CN109807903A - 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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- CN109807903A CN109807903A CN201910285053.5A CN201910285053A CN109807903A CN 109807903 A CN109807903 A CN 109807903A CN 201910285053 A CN201910285053 A CN 201910285053A CN 109807903 A CN109807903 A CN 109807903A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
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Abstract
The embodiment of the invention discloses a kind of robot control method, device, equipment and media.Wherein, which comprises receive external event information, and response external event acts on the external event triggering of robot, determines the current event information that current node executes in robot behavior tree；Based on predeterminable event priority, according to the current event information that external event information and current node execute, current pending target child node in robot behavior tree is determined；According to target child node, switch the execution state of robot, and controls target child node and execute associated behavior act.The embodiment of the present invention is by triggering robot behavior tree using external event, the current event information that robot is executed according to external event information and current node, freely switch current execution state, external event is timely responded to realize, and can be from the execution state of macroscopically planning robot's task.
Description
Technical field
The present invention relates to information human-computer interaction technique field more particularly to a kind of robot control method, device, equipment and
Medium.
Background technique
With the development of society, robot technology has obtained development at full speed, robot is widely applied to all trades and professions
In, it is therefore, also higher and higher to the performance requirement of robot.
In actual demand, we, which require robot not only, can receive mankind commander, but also can run the journey of preparatory layout
Sequence, the principle program action that can also be formulated according to artificial intelligence technology.Under normal conditions, robot is executed using sequential system
Task, i.e. putting in order according to each trigger event, respond each trigger event one by one.And then can not in triggered time node and
When cope with the external events such as instruction that user issues, can not timely switch the execution state of itself according to the actual situation.
Therefore, also lack at present one kind can real-time response external command, according to actual conditions flexibly switch itself execute
The robot control method of state.
Summary of the invention
The embodiment of the present invention provides a kind of robot control method, device, equipment and medium, to realize robot to outside
Instruction is timely responded to and is handled, and can flexibly switch the execution state of itself according to the actual situation.
In a first aspect, the embodiment of the invention provides a kind of robot control methods, which comprises
External event information is received, and response external event acts on the external event triggering of robot, determines robot
The current event information that current node executes in behavior tree；
Based on predeterminable event priority, the current event letter executed according to the external event information and current node
Breath determines current pending target child node in the robot behavior tree；
According to the target child node, switch the execution state of the robot, and controls the target child node and execute
Associated behavior act.
Second aspect, the embodiment of the invention also provides a kind of robot controller, described device includes:
External event respond module, for receiving external event information, and response external event acts on the outer of robot
The triggering of portion's event, determines the current event information that current node executes in robot behavior tree；
Target child node determining module according to the external event information and is worked as being based on predeterminable event priority
The current event information that preceding child node executes determines current pending target child node in the robot behavior tree；
Execution state switching module, for switching the execution state of the robot, and control according to the target child node
It makes the target child node and executes associated behavior act.
The third aspect, the embodiment of the invention also provides a kind of equipment, the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes a kind of robot control method as described in any in the embodiment of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes a kind of robot control method as described in any in the embodiment of the present invention when program is executed by processor.
The embodiment of the present invention acts on the external event touching of robot by receiving external event information, response external event
Hair determines the current event information that current node executes in robot behavior tree, and is based on predeterminable event priority, according to outer
The current event information that portion's event information and current node execute determines current pending mesh in everybody behavior tree of machine
Child node is marked, and then according to target child node, switches the execution state of robot, and controls target child node and executes associated row
For movement.The embodiment of the present invention allows robot according to outside by triggering robot behavior tree using external event
The current event information that event information and current node execute, freely switches current execution state, to realize external
Portion's event timely responds to, and can be from the execution state of macroscopically planning robot's task.
Detailed description of the invention
Fig. 1 is a kind of flow chart for robot control method that the embodiment of the present invention one provides；
Fig. 2 is the schematic diagram for the trigger-type behavior tree that the embodiment of the present invention one provides；
Fig. 3 is a kind of flow chart of robot control method provided by Embodiment 2 of the present invention；
Fig. 4 is the timing diagram that robot provided by Embodiment 2 of the present invention child node when receiving visitor executes son movement；
Fig. 5 is the conversion logic figure that robot provided by Embodiment 2 of the present invention executes state；
Fig. 6 is a kind of structure chart for robot controller that the embodiment of the present invention three provides；
Fig. 7 is a kind of structural schematic diagram for equipment that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for robot control method that the embodiment of the present invention one provides.The present embodiment is applicable to
The case where intelligence system of automation is controlled.Typically, the present embodiment is applicable to control robot.The party
Method can be executed by robot controller.As shown in Figure 1, a kind of robot control method provided in this embodiment specifically may be used
To include the following steps:
Step 110 receives external event information, and response external event acts on the external event triggering of robot, really
Determine the current event information that current node executes in robot behavior tree.
In the specific embodiment of the invention, external event refer to it is any can be to the event that robot is triggered, Ke Yiwei
The triggering of external environment variation can also carry out issuing for action command to robot for user.External event information can be with
The collected external environment running parameters such as sensor are based on for robot, the movement that robot issues can also be referred to for user
It enables.It can be received by robot-environmental interaction system, man-machine interactive system and control system for being carried in robot etc.
External event information.
Robot behavior tree can define each sub- movement under robot executable any behavior act and behavior act
Between logical relation.Behavior tree includes root node and child node, and root node is the control node in behavior tree, for controlling phase
The execution logic of associated child node.Child node is to correspond to the associated behavior node of control node in behavior tree, for executing and
The associated sub- movement of task.Correspondingly, child node generally may include that operation neutralizes the execution states such as completion, convenient for control section
Point carries out the switching of execution state according to the execution state of each behavior node.
Wherein, the robot behavior tree in the present embodiment is trigger-type behavior tree, is trigger-type behavior tree referring to Fig. 2, Fig. 2
Schematic diagram.Trigger-type behavior tree triggers the execution state that behavior tree enters corresponding behavior act by external event, executes
Behavior act corresponding to the state can switch to another execution state under the corresponding behavior act of a certain execution state.
Specifically, robot can be incuded external environment in real time or periodically and be become by the various sensors itself integrated
Change and user triggers, receives external event information.Wherein, the present embodiment can also preset external event trigger condition, from
And when judging that external event information meets default external event trigger condition, then external event is responded.Secondly in sound
During answering, based on the incidence relation between the state of execution and behavior act, determined according to the current execution state of robot
The currently performed current event of robot, and the son movement being currently executing.
Step 120 is based on predeterminable event priority, the current thing executed according to external event information and current node
Part information determines current pending target child node in robot behavior tree.
In the specific embodiment of the invention, the execution that all kinds of executable events have been pre-configured in predeterminable event priority is preferential
Grade, the executable event include at least robot external event and robot interior event.Wherein, executable event is pre-
The event that the robot first configured is able to carry out may include the external command that user issues, the triggering of environmental change, Yi Jiji
The processing etc. of device people's internal abnormality.Robot interior event may include the task order of the preparatory layout of robot.Different things
Part corresponds to different priority orders, and when existing simultaneously at least two executable events triggering robot execution, robot is excellent
First carry out the high event of priority.Target child node refers to when there are at least two executable events, excellent based on predeterminable event
First grade, by least one child node of the event correlation that should currently execute of behavior tree determination when triggering.
Specifically, illustratively, can use all kinds of executable things after robot behavior tree is triggered by external event
The priority tag of part compares the priority of external event and current event, if the priority of external event is higher than current event
Priority, it is determined that external event is the event that should currently execute, so determine the external event corresponding to control section
Point, according to the execution sequence of child node corresponding to external event information, by under control node with current pending external thing
The associated child node of part is as the target child node for executing external event.
Step 130, foundation target child node, switch the execution state of robot, and control target child node and execute association
Behavior act.
In the specific embodiment of the invention, the state that executes is robot in the task of execution, robot behavior tree control node
Corresponding status information.Specifically, the state of execution may include idle state, in task execution and the medium shape of fault clearance
State.After robot behavior tree is triggered by external event, the execution state of itself can be switched.Illustratively, robot is held
Row state can be switched in task execution by idle state, and then according to target child node, control target child node execute with
The associated behavior act of external event.Further, each child node corresponds to different son movements, the execution of each task
It needs to be cooperated between different child nodes to complete.
Illustratively, it is assumed that robot is carrying out singing behavior, if active user issues dancing instruction to robot,
Robot responds this external event of user instruction, determines that singing behavior is current event.Secondly judgement, which is sung, goes
For the priority with dancing behavior, if the priority of singing behavior is higher than dancing behavior, robot is without executing state
Switching, continues to execute singing behavior.Conversely, if the priority of dancing behavior is higher than singing behavior, it is determined that robot behavior tree
Middle dancing behavior corresponds to control node, using the associated child node of the control node as target child node.To according to target
The execution state of singing behaviour control node is switched to pause by node, and the execution state of dancing behaviour control node is switched
In executing.Final control node controls robot and currently timely responds to jump according to the sequential relationship between each target child node
Dance instruction, and execute dancing behavior.
The technical solution of the present embodiment, by receiving external event information, response external event acts on the outer of robot
Event triggering in portion's determines the current event information that current node executes in robot behavior tree, and preferential based on predeterminable event
Grade, according to the current event information that external event information and current node execute, determine in robot behavior tree currently to
The target child node of execution, and then according to target child node, switch the execution state of robot, and control the execution of target child node
Associated behavior act.The embodiment of the present invention is by triggering robot behavior tree using external event, so that robot can be with
According to the current event information that external event information and current node execute, freely switch current execution state, thus
Realization timely responds to external event, and can be from the execution state of macroscopically planning robot's task.
Embodiment two
Fig. 3 is a kind of flow chart of robot control method provided by Embodiment 2 of the present invention.The present embodiment is above-mentioned
On the basis of embodiment, step 110, step 120 and step 130 are further refined respectively.As shown in figure 3, the party
Method can specifically include following steps:
Step 210, foundation external event information, if detecting, external event is the executable event classification of robot,
Response external event acts on the external event triggering of robot, determines that current node executes current in robot behavior tree
Event information.
Wherein, executable event may include the external event of robot and robot interior event, external event can
Think that the external command that user issues, internal event can be the task order of the preparatory layout of robot.Executable event is pre-
All kinds of executable events being first arranged, by the way that external event and pre-set all kinds of executable events to be compared, in turn
Determine whether external event is executable event.Further, different executable events corresponds to different priority orders.
Step 220 is based on predeterminable event priority, the current thing executed according to external event information and current node
Part information, if detecting, the execution priority of external event is greater than the execution priority of current event, it is determined that robot behavior
The child node of external event correlation is current pending target child node in tree.
Illustratively, if current robot is carrying out the task of preparatory layout, robot is received under user at this time
The operational order of hair, the Event Priority as corresponding to operational order is higher than the task with robot preparatory layout, then into one
It walks and determines child node associated with external command in robot behavior tree, and using above-mentioned child node as pending target
Node.
If step 230, target child node are at least two, according to each sub- movement in the associated event of target child node it
Between sequential relationship, control the cooperation of each target child node and execute associated sub- movement.
Wherein, the sequential relationship between each sub- movement indicates the performed temporal logic relationship acted of each child node, control
Node controls associated each child node according to sequential relationship.Under the control of control node, each child node foundation is appointed
The execution time of business, cooperation execute corresponding son movement.
Optionally, in the section of the response time corresponding to the associated event of target child node, each of the event correlation is determined
At the beginning of child node executes each sub- movement and the end time；At the beginning of executing each sub- movement according to each child node and tie
The beam time controls each target child node cooperation and executes associated sub- movement, to execute the event.
Wherein, response time section executes the time span that the time is constituted to execute the start-stop of current event.Further, machine
The child node of device people behavior tree is that the sequential relationship according to corresponding to time shaft is performed when executing son movement.Specifically,
In the same time, the son movement of multiple child nodes can execute parallel, can also intert execution, which improves machine
The task completeness and real-time of people.
It illustratively, is that robot child node when receiving visitor executes the timing diagram that son acts referring to Fig. 4, Fig. 4.The machine
The sensor module of device people includes sound recognition module, visual perception module and laser radar module etc., and the sensor is used to
Identify the information in external environment；The execution module that the drive system of robot is carried includes mobile navigation module, arm motion
Module, finger movement module, sound rendering playing module, head movement module, expression control module and music playing module
Corresponding instruction is executed with cooperation Deng, above-mentioned execution module.If user assigns the instruction of dancing to robot, firstly, in t0
To the t1 period, robot identifies the external command using sensor module, specifically, sensor module is to user
Carry out recognition of face and voice recognition.Robot is after identifying successfully, in t1 to t2 period, instructs to the dancing of user
It is responded.Then, if the priority of dancing instruction is higher than the current priority for executing event, dancing event correlation is executed
Behavior act.Mode based on time shaft has pre-set in time shaft and has completed each height of dancing event and act it
Between sequential relationship.And then according to sequential relationship, corresponding child node is controlled since time point t2 and executes the jump that user assigns
Dance instruction.Robot executes arm, expression, music, speech synthesis movement in the first time of t2 to t3；When executing default
Between after, speech synthesis, facial expressions and acts end first, finger, expression, head, chassis movement arm and music execution the time in wears
Slotting beginning and end acts to form compensation, by the mode of timing compensation, controls each child node pair to arm action and music
The behavior act for completely realizing robot is combined in the movement answered in the way of time shaft, so that the Behavior Expression of robot
It is more three-dimensional and lively, and allow the robot to independent the completing complexity of the task.In addition, by robot system
The collaborative work of multiple sensors can be improved the accuracy of robot identification.
In addition, robot is by modular design, so that user can arbitrarily add in robot according to their own needs
Add sensor and execution module, coupling and harmony without taking notice of each functional module of robot.The control method can
The perfect different execution module of coordinating robot and sensor allow their gapless cooperations to complete what user specified
Task.
The technical solution of the present embodiment, by according to and each sub- movement at least two target child node associated times it
Between sequential relationship, control the cooperation of each target child node and execute associated sub- movement.So that within the same time, multiple child nodes
Son movement can execute parallel, execution can also be interted, improve the task completeness and real-time of robot.
Further, robot control method further include: if detecting the execution abnormal state of robot, it is determined that clear wrong
The child node of event correlation is target child node, and controls target child node and carry out abnormal removing；If detecting abnormal remove
At then return switches to a child node and executes associated behavior act.
Wherein, executing abnormal state can be by external environment transformation or robot exception-triggered itself.
Specifically, Fig. 5 is the conversion logic figure that robot executes state referring to Fig. 5.When robot is in idle condition
When, user under the robot under idle state to sending instructions.Firstly, the instruction that robot issues user is classified as executable thing
Oneself state is switched to execution task status by part, robot, then selection is corresponding with user instruction from executable task list
Behavior pattern, control child node executes corresponding son movement, executes action sequence corresponding to user instruction.Task execution knot
Shu Shi, robot return to idle state, wait new task；When robot is during execution state, external environment is done
Disturb or itself the problem of when malfunctioning, robot suspends current task, is switched to abnormality, directly executes the behavior mould of clear mistake
Formula, when clear wrong successful, robot returns to laststate, continues to execute task；It is lost if missing clearly, executes the behavior of abnormal alarm
Mode.By the priority of predeterminable event, robot can timely switch the execution shape of itself according to the priority of event
State can respond the order outside processing in real time, and can timely handle since external environment changes or itself is different
The emergency event often resulted in improves the intelligent level of robot.
In addition, the mission script of robot is prestored by way of file, user is in the task of customization, Ke Yizhi
The operation for carrying out " additions and deletions, which change, looks into " to mission script is connect, there is very high programmability.The control method has stronger adaptation
Property and plasticity, it can be transplanted in any diversification system, be not only limited to the processing of robot system.
The technical solution of the present embodiment, by according to external event information, if detect external event be robot can
Event category is executed, response external event acts on the external event triggering of robot, by external event and current node
Execution priority is compared, if detecting, execution priority of the execution priority greater than current event of external event is rung
It answers, it is determined that the child node of external event correlation is current pending target child node in robot behavior tree, and according to mesh
The sequential relationship in the associated event of child node between each sub- movement is marked, it is dynamic to control each associated son of target child node cooperation execution
Make.The embodiment of the present invention switches execution state according to the priority of event, allows the robot to timely response external
The problem of instructing and timely handling due to external environment variation or itself abnormal caused emergency event.In addition, when passing through
The mode of sequence controls target child node and executes son movement, can be improved the task completeness and real-time of robot.
Embodiment three
Fig. 6 is a kind of structure chart for robot controller that the embodiment of the present invention three provides.The executable present invention is any
A kind of robot control method provided by embodiment, referring to Fig. 6, a kind of robot controller provided in an embodiment of the present invention
It include: external event respond module 310, target child node determining module 320 and execution state switching module 330.
Wherein, external event respond module 310, for receiving external event information, and response external event acts on machine
The external event of device people triggers, and determines the current event information that current node executes in robot behavior tree.
Target child node determining module 320, for for being based on predeterminable event priority, according to external event information and
The current event information that current node executes determines current pending target child node in robot behavior tree.
Execution state switching module 330, for switching the execution state of robot, and control mesh according to target child node
It marks child node and executes associated behavior act.
Optionally, external event respond module 310 is specifically used for, according to external event information, if detecting external event
For the executable event classification of robot, then response external event acts on the external event triggering of robot, determines robot
The current event information that current node executes in behavior tree.
Optionally, target child node determining module 320 is specifically used for, and is based on predeterminable event priority, according to external event
The current event information that information and current node execute, if detecting, the execution priority of external event is greater than current event
Execution priority, it is determined that the child node of external event correlation is current pending target sub- section in robot behavior tree
Point.
Specifically, the preset configuration execution priority of all kinds of executable events in predeterminable event priority, can be performed thing
Part includes at least robot external event, robot interior event.
Optionally, it executes state switching module 330 to be specifically used for, if target child node is at least two, according to target
It is dynamic to control each associated son of target child node cooperation execution for sequential relationship in the associated event of child node between each sub- movement
Make.
Wherein, according to the sequential relationship between each sub- movement in the associated event of target child node, each target section is controlled
Point cooperation executes associated sub- movement, comprising:
In the section of the response time corresponding to the associated event of target child node, determine that each child node of the event correlation is held
At the beginning of each sub- movement of row and the end time；
At the beginning of executing each sub- movement according to each child node and the end time, controls each target child node cooperation and execute
Associated sub- movement, to execute the event.
Further, above-mentioned apparatus further includes abnormal removing module 340 and behavior act return module 350.It is wherein abnormal
If removing the execution abnormal state that module 340 is used to detect robot, it is determined that the child node of clear mistake event correlation is target
Child node, and control target child node and carry out abnormal removing.If behavior act return module 350 is for detecting abnormal remove
At then return switches to a child node and executes associated behavior act.
The embodiment of the present invention receives external event information by the mutual cooperation between each functional module, and responds outer
Portion's event acts on the external event triggering of robot, determines the current event letter that current node executes in robot behavior tree
Breath, and it is based on predeterminable event priority, according to the current event information that external event information and current node execute, determine
Current pending target child node in everybody behavior tree of machine, and then according to target child node, switch the execution shape of robot
State, and control target child node and execute associated behavior act.The embodiment of the present invention is by triggering machine using external event
People behavior tree, the current event information that robot is executed according to external event information and current node, freely
Switch execution state, external event is timely responded to realize, and being capable of holding from macroscopically planning robot's task
Row state.
A kind of robot controller provided by the embodiment of the present invention can be performed provided by any embodiment of the invention
A kind of robot control method has the corresponding functional module of execution method and beneficial effect.
Example IV
Fig. 7 is a kind of structural schematic diagram for equipment that the embodiment of the present invention four provides.Fig. 7, which is shown, to be suitable for being used to realizing this
The block diagram of the example devices 412 of invention embodiment.The equipment 412 that Fig. 7 is shown is only an example, should not be to the present invention
The function and use scope of embodiment bring any restrictions.
As shown in fig. 7, equipment 412 is showed in the form of universal computing device.The component of equipment 412 may include but unlimited
In one or more processor 416 or processing unit, system memory device 428, connecting different system components (including is
Unite storage device 428 and processor 416) bus 418 and complete point cloud data acquisition device 426.
Bus 418 indicates one of a few class bus structures or a variety of, including storage device bus or storage device control
Device processed, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture
(MAC) bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) are total
Line.
Equipment 412 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment
The usable medium of 412 access, including volatile and non-volatile media, moveable and immovable medium.
Storage device 428 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 430 and/or cache memory 432.Equipment 412 may further include other removable/nonremovable
, volatile/non-volatile computer system storage medium.Only as an example, storage system 434 can be used for reading and writing not removable
Dynamic, non-volatile magnetic media (Fig. 7 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 7, can provide
Disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to removable anonvolatile optical disk
The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can
To be connected by one or more data media interfaces with bus 418.Storage device 428 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 440 with one group of (at least one) program module 442 can store in such as storage dress
It sets in 428, such program module 442 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
442 usually execute function and/or method in embodiment described in the invention.
Equipment 412 can also be logical with one or more external equipment 414 (such as keyboard, sensing equipment) displays 424 etc.
Letter, can also be enabled a user to one or more equipment interact with the equipment 412 communicate, and/or with make the equipment 412
Any equipment (such as network interface card, modem etc.) that can be communicated with one or more of the other calculating equipment communicates.This
Kind communication can be carried out by input/output (I/O) interface 422.Also, equipment 412 can also by network adapter 420 with
One or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Such as
Shown in figure, network adapter 420 is communicated by bus 418 with other modules of equipment 412.It should be understood that although not showing in figure
Out, other hardware and/or software module can be used with bonding apparatus 412, including but not limited to: microcode, device driver, superfluous
Remaining processing unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processor 416 by the program that is stored in system storage 428 of operation, thereby executing various function application and
Data processing, such as realize a kind of robot control method provided by the embodiment of the present invention.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium comprising computer executable instructions, and computer is executable to be referred to
It enables when being executed by computer processor for executing a kind of robot control method, this method comprises:
External event information is received, and response external event acts on the external event triggering of robot, determines robot
The current event information that current node executes in behavior tree；
Based on predeterminable event priority, the current event information of foundation external event information and current node execution,
Determine current pending target child node in robot behavior tree；
According to target child node, switch the execution state of robot, and it is dynamic to control the associated behavior of target child node execution
Make.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
Executable instruction is not limited to method operation as above, and a kind of robot control provided by any embodiment of the invention can also be performed
Relevant operation in method processed.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
The method that standby (can be personal computer, terminal or the network equipment etc.) executes each embodiment of the present invention.
It is worth noting that, in a kind of embodiment of above-mentioned robot controller, included each unit and module
It is only divided according to the functional logic, but is not limited to the above division, as long as corresponding functions can be realized；
In addition, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments here, be able to carry out for a person skilled in the art it is various it is apparent variation, again
Adjustment and substitution are without departing from protection scope of the present invention.Therefore, although by above embodiments to the present invention carried out compared with
For detailed description, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, can be with
Including more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of robot control method, which is characterized in that the described method includes:
External event information is received, and response external event acts on the external event triggering of robot, determines robot behavior
The current event information that current node executes in tree；
Based on predeterminable event priority, according to the current event information that the external event information and current node execute,
Determine current pending target child node in the robot behavior tree；
According to the target child node, switch the execution state of the robot, and controls the target child node and execute association
Behavior act.
2. the method according to claim 1, wherein the reception external event information, and response external event
The external event triggering for acting on robot, determines the current event information that current node executes in robot behavior tree, packet
It includes:
According to the external event information, if detecting, the external event is the executable event classification of robot, is responded
The external event acts on the external event triggering of the robot, determines that current node is held in the robot behavior tree
Capable current event information.
3. the method according to claim 1, wherein described be based on predeterminable event priority, according to the outside
The current event information that event information and current node execute determines current pending mesh in the robot behavior tree
Mark child node, comprising:
Based on predeterminable event priority, according to the current event information that the external event information and current node execute,
If detecting, the execution priority of the external event is greater than the execution priority of current event, it is determined that the robot behavior
The associated child node of external event described in tree is current pending target child node.
4. the method according to claim 1, wherein being pre-configured in predeterminable event priority all kinds of executable
The execution priority of event, the executable event include at least robot external event and robot interior event.
5. switching the machine the method according to claim 1, wherein described according to the target child node
The execution state of people, and control the target child node and execute associated behavior act, comprising:
If the target child node is at least two, according between each sub- movement in the associated event of target child node
Sequential relationship controls each target child node cooperation and executes associated sub- movement.
6. according to the method described in claim 5, it is characterized in that, described according to each in the associated event of target child node
Sequential relationship between son movement controls each target child node cooperation and executes associated sub- movement, comprising:
In the section of the response time corresponding to the associated event of target child node, determine that each child node of the event correlation is held
At the beginning of each sub- movement of row and the end time；
At the beginning of executing each sub- movement according to each child node and the end time, controls each target child node cooperation and execute
Associated sub- movement, to execute the event.
7. the method according to claim 1, wherein the method also includes:
If detecting the execution abnormal state of the robot, it is determined that the child node of clear mistake event correlation is target child node,
And it controls the target child node and carries out abnormal removing；
If detecting, abnormal remove is completed, and return switches to a child node and executes associated behavior act.
8. a kind of robot controller, which is characterized in that described device includes:
External event respond module, for receiving external event information, and response external event acts on the external thing of robot
Part triggering, determines the current event information that current node executes in robot behavior tree；
Target child node determining module, for being based on predeterminable event priority, according to the external event information and current son
The current event information that node executes determines current pending target child node in the robot behavior tree；
Execution state switching module, for switching the execution state of the robot, and control institute according to the target child node
It states target child node and executes associated behavior act.
9. a kind of equipment, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
A kind of now robot control method as described in any in claim 1-7.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
A kind of robot control method as described in any in claim 1-7 is realized when execution.
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| CN201910285053.5A CN109807903B (en) | 2019-04-10 | 2019-04-10 | Robot control method, device, equipment and medium |
| PCT/CN2019/090169 WO2020206827A1 (en) | 2019-04-10 | 2019-06-05 | Robot control method and device, apparatus, and medium |
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| CN201910285053.5A CN109807903B (en) | 2019-04-10 | 2019-04-10 | Robot control method, device, equipment and medium |
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| CN111667169A (en) * | 2020-06-04 | 2020-09-15 | 成都飞机工业（集团）有限责任公司 | Intelligent position supplementing method based on multi-person collaborative assembly role |
| WO2020206827A1 (en) * | 2019-04-10 | 2020-10-15 | 博众精工科技股份有限公司 | Robot control method and device, apparatus, and medium |
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| CN113534662A (en) * | 2021-06-04 | 2021-10-22 | 中国人民解放军军事科学院国防科技创新研究院 | Behavior tree-based unmanned system cluster control method |
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| CN112549029B (en) * | 2020-12-03 | 2022-05-27 | 天津(滨海)人工智能军民融合创新中心 | Robot behavior control method and device based on behavior tree |
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| CN113534662A (en) * | 2021-06-04 | 2021-10-22 | 中国人民解放军军事科学院国防科技创新研究院 | Behavior tree-based unmanned system cluster control method |
| WO2023019941A1 (en) * | 2021-08-18 | 2023-02-23 | 达闼机器人股份有限公司 | Robot control method and apparatus, storage medium, and robot |
| CN115145233A (en) * | 2022-07-25 | 2022-10-04 | 西安热工研究院有限公司 | Robot multistage small-granularity motion scheduling control method, device and equipment |
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| CN109807903B (en) | 2021-04-02 |
| WO2020206827A1 (en) | 2020-10-15 |
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