CN109176559B - Robot and control method and system - Google Patents
Robot and control method and system Download PDFInfo
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- CN109176559B CN109176559B CN201811243054.5A CN201811243054A CN109176559B CN 109176559 B CN109176559 B CN 109176559B CN 201811243054 A CN201811243054 A CN 201811243054A CN 109176559 B CN109176559 B CN 109176559B
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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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Abstract
The invention discloses a robot and a control method and a system, wherein the control method comprises the following steps: receiving a control instruction; analyzing the control instruction to obtain function information, wherein the function information is used for indicating the functions which need to be executed by the robot; and judging whether the function information meets the flight condition, if so, starting a flight system of the robot, and controlling the robot to execute the function operation matched with the function information. Because the robot has a flight system, can fly in the air and can perform various functional operations through the flight, the requirements of various use environments are met, and the problem that the use environment of the robot is limited is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot and a control method and system.
Background
With the development of scientific technology, the application field of the robot is wider and wider, the robot gradually develops to a service business, has human appearance characteristics, can imitate human behavior ability and is concerned with, most of the existing robots only have some simple walking abilities when walking on the ground, and the robots are slow in action and low in flexibility, so that certain requirements on the use environment can be met, the service field and the service mode of the robot are limited, and the requirements of various use environments of a user cannot be met.
Disclosure of Invention
Aiming at the problems, the invention provides a robot, a control method and a control system, which solve the problems that the existing robot is limited in use environment and cannot meet the use requirements of users.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot, the robot comprising: the system comprises an interaction system, a control system and a flight system, wherein the interaction system and the flight system are respectively connected with the control system;
the interactive system is used for acquiring a control instruction of a user and sending the control instruction to the control system;
the control system is used for analyzing the control instruction, and if the control instruction meets the flight condition, the control system sends the flight instruction corresponding to the control instruction to the flight system;
and the flying system is used for responding to the flying instruction so as to enable the robot to carry out flying operation.
Optionally, the flight system comprises: the robot comprises a motor and a coaxial propeller, wherein the motor is arranged on a main body of the robot, the coaxial propeller is fixed on the motor, and the coaxial propeller is driven to rotate by the rotation of the motor, so that the robot can fly in the air.
Optionally, the robot further comprises a display module disposed on the robot body, wherein,
and the display module is used for displaying the response information obtained after the robot executes the control instruction according to a preset display mode, wherein the display mode comprises character display and graphic display.
Optionally, the robot further comprises:
the positioning system is used for positioning the current position of the robot and the target position corresponding to the control instruction to obtain positioning information;
the anti-collision system is used for starting according to the distance between the robot and the obstacle sent by the control system to prevent the robot from colliding with the obstacle;
and the network system is used for receiving the remote control instruction and sending the feedback information to the remote terminal.
A control method is applied to a control system and comprises the following steps:
receiving a control instruction;
analyzing the control instruction to obtain function information, wherein the function information is used for indicating the functions which need to be executed by the robot;
and judging whether the function information meets the flight condition, if so, starting a flight system of the robot, and controlling the robot to execute the function operation matched with the function information.
Optionally, the determining whether the function information satisfies a flight condition includes:
analyzing the function information to obtain instruction information;
and judging whether the instruction information comprises a flight instruction word in the flight condition, and if so, indicating that the function information meets the flight condition.
Optionally, in response to the robot performing a function operation matching the function information, the method further includes:
generating information to be displayed according to the functional operation;
determining a display mode according to the information type of the information to be displayed;
and displaying the information to be displayed on the robot according to the display mode.
Optionally, the method further comprises:
acquiring the current position of the robot and a target position corresponding to the control instruction;
generating a candidate moving path according to the current position and the target position;
and determining a target moving path in the candidate moving paths according to a preset flying path condition, so that the robot flies according to the target moving path.
Optionally, in response to the robot encountering an obstacle during flight, the method further comprises:
and judging whether the instance between the current position of the robot and the obstacle meets a preset distance threshold, if so, starting an anti-collision system of the robot, and realizing the anti-collision protection of the robot.
A control system, comprising:
a receiving unit for receiving a control instruction;
the analysis unit is used for analyzing the control instruction to obtain function information, wherein the function information is used for indicating the functions which need to be executed by the robot;
and the control unit is used for judging whether the function information meets the flight condition, if so, starting a flight system of the robot and controlling the robot to execute the function operation matched with the function information.
Compared with the prior art, the invention provides the robot, the control method and the control system, the robot is provided with the flight system, and the flight system can be started according to the received user control instruction, so that the robot can control the flight and simultaneously execute the functional operation corresponding to the control instruction. Because the robot realizes the moving operation of flying in the air, the walking difficulty when the robot walking on the ground meets an obstacle and the limitation of the use environment in the prior art are solved, the application requirements under the special environment can be realized based on the flying robot, the requirements of various use environments are met, and the problem of the limitation of the use environment of the robot is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a control method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The terms "first" and "second," and the like in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not set forth for a listed step or element but may include steps or elements not listed.
In an embodiment of the present invention, there is provided a robot, referring to fig. 1, including: the system comprises a control system 10, an interactive system 11 and a flight system 12, wherein the interactive system 11 and the flight system 12 are respectively connected with the control system 10;
the interactive system 11 is used for acquiring a control instruction of a user and sending the control instruction to the control system 10;
the control system 10 is used for analyzing the control instruction, and if the control instruction meets the flight condition, sending the flight instruction corresponding to the control instruction to the flight system 12;
and the flying system 12 is used for responding to the flying command so as to enable the robot to perform flying operation.
It should be noted that the interactive system 11 may be a voice interactive system, and specifically may be configured with an MIC array and a speaker, which are responsible for performing voice interaction with a user; certainly, the interactive system 11 may also be a remote interactive system, that is, the interactive system 11 includes a communication connection module, and can perform communication connection with a remote terminal or a wearable control system, such as a smart watch capable of performing communication, and receive a control instruction sent by the remote control terminal. The interactive system comprises an input function and an output function on the functions of the interactive system, wherein the input function can receive a voice control instruction of a user through a microphone, can receive a text information instruction according to a camera and can also receive a control instruction sent by a remote control terminal through a communication module; the output function can carry out the speech output of information through loudspeaker, also can carry out the output of the characters or the image or the influence form of information through the display screen, also can send output message to corresponding remote control terminal through communication module.
The control system 10 is responsible for processing service information of all other systems, including analyzing the control instruction, and if the control instruction is an information query instruction, performing local or network information query to obtain a target query result, and displaying or sending the query result to a user; if the control instruction is a motion operation instruction, generating a flight control instruction, and sending the flight control instruction to the flight system to control the starting of the flight system to realize the motion operation; if the control instruction is an intelligent accompanying instruction, the control system starts an interactive system and an information processing system of the robot to perform intelligent interaction with the user.
The main part of the flight system 12 comprises a motor and a coaxial propeller, and the coaxial propeller is fixed on the motor, so that the coaxial propeller is driven to rotate by the rotation of the motor, and the robot can fly in the air. The design structure of the coaxial screw is adopted, because the coaxial screw has small volume, and the function of stable flying posture of the robot can be realized, so that the flying robot provided by the scheme has small volume and can be conveniently carried compared with the robot in the prior art, and the flying robot can achieve better balance effect in the air. When the flight system 12 receives the flight command, the motor is started to start the coaxial propeller to drive the robot to fly.
It should be noted that only when the control command meets the flight condition, the corresponding flight command is sent to the flight system, and if the control command only includes commands such as information query or accompanying interaction, the flight system does not need to be started.
The invention provides a robot, which is provided with a flight system, wherein the flight system can be started according to a received user control instruction, so that the robot can control flight and simultaneously execute functional operation corresponding to the control instruction. Because the robot realizes the moving operation of flying in the air, the walking difficulty when the robot walking on the ground meets an obstacle and the limitation of the use environment in the prior art are solved, the application requirements under the special environment can be realized based on the flying robot, the requirements of various use environments are met, and the problem of the limitation of the use environment of the robot is solved.
Referring to fig. 2, a schematic structural diagram of a robot according to an embodiment of the present invention is provided, in which a pair of coaxial propellers is installed, the coaxial propellers have advantages of small volume and stable flight attitude, and can realize the flight characteristics of the robot without increasing the burden of the robot, and the robot is also equipped with a microphone array to realize remote sound pickup. Still be furnished with laser radar and can fix a position and the definite of route, still be furnished with screen and loudspeaker in the main part of robot, can realize the demonstration and the broadcast to information, still dispose the camera and can discern the environment or shoot and information acquisition. In order to facilitate the movement and transportation of the robot, wheels, such as universal wheels, can be arranged below the robot body to facilitate the movement of the robot, and a corresponding braking device can be arranged under the wheels to facilitate the fixation of the robot.
Referring to fig. 1, the robot further includes a display module 13, a positioning system 14, a collision avoidance system 15, and a network system 16. Correspondingly, the interactive system can be realized by the microphone array and the loudspeaker in fig. 2, and the screen can be used as a display module, the display module is used for displaying the response information obtained after the robot executes the control instruction according to a preset display mode, and the display mode comprises character display and graphic display. The laser radar can be used as a positioning system, and the positioning system is used for positioning the current position of the robot and the target position corresponding to the control instruction to obtain positioning information.
It should be noted that the preset display mode includes, but is not limited to, text information, graphic display and image display, for example, simple information query may perform text display, for example, the route survey command may correspond to display information that is image information, that is, road conditions around the route are displayed, or query information may be obtained according to the query command and then processed to generate a chart or the like. The positioning system can comprise a radar or GPS positioning module, and the geographic position of the robot is positioned to obtain corresponding information.
Correspondingly, the robot further comprises: and the anti-collision system is used for starting according to the distance between the robot and the obstacle sent by the control system to prevent the robot from colliding with the obstacle. The anti-collision system can be assembled with a laser radar, a GPS module, a camera and an infrared system, and an indoor map is built, so that anti-collision recognition is achieved, and loss of the robot caused by collision is avoided. Meanwhile, the robot can also comprise a network system for connecting a network module and communicating with the outside, namely receiving a remote control instruction and sending target information to a remote terminal and the like.
In another embodiment of the present invention, there is also provided a control method applied to a control system of a robot, referring to fig. 3, the method including:
and S301, receiving a control command.
The control method provided by the embodiment of the invention is applied to the intelligent robot, and the intelligent robot is provided with a flight system, can walk on the ground and can also fly in the air. The intelligent robot can realize functions of intelligent accompanying, household appliance control, information consultation, rescue, exploration and the like based on the control instruction. The control instruction is sent by a user, the user can output the control instruction to the intelligent robot based on an output system of the intelligent robot, and the control instruction can also be directly output to the robot in a voice form through voice interaction information. It should be noted that the control instruction is sent by the interactive system of the robot to the control system, and the form of the control instruction of the user received by the interactive system of the robot is not limited in the present invention, and may be a text control instruction, a voice control instruction, and the like.
And S302, analyzing the control instruction to obtain function information.
The function information is used for indicating functions to be executed by the robot, and after the control instruction is received, the control instruction is analyzed to obtain state information which indicates that the robot can reach or functions which the robot is expected to realize in the control instruction, so that processes of motion, information feedback, action execution and the like of the robot can be controlled more accurately. For example, if the control instruction is "please help me to take a mobile phone", the analyzed corresponding function information is the mobile phone, and in the subsequent control process of the robot, the robot is controlled to take the mobile phone of the user, and the mobile phone is taken to the user.
S303, judging whether the function information meets the flight condition, and if so, executing S304;
because the intelligent robot is a flying robot, functional information is obtained through analysis to judge whether the flying condition is met, wherein the flying condition can comprise flying instruction information, also can comprise determination information of an optimal route, or indirectly analyzes and obtains the information meeting the flying condition. For example, if the flight condition includes field information related to the flight action, and the functional information obtained by analysis includes words such as "take-off" and "fly-to", it is determined that the functional information satisfies the flight condition.
S304, starting a flight system of the robot, and controlling the robot to execute the function operation matched with the function information.
And when the function information meets the flight condition, starting a flight system, enabling the robot to realize the function of flying in the air, and controlling the robot to execute the function operation matched with the function information. For example, if the function information is an aerial photograph, the function information satisfies a flight condition, and a flight system of the robot is started to enable the robot to fly in the air and execute a photographing function.
The invention provides a control method, when a robot receives a control instruction, the control instruction is analyzed to obtain function information, if the function information meets flight conditions, a flight system is started, and function operation matched with the function information is executed.
On the basis of the above embodiments, it should be noted that in order to ensure the optimization of the actions and the maximization of the function realization of the robot, and the compactness and portability of the robot in the physical structure, the motion system of the robot in the preferred embodiment of the present invention only includes a flight system, i.e. the robot only carries out motion processing by flight. However, in the case of less strict requirements on the size and structure of the robot, the robot may be configured with a walking system in addition to the flying system, and the present invention is not limited to this, but only the flying system is reserved to ensure the optimal design of the robot. When judging whether the function information meets the flight condition, another embodiment of the present invention includes two judging methods, one of which is:
analyzing the function information to obtain instruction information;
and judging whether the instruction information meets a flight instruction word in the flight condition, and if so, indicating that the function information meets the flight condition.
In the method, functional information needs to be analyzed, whether the functional information contains a clear flight indicator or not is judged, and if the functional information contains the flight indicator, the flight condition is judged to be met. For example, if the function information is "please take a picture in the air", the instruction information is "in the air" and includes a flight indicator sky in the flight condition, it is determined that the flight condition is satisfied, and then the flight system is started. In particular, the flight indicator may include a path that explicitly indicates flight, such as air, sky, altitude parameters, flight, takeoff, and the like.
If the robot includes a traveling function in addition to the flying function, it may be determined whether the flying condition is satisfied according to the moving path, which specifically includes:
analyzing the function information to obtain a target position to which the robot reaches;
detecting and obtaining the current position of the robot;
determining a moving path of the robot according to the current position and the target position;
and judging whether the moving path meets the flight condition or not.
It should be noted that, in the method, whether the flight condition is satisfied is determined according to the moving path between the current position of the robot and the target position, at this time, the current position of the robot needs to be determined according to information fed back from the robot positioning system, the target position needs to be determined according to the function information, and then the moving path is determined based on the current position and the target position, and whether the moving path satisfies the flight condition is determined. For example, if the instruction information of the user is "please help me see if there is my slippers opposite the swimming pool", the obtained function information "see if there are slippers opposite the swimming pool" is analyzed, the target position is opposite the swimming pool, if the detected current position is opposite the swimming pool, the determined moving path is to obtain the opposite side from one side of the swimming pool, the optimal path is to directly cross the swimming pool, at this time, it is determined that the robot cannot directly enter the water according to the path, but can fly over from the air, it is proved that the flight condition is satisfied, and the flight system is started subsequently.
It should be noted that, when obtaining a moving path, an optimal moving path needs to be obtained, where the optimal path needs to satisfy not only the condition of the shortest distance but also the condition suitable for the movement of the robot, and if there is an obstacle in the path with the shortest distance, the path will not be selected as the target path, and a path with a relatively short distance but without an obstacle will be selected as the target moving path of the robot.
The robot in the embodiment of the invention is also provided with an anti-collision system, and particularly, in response to the robot encountering an obstacle in the moving process, the method further comprises the following steps:
and judging whether the distance between the current position of the robot and the obstacle meets a preset distance threshold value, if so, starting an anti-collision system of the robot, and realizing the anti-collision protection of the robot.
If an obstacle or a temporarily blocked object is detected in the moving process of the robot, whether the distance between the robot and the obstacle meets a preset distance threshold value or not is judged, namely the distance is smaller than a certain distance, an anti-collision system of the robot is started, and the damage degree of the robot is reduced.
In another embodiment of the present invention, there is also provided an information display control method that, in response to the robot performing a function operation matching the function information, further includes:
generating information to be displayed according to the function operation;
determining a display mode according to the information type of the information to be displayed;
and displaying the information to be displayed on the robot according to the display mode.
The information display of the robot includes a plurality of display modes, and the display modes, such as a character display, an image display, a graphic display, and the like, can be confirmed according to the type of the acquired information, so that the information can be displayed in a plurality of modes, such as a visualized mode. Meanwhile, when the display information is output, if the control instruction is a remote control instruction, format conversion or information compression processing is carried out on the obtained target information, so that the target information is suitable for the display requirement of the remote terminal, and the target information is sent to the remote terminal so that the information is displayed on the remote terminal.
If the robot comprises a voice interaction system, the control instruction comprises a voice control instruction, and correspondingly, the analyzing the control instruction comprises:
and performing voice recognition according to the voice control instruction, and outputting the voice recognition result.
The recognition is performed according to the detected voice input information of the user, namely, the voice control instruction, and then the voice recognition result is output, wherein the voice recognition result can be directly sent to a control system of the robot, and the voice recognition result can also be output to the user, so that the secondary confirmation of the user is facilitated, and the accuracy of information processing is improved.
It should be noted that the functional operations described in the embodiments of the present invention include, but are not limited to, the following functions: auxiliary photographing, information consultation assistance, rescue, exploration, intelligent accompanying and the like.
In the application scene to some old man solitary, old man and robot are when being in, the old man can send out control command to the robot through the voice interaction system of robot, then the robot receives this control command can carry out corresponding functional operation, for example, the control command that the old man sent is "please help me to shoot a whole body and shine", it is probably lower to its height of small and exquisite robot, can start flight system this moment, fly to a take a height and then shoot, in order to reach higher effect of shooing, the whole body photo that the old man obtained the satisfaction can be sent to self parent and friend. The robot may also have a remote control function, for example, a child of an old or a young person may send a control command through a mobile terminal of the child, and then the robot executes a corresponding operation function according to the control command, for example, when the child worrys about safety of gas, water, electricity, and the like in the parent home, the robot may send a control command of "patrolling an article with a potential safety hazard in the home", the robot may analyze the control command, determine function information, that is, the article to be patrolled, a target position, whether a state meets a safety condition, and the like, and start a flight system according to the height and the position of the related article in the patrolling process, so as to ensure that the patrolling is completely accurate. And then sending the detection result to a mobile terminal which sends a control instruction, and certainly, under the condition that a person is at home, if potential safety hazards exist, sending alarm information, for example, if water leakage of a water faucet is detected, sending a voice prompt message 'please close the water faucet in the kitchen'. On one hand, the safety of the old is guaranteed, and on the other hand, the condition that children can obtain the state information of parents in time is guaranteed.
If the control instruction is an information query instruction, for example, a control instruction for acquiring target information is output by a user, the robot acquires entity information and network information through the camera and the network connection device to extract target information desired by the user, and displays and outputs the target information. If to the function of patrolling, then can make the robot flight reach certain height through the coaxial screw of robot, then can show on the display screen based on the information of patrolling, for example when gardens are patrolled, can show the gardens image on the display screen, also can export corresponding result information of patrolling through loudspeaker, for example, first garden safety, the second garden has trees etc. of being blown by the wind. The environment that artifical inconvenient entering was perhaps manual operation is inconvenient can be solved for it is more high-efficient, safe and intelligent to patrol and examine work.
Certainly, a storage device is arranged in the robot, and the patrol information or the collected related information is stored in real time, so that the inspection by workers is facilitated.
Therefore, the technical scheme provided by the invention can be used for applying the robot to some dangerous or difficult scenes which are relatively dangerous or difficult to survey or patrol directly by human beings, such as patrol or auxiliary rescue of unknown detection scenes. In a site after a certain natural disaster, because the original building or road is seriously damaged by the natural disaster, the existing navigation map cannot realize better rescue, and the robot provided by the invention can be used for surveying the site to obtain the most effective rescue path, shorten the rescue time and the like. Therefore, the robot provided by the invention can realize multi-scene multi-area application, and solves the problem that the application scene of the robot in the prior art is limited.
Correspondingly, referring to fig. 4, in an embodiment of the present invention, there is further provided a control system, including:
a receiving unit 401, configured to receive a control instruction;
an analyzing unit 402, configured to analyze the control instruction to obtain function information, where the function information is used to indicate a function that the robot needs to execute;
and a control unit 403, configured to determine whether the function information satisfies a flight condition, and if so, start a flight system of the robot and control the robot to perform a function operation matched with the function information.
The invention provides a control system, when a robot receives a control instruction, the control instruction is analyzed in an analysis unit to obtain function information, if the function information meets flight conditions, the control unit starts a flight system and executes function operation matched with the function information, and as the robot has the flight system capable of flying in the air and can execute various function operations through flight, the requirements of various use environments are met, and the problem that the use environment of the robot is limited is solved.
On the basis of the above embodiment, in another embodiment of the present invention, the flight control system further includes a judging unit, wherein the judging unit is configured to judge whether the function information satisfies flight conditions.
Correspondingly, the judging unit comprises:
the analysis subunit is used for analyzing the function information to obtain instruction information;
and the judging subunit is used for judging whether the instruction information meets a flight instruction word in the flight condition, and if so, indicating that the function information meets the flight condition.
Further, on the basis of the above embodiment, in response to the robot performing the function operation matched with the function information, the system further includes:
the display information generating unit is used for generating information to be displayed according to the function operation;
the mode determining unit is used for determining a display mode according to the information type of the information to be displayed;
and the information display unit is used for displaying the information to be displayed on the robot according to the display mode.
On the basis of the above embodiment, the system further includes:
the position acquisition unit is used for acquiring the current position of the robot and the target position corresponding to the control instruction;
a path generating unit, configured to generate a candidate moving path according to the current position and the target position;
and the path determining unit is used for determining a target moving path in the candidate moving paths according to a preset flying path condition, so that the robot flies according to the target moving path.
Further, the system further comprises:
and the collision judgment unit is used for judging whether the distance between the current position of the robot and the obstacle meets a preset distance threshold value, and if so, starting an anti-collision system of the robot to realize anti-collision protection of the robot.
The control system of the robot provided by the embodiment of the invention can follow the user indoors or outdoors, assist the user to work and realize other intelligent control based on the flight function. The use efficiency and the applicability of the robot are improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A robot, characterized in that the robot comprises: the system comprises an interaction system, a control system and a flight system, wherein the interaction system and the flight system are respectively connected with the control system;
the interactive system is used for acquiring a control instruction of a user and sending the control instruction to the control system;
the control system is used for analyzing the control instruction, obtaining functional information, judging whether the functional information meets a flight condition or not, and if the functional information meets the flight condition, sending the flight instruction corresponding to the control instruction to the flight system;
the flight system is used for responding to the flight instruction to enable the robot to carry out flight operation; wherein the robot can perform a function operation matched with the function information by flying, the function operation including: auxiliary photographing, information consultation assistance, auxiliary rescue, exploration, intelligent accompanying and inspection;
the judging whether the function information meets the flight condition comprises the following steps:
analyzing the function information to obtain instruction information;
judging whether the instruction information comprises a flight instruction word in a flight condition, if so, indicating that the function information meets the flight condition;
the robot includes the walking function except flight function, judges whether to satisfy the flight condition according to the removal route, specifically includes:
analyzing the function information to obtain a target position to which the robot reaches;
detecting and obtaining the current position of the robot;
determining a moving path of the robot according to the current position and the target position;
and judging whether the moving path meets the flight condition or not.
2. The robot of claim 1, wherein the flying system comprises: the robot comprises a motor and a coaxial propeller, wherein the motor is arranged on a main body of the robot, the coaxial propeller is fixed on the motor, and the coaxial propeller is driven to rotate by the rotation of the motor, so that the robot can fly in the air.
3. The robot of claim 2, further comprising a display module disposed on the robot body, wherein,
and the display module is used for displaying the response information obtained after the robot executes the control instruction according to a preset display mode, wherein the display mode comprises character display and graphic display.
4. A robot as claimed in claim 3, further comprising:
the positioning system is used for positioning the current position of the robot and the target position corresponding to the control instruction to obtain positioning information;
the anti-collision system is used for starting according to the distance between the robot and the obstacle sent by the control system to prevent the robot from colliding with the obstacle;
and the network system is used for receiving the remote control instruction and sending the feedback information to the remote terminal.
5. A control method is applied to a control system, and comprises the following steps:
receiving a control instruction;
analyzing the control instruction to obtain function information, wherein the function information is used for indicating functions which need to be executed by the robot;
judging whether the function information meets the flight condition, if so, starting a flight system of the robot, and controlling the robot to execute the function operation matched with the function information; the functional operations include: auxiliary photographing, information consultation assistance, auxiliary rescue, exploration, intelligent accompanying and inspection;
the judging whether the function information meets the flight condition includes:
analyzing the function information to obtain instruction information;
judging whether the instruction information comprises a flight instruction word in a flight condition, if so, indicating that the function information meets the flight condition;
the robot includes the walking function except flight function, judges whether to satisfy the flight condition according to the removal route, specifically includes:
analyzing the function information to obtain a target position to which the robot reaches;
detecting and obtaining the current position of the robot;
determining a moving path of the robot according to the current position and the target position;
and judging whether the moving path meets the flight condition or not.
6. The method of claim 5, wherein in response to the robot performing a function operation matching the function information, the method further comprises:
generating information to be displayed according to the function operation;
determining a display mode according to the information type of the information to be displayed;
and displaying the information to be displayed on the robot according to the display mode.
7. The method of claim 5, further comprising:
acquiring the current position of the robot and a target position corresponding to the control instruction;
generating a candidate moving path according to the current position and the target position;
and determining a target moving path in the candidate moving paths according to a preset flying path condition, so that the robot flies according to the target moving path.
8. The method of claim 5, wherein in response to the robot encountering an obstacle during flight, the method further comprises:
and judging whether the instance between the current position of the robot and the obstacle meets a preset distance threshold, if so, starting an anti-collision system of the robot, and realizing the anti-collision protection of the robot.
9. A control system, comprising:
a receiving unit for receiving a control instruction;
the analysis unit is used for analyzing the control instruction to obtain function information, wherein the function information is used for indicating the functions which need to be executed by the robot;
the control unit is used for judging whether the function information meets the flight condition, if so, starting a flight system of the robot and controlling the robot to execute the function operation matched with the function information; the functional operations include: auxiliary photographing, information consultation assistance, auxiliary rescue, exploration, intelligent accompanying and inspection;
the judging whether the function information meets the flight condition includes:
analyzing the function information to obtain instruction information;
judging whether the instruction information comprises a flight instruction word in a flight condition, if so, indicating that the function information meets the flight condition;
the robot includes the walking function except flight function, judges whether to satisfy the flight condition according to the removal route, specifically includes:
analyzing the function information to obtain a target position to which the robot reaches;
detecting and obtaining the current position of the robot;
determining a moving path of the robot according to the current position and the target position;
and judging whether the moving path meets the flight condition or not.
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| CN109605403B (en) * | 2019-01-25 | 2020-12-11 | 北京妙趣伙伴科技有限公司 | Robot, robot operating system, robot control device, robot control method, and storage medium |
| CN111768512A (en) * | 2020-05-26 | 2020-10-13 | 同济大学 | Production line inspection robot and inspection method |
| CN114227716B (en) * | 2021-12-30 | 2024-06-04 | 重庆特斯联智慧科技股份有限公司 | Robot system supporting control logic cloud call and method thereof |
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| CN102219051B (en) * | 2011-04-29 | 2013-01-09 | 北京工业大学 | Method for controlling four-rotor aircraft system based on human-computer interaction technology |
| CN102707724B (en) * | 2012-06-05 | 2015-01-14 | 清华大学 | Visual localization and obstacle avoidance method and system for unmanned plane |
| CN105947200A (en) * | 2016-05-19 | 2016-09-21 | 梁海俊 | Folding hidden type quadrotor humanoid flying robot |
| KR102070210B1 (en) * | 2016-12-23 | 2020-01-28 | 엘지전자 주식회사 | Moving robot |
| CN106553201B (en) * | 2017-01-03 | 2019-05-28 | 上海量明科技发展有限公司 | Lifesaving robot and its implementation |
| CN107309872B (en) * | 2017-05-08 | 2021-06-15 | 南京航空航天大学 | Flying robot with mechanical arm and control method thereof |
| CN107263475A (en) * | 2017-06-28 | 2017-10-20 | 上海思依暄机器人科技股份有限公司 | A kind of robot long-distance control method, system and robot |
| CN108555935B (en) * | 2018-05-23 | 2024-03-12 | 东南大学 | Robot and control method |
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