job, realizes other intelligent controls based on flight function.It improves the service efficiency of robot and is applicable in
Property.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of robot, which is characterized in that the robot includes: interactive system, control system and flight system, wherein
The interactive system and the flight system are connected with the control system respectively；
The interactive system is sent to the control system for obtaining the control instruction of user, and by the control instruction；
The control system, for being parsed to the control instruction, if the control instruction meets flying condition, by institute
It states the corresponding flight directive of control instruction and is sent to the flight system；
The flight system, for responding the flight directive, so that the robot carries out flight operation.
2. robot according to claim 1, which is characterized in that the flight system includes: motor and coaxial spirals paddle,
Wherein, the motor is arranged in the main body of the robot, and the coaxial spirals paddle is fixed on the motor, by described
The rotation of motor drives the coaxial spirals paddle rotation, and the robot is flown in the sky.
3. robot according to claim 2, which is characterized in that the robot further includes display module, the display
Module is arranged on the robot body, wherein
The display module, the response message for being obtained after being executed to the robot according to the control instruction, according to pre-
If display pattern shown that the display pattern includes text importing and graphical display.
4. robot according to claim 3, which is characterized in that the robot further include:
Positioning system, for the robot current location and the corresponding target position of the control instruction position,
Obtain location information；
Anti-collision system, the robot for being issued according to control system are started at a distance from barrier, prevent robot with
The collision of barrier；
Network system is sent to remote terminal for receiving remote control commands, and by feedback information.
5. a kind of control method, which is characterized in that it is applied to control system, this method comprises:
Receive control instruction；
The control instruction is parsed, functional information is obtained, wherein the functional information is used to indicate robot needs and holds
Capable function；
Judge whether the functional information meets flying condition, if it is, starting the flight system of the robot, and controls
The robot executes the feature operation to match with the functional information.
6. according to the method described in claim 5, it is characterized in that, described judge whether the functional information meets flight item
Part, comprising:
It parses the functional information and obtains command information；
Judge whether described instruction information includes flight deictic words in flying condition, if it is, indicating the functional information
Meet the flying condition.
7. according to the method described in claim 5, it is characterized in that, being executed and the functional information phase in response to the robot
Matched feature operation, this method further include:
According to the feature operation, information to be displayed is generated；
According to the information type of the information to be displayed, display pattern is determined；
According to the display pattern, the information to be displayed is shown in the robot.
8. according to the method described in claim 5, it is characterized in that, this method further include:
Obtain the current location and the corresponding target position of the control instruction of the robot；
According to the current location and the target position, candidate movement routine is generated；
According to pre-set flight path condition, target movement routine is determined in the candidate movement routine, so that the robot
It flies according to the target movement routine.
9. according to the method described in claim 5, it is characterized in that, encountering obstacle in flight course in response to the robot
Object, this method further include:
Judge whether the citing between the current location of the robot and the barrier meets pre-determined distance threshold value, if
It is then to start the collision avoidance system of the robot, realizes the Anti-bumping protection of the robot.
10. a kind of control system characterized by comprising
Receiving unit, for receiving control instruction；
Resolution unit obtains functional information for parsing to the control instruction, wherein the functional information is for referring to
Show the function that robot needs to be implemented；
Control unit, for judging whether the functional information meets flying condition, if it is, starting flying for the robot
Row system, and control the robot and execute the feature operation to match with the functional information.
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