CN109605376A - A kind of robot control method, device, equipment and medium - Google Patents
A kind of robot control method, device, equipment and medium Download PDFInfo
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- CN109605376A CN109605376A CN201910026046.3A CN201910026046A CN109605376A CN 109605376 A CN109605376 A CN 109605376A CN 201910026046 A CN201910026046 A CN 201910026046A CN 109605376 A CN109605376 A CN 109605376A
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- robot
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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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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The embodiment of the invention discloses a kind of robot control method, device, equipment and medium, to prevent the sliding problem after robot emergency stop.The robot control method, comprising: respond the stop command received, control the robot and export the First Driving Force braking robot contrary with current kinetic；When determining that the robot present position meets preset condition, controls the robot and persistently export for controlling the second driving force that movement does not occur after the robot is braked.
Description
Technical field
The present invention relates to artificial intelligence fields, more particularly, to a kind of robot control method, device, equipment and medium.
Background technique
With the continuous development of intelligent robot technology, robot becomes more and more intelligent, field involved in robot
Also more and more extensive.Robot can not only hide obstacle and be moved to designated position, but also can pass through speech recognition and face
Identification carries out the interaction of various ways with people.
Existing robot is usually provided with scram button, in robot moving process, if user presses scram button,
Then robot carries out emergency braking by applying the driving force contrary with current kinetic, is parked in current location, namely be parked in
User presses the position of scram button.After the braking of robot emergency stop, robot can stop applying above-mentioned driving force, to keep
The on-position of robot.
Above-mentioned emergency stop mode of braking, in certain application scenarios, for example, when robot emergency stop position is slope, machine
People will slide after emergency stop, influence emergency stop effect.
Summary of the invention
The embodiment of the present invention provides a kind of robot control method, device, equipment and medium, to prevent robot emergency stop
Sliding problem afterwards.
In a first aspect, the embodiment of the present invention provides a kind of robot control method, comprising:
The stop command received is responded, control robot exports the First Driving Force braking contrary with current kinetic
Robot；
When determining that robot present position meets preset condition, control robot is persistently exported for controlling robot quilt
The second mobile driving force does not occur after braking.
In a kind of possible embodiment, in the above method provided in an embodiment of the present invention, determining locating for robot
When position meets preset condition, control robot is persistently exported, and the second mobile drive does not occur for controlling after robot is braked
Power, comprising:
If the angle where robot present position between plane and horizontal plane is greater than predetermined angle threshold value, robot is determined
Present position meets preset condition, and control robot is persistently exported, and mobile second does not occur for controlling after robot is braked
Driving force.
In a kind of possible embodiment, in the above method provided in an embodiment of the present invention, determining locating for robot
When position meets preset condition, control robot is persistently exported, and the second mobile drive does not occur for controlling after robot is braked
Power, comprising:
Stop output First Driving Force after robot braking to determine locating for robot if the traveling wheel of robot is mobile
Position meets preset condition, and control robot is persistently exported, and the second mobile driving does not occur for controlling after robot is braked
Power.
In a kind of possible embodiment, in the above method provided in an embodiment of the present invention, position locating for robot is determined
It sets after meeting preset condition, further includes:
According to the frictional force on the gravity of robot and robot present position, the size of the second driving force is determined；And
According to the direction of frictional force, the direction of the second driving force is determined.
In a kind of possible embodiment, in the above method provided in an embodiment of the present invention, the size of the second driving force
More than or equal to component and frictional force of the gravity on direction of robot difference and be less than or equal to robot
The direction of component of the gravity on direction, the second driving force is identical as the direction of frictional force on robot present position；
Or
The size of second driving force be more than or equal to component of the gravity on direction of robot and be less than or
Equal to component and frictional force the sum of of the gravity on direction of robot, locating for the direction of the second driving force and robot
Frictional force is contrary on position.
In a kind of possible embodiment, in the above method provided in an embodiment of the present invention, method further include:
Control robot reports the location information and/or status information of robot to server.
In a kind of possible embodiment, in the above method provided in an embodiment of the present invention, method further include: in determination
When receiving the instruction for stopping the second driving force of output or determining that robot is detached from present position place plane, robot is controlled
Stop the second driving force of output.
Second aspect, the embodiment of the present invention provide a kind of robot controller, comprising:
First processing units, for responding the stop command received, the output of control robot and current kinetic direction phase
Anti- First Driving Force brakes robot；
The second processing unit, for when determining that robot present position meets preset condition, control robot to continue defeated
The second mobile driving force does not occur after robot is braked for controlling out.
In a kind of possible embodiment, in above-mentioned apparatus provided in an embodiment of the present invention, the second processing unit is specific
For:
If the angle where robot present position between plane and horizontal plane is greater than predetermined angle threshold value, robot is determined
Present position meets preset condition, and control robot is persistently exported, and mobile second does not occur for controlling after robot is braked
Driving force.
In a kind of possible embodiment, in above-mentioned apparatus provided in an embodiment of the present invention, the second processing unit is specific
For:
Stop output First Driving Force after robot braking to determine locating for robot if the traveling wheel of robot is mobile
Position meets preset condition, and control robot is persistently exported, and the second mobile driving does not occur for controlling after robot is braked
Power.
In a kind of possible embodiment, in above-mentioned apparatus provided in an embodiment of the present invention, the second processing unit is also used
In:
According to the frictional force on the gravity of robot and robot present position, the size of the second driving force is determined；And
According to the direction of frictional force, the direction of the second driving force is determined.
In a kind of possible embodiment, in above-mentioned apparatus provided in an embodiment of the present invention, the size of the second driving force
More than or equal to component and frictional force of the gravity on direction of robot difference and be less than or equal to robot
The direction of component of the gravity on direction, the second driving force is identical as the direction of frictional force on robot present position；
Or
The size of second driving force be more than or equal to component of the gravity on direction of robot and be less than or
Equal to component and frictional force the sum of of the gravity on direction of robot, locating for the direction of the second driving force and robot
Frictional force is contrary on position.
In a kind of possible embodiment, in above-mentioned apparatus provided in an embodiment of the present invention, device further include: control is single
Member reports the location information and/or status information of robot for controlling robot to server.
In a kind of possible embodiment, in above-mentioned apparatus provided in an embodiment of the present invention, the second processing unit is also used
In: in plane where determining the instruction for receiving stopping the second driving force of output or determining that robot is detached from present position,
It controls robot and stops the second driving force of output.
The third aspect, the embodiment of the present invention provide a kind of electronic equipment, comprising: at least one processor, at least one deposits
Reservoir and computer program instructions stored in memory, this hair is realized when computer program instructions are executed by processor
The method that bright embodiment first aspect provides.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program
The method that first aspect of the embodiment of the present invention provides is realized in instruction when computer program instructions are executed by processor.
Robot control method, device, equipment and medium provided in an embodiment of the present invention refer in the emergency stop that response receives
It enables, after control robot exports the First Driving Force braking robot contrary with current kinetic, is determining institute, robot
When place position meets preset condition, for example, control robot, which persistently exports, to be used for when determining robot present position is slope
After being braked the second mobile driving force does not occur for control robot, with second driving force and robot ambulation wheel and locating position
Frictional force where setting between plane, offsets component of the gravity of robot on the direction of slope, so that robot is in present bit
It sets and remain stationary, the sliding after effectivelying prevent robot emergency stop.
Detailed description of the invention
Fig. 1 is the schematic flow diagram of robot control method provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic flow diagram of the detailed process of robot control method provided in an embodiment of the present invention；
Fig. 3 is the schematic flow diagram of the detailed process of another robot control method provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of robot controller provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing, to a kind of robot control method provided in an embodiment of the present invention, device, equipment and medium
Specific embodiment is described in detail.
As shown in Figure 1, robot control method provided in an embodiment of the present invention, may include steps of:
Step 101, the stop command received is responded, control robot exports first contrary with current kinetic and drives
Dynamic braking robot.
Wherein, stop command can be presses the scram button in robot triggering generate, be also possible to server to
What robot issued, it can also be what robot user was issued by terminals such as mobile phone, PAD to robot, the present invention is implemented
Example does not limit this.
When it is implemented, after receiving stop command, respond the stop command received, the output of control robot with
The contrary First Driving Force of current kinetic, to brake robot.Wherein, the size of First Driving Force can use existing skill
Method in art is determined, and it is not limited in the embodiment of the present invention.
Step 102, when determining that robot present position meets preset condition, control robot is persistently exported for controlling
The second mobile driving force does not occur after being braked for robot.
When it is implemented, after braking robot, to prevent the sliding after robot emergency stop, however, it is determined that locating for robot
Position meets preset condition, then controls robot and persistently export for controlling the second drive that movement does not occur after robot is braked
Power, to keep robot to remain static after braking.
When it is implemented, the size of the second driving force can be according to rubbing on the gravity and robot present position of robot
It wipes power to determine, the direction of the second driving force can be determined according to the direction of the frictional force on robot present position.
Specifically, the size of the second driving force is more than or equal to component of the gravity of robot on direction
And the difference of frictional force and the sum of component and frictional force less than or equal to the gravity of robot on direction, second drives
It the direction of power may be identical as the direction of frictional force, it is also possible to it is contrary with frictional force, it is specific to need to drive according to second
The size of power is determined.
Specifically, it is more than or equal to component of the gravity of robot on direction in the size of the second driving force
And the difference of frictional force and be less than or equal to robot gravity in the component on direction, at this time the second driving force and
Frictional force offsets component of the gravity of robot on direction, the direction of the second driving force and the direction of frictional force together
It is identical；The size of the second driving force be more than or equal to component of the gravity on direction of robot and be less than or
Equal to robot gravity in the component and the sum of frictional force on direction, the gravity of robot is in frictional force side at this time
Upward component and frictional force offsets the second driving force together, the direction of the second driving force and frictional force it is contrary.
It should be noted that the First Driving Force and the second driving force that are previously mentioned in the embodiment of the present invention are only used for differentiation two
A different driving force, First Driving Force and the second driving force simultaneously do not have ordinal relation.
Wherein, preset condition includes one or more of the following conditions: plane where robot present position and level
Robot in the case that angle between face is greater than predetermined angle threshold value, stops exporting First Driving Force after robot braking
Traveling wheel is mobile.
A kind of angle in possible embodiment, where determining robot present position between plane and horizontal plane
When greater than predetermined angle threshold value, determine that robot present position meets preset condition, control robot persistently exports the second driving
Power.Wherein, predetermined angle threshold value can based on experience value or practical application scene setting, for example, the value of predetermined angle threshold value
It is 30 degree.Different angle thresholds can be set under different application scene, for example, can be set under the scene of smooth inclined surface
Under the scene of coarse inclined surface, biggish angle threshold can be set, to meet different application scene in lesser angle threshold
It needs.
In practical application, when the movement speed for detecting robot is 0, determines that robot has been braked, stop output the
One driving force, at this time if it is determined that the angle where robot present position between plane and horizontal plane is greater than predetermined angle threshold value,
Then determine that robot will generate sliding, therefore, control robot persistently exports the second driving force, to keep the static shape of robot
State is slided after preventing robot from braking.
When it is implemented, can pass through in the angle where determining robot present position between plane and horizontal plane
The gyroscope of installation in robot is detected to determine the angle, can also by acceleration transducer in robot or
Person's level meter is detected to determine the angle, and it is not limited in the embodiment of the present invention.
Certainly, it should be noted that the angle where determining robot present position between plane and horizontal plane is less than
Or when being equal to predetermined angle threshold value, then without exporting the second driving force.
In above-described embodiment, with the angle and predetermined angle threshold value where robot present position between plane and horizontal plane
Relationship, judge emergency stop braking whether need later continue output the second driving force.But in practical application, it is contemplated that robot
When angle where present position between plane and horizontal plane is a certain angle, the roughness of plane where robot present position
Difference, the result whether robot emergency stop is slided later also will be different.For example, plane and horizontal plane where robot present position
Between angle when being greater than predetermined angle threshold value, if plane where robot present position is more coarse, robot and locating position
The size of frictional force where setting between plane is more than or equal to component of the robot gravity on direction, then machine
It will not also be slided after people's emergency stop.For another example the angle where robot present position between plane and horizontal plane is less than in advance
If when angle threshold, if plane where robot present position is relatively smooth, where robot and present position between plane
The size of frictional force is less than component of the robot gravity on direction, then will also slide after robot emergency stop.
In consideration of it, the embodiment of the present invention, which also provides another kind, judges whether emergency stop braking persistently exports the second driving force later
Mode specifically stop output First Driving Force after robot braking and controlled if the traveling wheel of robot is mobile
Robot persistently exports the second driving force.
When it is implemented, control robot export the First Driving Force contrary with current kinetic brake robot it
Afterwards, if detecting, the movement speed of robot is 0, it is determined that robot has been braked, and output First Driving Force is stopped, if at this time really
The traveling wheel movement namely robot for determining robot are slided, it is determined that robot present position meets preset condition, control
Robot persistently exports the second driving force；If it is determined that the traveling wheel of robot does not move, then without exporting the second driving force.
When it is implemented, judge whether the traveling wheel of robot moves, it can be by being mounted on robot ambulation wheel
Sensor is detected, and can also be carried out really by the way that whether the position that the locating module in robot detects robot changes
Fixed, it is not limited in the embodiment of the present invention.
Generally, two kinds are provided in the above embodiment of the present invention judges whether emergency stop braking persistently exports second later
The mode of driving force, it is a kind of whether to be greater than preset angle based on plane where robot present position and the angle between horizontal plane
Threshold value is spent, judges whether emergency stop braking persistently exports the second driving force later；Another kind is used for stop output according to robot
After the First Driving Force of emergency stop braking, whether the traveling wheel of robot is moved, and judges whether emergency stop braking persistently exports later
Second driving force.In practical application, two kinds provided in above-described embodiment judge whether emergency stop braking persistently exports second later
The mode of driving force, can be used alone, and can also be used in combination, it is not limited in the embodiment of the present invention.
When it is implemented, two kinds provided in above-described embodiment judge whether persistently output second drives later for emergency stop braking
When the mode of power is used in combination, can first whether be greater than based on the angle where robot present position between plane and horizontal plane
Predetermined angle threshold value, judges whether emergency stop braking exports the second driving force later, if based on plane where robot present position
Whether the angle between horizontal plane is greater than predetermined angle threshold value, determines without exporting the second driving force, then further according to machine
Whether the traveling wheel of device people moves, and judges whether to need to export the second driving force.If judging whether to need to export the second drive twice
The result of power is different, then is subject to according to whether the traveling wheel of robot moves the judgement result obtained.
In an example it is assumed that the angle where robot present position between plane and horizontal plane is less than predetermined angle
Threshold value, and plane where robot present position is relatively smooth, the frictional force where robot and present position between plane
Size is less than component of the robot gravity on direction, if not exporting the second driving force robot after robot emergency stop
It will slide.
In such cases, after response stop command, output First Driving Force braking robot, if detecting robot
Movement speed be 0, then stop exporting First Driving Force, and where detecting robot present position between plane and horizontal plane
Angle, since the angle where robot present position between plane and horizontal plane is less than predetermined angle threshold value, accordingly, it is determined that nothing
The second driving force need to be exported.
Angle where based on robot present position between plane and horizontal plane is determined without exporting the second driving force
Later, since plane where robot present position may be relatively smooth, the traveling wheel of robot is possible to still move, because
This, needs to export the second driving force according to the mobile determination of the traveling wheel of robot.In such cases, according to the walking of robot
Subject to the judgement result whether wheel moves, namely final determination needs to export the second driving force.
Based on any of the above-described embodiment, in a kind of possible embodiment, the second drive is persistently exported in control robot
When power, location information and/or status information that robot reports robot to server or administrator can also be controlled, with
The location information and/or status information according to robot are enabled an administrator to, determines that robot is currently at slidable position,
So that robot is moved to other positions (for example, plan-position) from slidable position in time by administrator.
When it is implemented, the location information of robot can carry out positioning acquisition by the locating module of robot interior,
The status information of robot can determine in real time according to the state of robot, and the status information of robot may include but unlimited
In: robot exports the information (such as the information such as size and Orientation of the second driving force) of the second driving force, robot moves
Information (such as the information such as whether robot moves, movement speed) etc., it is not limited in the embodiment of the present invention.
In a kind of possible embodiment, the instruction for stopping the second driving force of output is received determining, controls machine
People stops the second driving force of output.When it is implemented, the instruction for stopping the second driving force of output can be server or machine
The user of people releases in the sliding danger for determining robot (for example, robot has been moved to plan-position or has determined that machine
Device people sliding will not touch barrier) send afterwards.
In addition, showing that someone is moving robot, such situation in plane where determining that robot is detached from present position
Under, it also can control robot and stop the second driving force of output.It is specific to determine whether robot is detached from plane where present position
When, it can detect whether robot is determined with locating plane contact by sensor, sensor detection machine can also be passed through
The distance between device people and locating plane are determined, and it is not limited in the embodiment of the present invention.
Below with reference to Fig. 2 and Fig. 3, robot control method provided in an embodiment of the present invention is described in detail.
As shown in Fig. 2, robot control method provided in an embodiment of the present invention, with plane where robot present position with
The relationship of angle and predetermined angle threshold value between horizontal plane, judges whether emergency stop braking persistently exports the second driving force later and be
Example, detailed process may include:
Step 201, stop command is received.Wherein, stop command can be the scram button triggering pressed in robot
Generate, be also possible to what server was issued to robot, can also be robot user by the terminals such as mobile phone, PAD to
What robot issued, it is not limited in the embodiment of the present invention.
Step 202, control robot exports the First Driving Force contrary with current kinetic and brakes robot.
It should be noted that determining that robot has been braked when the movement speed for detecting robot is 0, can stopping
Export First Driving Force.
Step 203, judge whether angle is greater than predetermined angle threshold between plane and horizontal plane locating for robot position
Otherwise value, executes step 206 if so, executing step 204.Wherein, predetermined angle threshold value can be set based on experience value, example
Such as, the value of predetermined angle threshold value is 30 degree.
When it is implemented, can pass through in the angle where determining robot present position between plane and horizontal plane
The gyroscope of installation in robot is detected to determine the angle, can also be by the acceleration sensing installed in robot
Device or level meter are detected to determine the angle, and it is not limited in the embodiment of the present invention.
Step 204, determining that angle is greater than predetermined angle threshold value between plane and horizontal plane locating for robot position
When, control robot is persistently exported, and the second mobile driving force does not occur for controlling after robot is braked.
In practical application, the angle where determining robot present position between plane and horizontal plane is greater than predetermined angle
When threshold value, determine that robot will generate sliding, therefore, control robot persistently exports the second driving force, to keep robot to exist
It remains static after emergency stop, is slided after preventing robot from braking.
Wherein, the size of the second driving force can be true according to the frictional force on the gravity and robot present position of robot
Fixed, the direction of the second driving force can be determined according to the direction of the frictional force on robot present position.Specifically, second
The size of driving force be more than or equal to the difference of component and frictional force of the gravity on direction of robot and be less than or
Equal to robot gravity in the component on direction, rub on the direction and robot present position of the second driving force
The direction of power is identical；The size of the second driving force be more than or equal to robot component of the gravity on direction,
And it is less than or equal to component and frictional force the sum of of the gravity of robot on direction, the direction of the second driving force and machine
Frictional force is contrary on device people present position.
It should be noted that the First Driving Force and the second driving force that are previously mentioned in the embodiment of the present invention are only used for differentiation two
A different driving force, First Driving Force and the second driving force simultaneously do not have ordinal relation.
Step 205, control robot reports the location information and/or status information of robot to server.
When it is implemented, the location information of robot can carry out positioning acquisition by the locating module of robot interior,
The status information of robot can determine in real time according to the state of robot, and the status information of robot may include but unlimited
In: robot exports the mobile information etc. of the information of the second driving force, robot, and it is not limited in the embodiment of the present invention.
Step 206, determining that angle is less than or equal to preset angle between plane and horizontal plane locating for robot position
It is without any processing when spending threshold value.
In practical application, the angle where determining robot present position between plane and horizontal plane is less than or equal to pre-
If when angle threshold, determining after stopping output First Driving Force, robot will not slide, it is therefore not necessary to export the second driving
Power, can be without any processing.
As shown in figure 3, robot control method provided in an embodiment of the present invention, to stop exporting machine after First Driving Force
Whether the traveling wheel of device people moves, and for judging whether emergency stop braking persistently exports the second driving force later, detailed process can
To include:
Step 301, stop command is received.Wherein, stop command can be the scram button triggering pressed in robot
Generate, be also possible to what server was issued to robot, can also be robot user by the terminals such as mobile phone, PAD to
What robot issued, it is not limited in the embodiment of the present invention.
Step 302, control robot exports the First Driving Force contrary with current kinetic and brakes robot.
It should be noted that determining that robot has been braked when the movement speed for detecting robot is 0, can stopping
Export First Driving Force.
Step 303, judge after stopping output First Driving Force, whether the traveling wheel of robot moves, if so, executing step
Rapid 304, otherwise, execute step 306.
When it is implemented, whether the traveling wheel of robot moves, and can pass through peace after stopping exporting First Driving Force
Sensor on robot ambulation wheel is detected, and the position of robot can also be detected by the locating module in robot
It sets whether to change and be determined, it is not limited in the embodiment of the present invention.
Step 304, after determining to stop output First Driving Force, when the traveling wheel of robot is mobile, robot is controlled
For controlling the second mobile driving force does not occur for lasting output after robot is braked.
Wherein, the size of the second driving force can be true according to the frictional force on the gravity and robot present position of robot
Fixed, the direction of the second driving force can be according to the direction determination of the frictional force on robot present position or according to robot row
The glide direction for walking wheel determines.Specifically, it is rubbing in the gravity that the size of the second driving force is more than or equal to robot
The difference of component and frictional force on power direction and it is less than or equal to the gravity of robot in the component on direction, the
The direction of two driving forces is identical as the direction of frictional force on robot present position or direction and the robot of the second driving force
The glide direction of traveling wheel is opposite；It is more than or equal to the gravity of robot on direction in the size of the second driving force
Component and be less than or equal to component and frictional force the sum of of the gravity on direction of robot, the second driving force
The cunning in direction and contrary or the second driving force the direction and robot ambulation wheel of frictional force on robot present position
It moves contrary.
It should be noted that the First Driving Force and the second driving force that are previously mentioned in the embodiment of the present invention are only used for differentiation two
A different driving force, First Driving Force and the second driving force simultaneously do not have ordinal relation.
Step 305, control robot reports the location information and/or status information of robot to server.
When it is implemented, the location information of robot can carry out positioning acquisition by the locating module of robot interior,
The status information of robot can determine in real time according to the state of robot, and the status information of robot may include but unlimited
In: robot exports the mobile information etc. of the information of the second driving force, robot, and it is not limited in the embodiment of the present invention.
Step 306, it after determining to stop output First Driving Force, when the traveling wheel of robot does not move, does not do any
Processing.
In practical application, after stopping output First Driving Force, however, it is determined that the traveling wheel of robot does not move, it is determined that
Robot will not slide, it is therefore not necessary to the second driving force is exported, it can be without any processing.
Based on identical inventive concept, the embodiment of the present invention also provides a kind of robot controller.
As shown in figure 4, a kind of robot controller provided in an embodiment of the present invention, comprising:
First processing units 401, for responding the stop command received, the output of control robot and current kinetic direction
Opposite First Driving Force brakes robot.
The second processing unit 402, for when determining that robot present position meets preset condition, control robot to continue
It exports and the second mobile driving force does not occur after robot is braked for controlling.
Robot controller provided in an embodiment of the present invention, in the stop command that response receives, control robot is defeated
Out after the First Driving Force contrary with current kinetic braking robot, item is preset determining that robot present position meets
When part, for example, control robot is persistently exported to be braked for controlling robot when determining robot present position is slope
The second mobile driving force does not occur afterwards, between second driving force and robot ambulation wheel and present position place plane
Frictional force offsets component of the gravity of robot on the direction of slope, so that robot is remain stationary in current location, it is effectively anti-
The only sliding after robot emergency stop.
In a kind of possible embodiment, the second processing unit 402 is specifically used for: if flat where robot present position
Angle between face and horizontal plane is greater than predetermined angle threshold value, determines that robot present position meets preset condition, controls machine
People persistently exports, and the second mobile driving force does not occur for controlling after robot is braked.
In a kind of possible embodiment, the second processing unit 402 is specifically used for: stopping output after robot braking
First Driving Force determines that robot present position meets preset condition, control robot continues if the traveling wheel of robot is mobile
It exports and the second mobile driving force does not occur after robot is braked for controlling.
In a kind of possible embodiment, the second processing unit 402 is also used to: according to the gravity and robot of robot
Frictional force on present position determines the size of the second driving force；And the direction according to frictional force, determine the second driving force
Direction.
In a kind of possible embodiment, the gravity that the size of the second driving force is more than or equal to robot is rubbing
The difference of component and frictional force on power direction and component of the gravity on direction for being less than or equal to robot, second
The direction of driving force is identical as the direction of frictional force on robot present position；Either the size of the second driving force is greater than or waits
Component of the gravity on direction in robot and point less than or equal to the gravity of robot on direction
Amount the sum of with frictional force, the direction of the second driving force on robot present position frictional force it is contrary.
In a kind of possible embodiment, robot controller, further includes: control unit 403, for controlling machine
People reports the location information and/or status information of robot to server.
In a kind of possible embodiment, the second processing unit 402 is also used to: receiving stopping output the determining
Where the instruction of two driving forces or determining robot are detached from present position when plane, control robot stops exporting the second driving
Power.
It can be by electronic equipment Lai real in conjunction with the robot control method and device of Fig. 1-Fig. 4 embodiment of the present invention described
It is existing.Wherein, electronic equipment can be the controller of smart machine (such as robot) or smart machine, be also possible to server.
The specific implementation form of electronic equipment is not defined in the embodiment of the present invention.Fig. 5 shows provided in an embodiment of the present invention
The hardware structural diagram of electronic equipment.
The electronic equipment may include processor 501 and the memory 502 for being stored with computer program instructions.
Specifically, above-mentioned processor 501 may include central processing unit (CPU) or specific integrated circuit
(Application Specific Integrated Circuit, ASIC), or may be configured to implement implementation of the present invention
One or more integrated circuits of example.
Memory 502 may include the mass storage for data or instruction.For example it rather than limits, memory
502 may include hard disk drive (Hard Disk Drive, HDD), floppy disk drive, flash memory, CD, magneto-optic disk, tape or logical
With the combination of universal serial bus (Universal Serial Bus, USB) driver or two or more the above.It is closing
In the case where suitable, memory 502 may include the medium of removable or non-removable (or fixed).In a suitable case, it stores
Device 502 can be inside or outside data processing equipment.In a particular embodiment, memory 502 is nonvolatile solid state storage
Device.In a particular embodiment, memory 502 includes read-only memory (ROM).In a suitable case, which can be mask
ROM, programming ROM (PROM), erasable PROM (EPROM), the electric erasable PROM (EEPROM), electrically-alterable ROM of programming
(EAROM) or the combination of flash memory or two or more the above.
Processor 501 is by reading and executing the computer program instructions stored in memory 502, to realize above-mentioned implementation
Any one robot control method in example.
In one example, which may also include communication interface 503 and bus 510.Wherein, as shown in figure 5, place
Reason device 501, memory 502, communication interface 503 connect by bus 510 and complete mutual communication.
Communication interface 503 is mainly used for realizing in the embodiment of the present invention between each module, device, unit and/or equipment
Communication.
Bus 510 includes hardware, software or both, and the component of the electronic equipment is coupled to each other together.For example
Rather than limit, bus may include accelerated graphics port (AGP) or other graphics bus, enhance Industry Standard Architecture (EISA) always
Line, front side bus (FSB), super transmission (HT) interconnection, the interconnection of Industry Standard Architecture (ISA) bus, infinite bandwidth, low pin count
(LPC) bus, memory bus, micro- channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express
(PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association part (VLB) bus or other conjunctions
The combination of suitable bus or two or more the above.In a suitable case, bus 510 may include one or more
Bus.Although specific bus has been described and illustrated in the embodiment of the present invention, the present invention considers any suitable bus or interconnection.
Whether the electronic equipment can meet preset condition based on robot present position, execute in the embodiment of the present invention
Robot control method, to realize the robot control method and device described in conjunction with Fig. 1-Fig. 3.
In addition, in conjunction with the robot control method in above-described embodiment, the embodiment of the present invention can provide a kind of computer can
Storage medium is read to realize.Computer program instructions are stored on the computer readable storage medium；The computer program instructions
Any one robot control method in above-described embodiment is realized when being executed by processor.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
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.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of robot control method characterized by comprising
The stop command received is responded, the robot is controlled and exports the First Driving Force braking contrary with current kinetic
The robot；
When determining that the robot present position meets preset condition, control the robot persistently export it is described for controlling
The second mobile driving force does not occur after being braked for robot.
2. the method according to claim 1, wherein described determining that it is default that the robot present position meets
When condition, controls the robot and persistently export for controlling the second driving that movement does not occur after the robot is braked
Power, comprising:
If the angle where the robot present position between plane and horizontal plane is greater than predetermined angle threshold value, the machine is determined
Device people present position meets preset condition, controls the robot and persistently exports and does not send out for controlling after the robot is braked
Raw the second mobile driving force.
3. the method according to claim 1, wherein described determining that it is default that the robot present position meets
When condition, controls the robot and persistently export for controlling the second driving that movement does not occur after the robot is braked
Power, comprising:
Stop exporting the First Driving Force after robot braking, if the traveling wheel of the robot is mobile, determines institute
It states robot present position and meets preset condition, control the robot and persistently export for controlling after the robot is braked
The second mobile driving force does not occur.
4. according to the method in claim 2 or 3, which is characterized in that determine that the robot present position meets default item
After part, further includes:
According to the frictional force on the gravity of the robot and the robot present position, the big of second driving force is determined
It is small；And
According to the direction of the frictional force, the direction of second driving force is determined.
5. according to the method described in claim 4, it is characterized in that, the size of second driving force is more than or equal to described
The difference of component and the frictional force of the gravity of robot on the direction and it is less than or equal to the robot
Frictional force on component of the gravity on the direction, the direction of second driving force and the robot present position
Direction it is identical；Or
The size of second driving force be more than or equal to the robot component of the gravity on the direction,
And it is less than or equal to component and the frictional force the sum of of the gravity of the robot on the direction, described second
The direction of driving force on the robot present position frictional force it is contrary.
6. the method according to claim 1, wherein the method also includes:
Control location information from the robot to server and/or status information that the robot reports.
7. the method according to claim 1, wherein the method also includes:
Determining that receiving the instruction for stopping exporting second driving force or the determining robot is detached from present position institute
In plane, controls the robot and stop exporting second driving force.
8. a kind of robot controller characterized by comprising
First processing units control the robot output and current kinetic direction phase for responding the stop command received
Anti- First Driving Force brakes the robot；
The second processing unit, for controlling the robot and holding when determining that the robot present position meets preset condition
For controlling the second mobile driving force does not occur for continuous output after the robot is braked.
9. a kind of electronic equipment characterized by comprising at least one processor, at least one processor and be stored in institute
The computer program instructions in memory are stated, are realized when the computer program instructions are executed by the processor as right is wanted
Seek method described in any one of 1-7.
10. a kind of computer readable storage medium, is stored thereon with computer program instructions, which is characterized in that when the calculating
Such as method of any of claims 1-7 is realized when machine program instruction is executed by processor.
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| CN201910026046.3A CN109605376A (en) | 2019-01-11 | 2019-01-11 | A kind of robot control method, device, equipment and medium |
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