CN110125938A - Control method, control device and the robot of robot - Google Patents
Control method, control device and the robot of robot Download PDFInfo
- Publication number
- CN110125938A CN110125938A CN201910437548.5A CN201910437548A CN110125938A CN 110125938 A CN110125938 A CN 110125938A CN 201910437548 A CN201910437548 A CN 201910437548A CN 110125938 A CN110125938 A CN 110125938A
- Authority
- CN
- China
- Prior art keywords
- robot
- interaction
- growth
- weighting coefficient
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The embodiment of the present application provides control method, device and the robot of a kind of robot.The control method of the robot includes: at least one of the interaction data obtained between the environmental data and robot and user of robot；According at least one of environmental data and interaction data, robot growth is controlled.The embodiment of the present application can by locating for robot environment and robot be mapped in the growth of robot at least one of the situation that interacts of user, it allows users to intuitively experience robot growth under the company of user is looked after, to preferably enhance the emotion between user and robot, so that robot plays the role of better company.
Description
Technical field
The present invention relates to the control method of robot field more particularly to robot, control device and robots.
Background technique
Robot can be divided into two major classes according to application environment, and one kind is industrial robot, and one kind is service robot, service
Robot can be subdivided into amusement and leisure robot, company robot, housework service robot, specialized robot etc. again.Present
Accompany that robot is only capable of carrying out simple language with user or behavior interacts, for example, sing and dance, tell a story, encyclopaedia question and answer with
And look into weather etc., it is unable to satisfy the pursuit that user accompanies personalization.
Summary of the invention
The embodiment of the invention provides a kind of control method of robot, control device and robots, can satisfy user
The demand accompanied for robot personalization.
In a first aspect, providing a kind of control method of robot, comprising: obtain the environmental data and machine of robot
At least one of interaction data between people and user；According at least one of environmental data and interaction data, control
Robot growth.
In some embodiments, the growth of control robot includes: to control the shape change and/or technical ability upgrading of robot.
In some embodiments, it includes in height, form, weight and the volume of robot that the shape of robot, which changes,
At least one changes.
In some embodiments, the technical ability upgrading of robot includes interaction content and/or the movement upgrading of robot.
In some embodiments, environmental data comprises at least one of the following: temperature, humidity, air quality and noise；Interaction
Data comprise at least one of the following: interaction duration, interaction content distribution and interaction time distribution.
In some embodiments, it includes that the height of robot changes that the shape of robot, which changes, according to environmental data and/or
Interaction data, the growth of control robot comprise determining that the corresponding weighting coefficient of environmental data and the corresponding weighting system of interaction data
Number；Obtain the second growth rate of corresponding first growth rate of environmental data and the corresponding robot of interaction data；According to
The corresponding weighting coefficient of environmental data, the first growth rate, the corresponding weighting coefficient of interaction data and the second growth rate, control
The height of robot changes.
In some embodiments, corresponding according to the corresponding weighting coefficient of environmental data, the first growth rate, interaction data
Weighting coefficient and the second growth rate, the height for controlling robot change, comprising:
According to the height that following formula calculating robot can increase, controls robot and increases height:
L=G1* (T+H+N)+G2* (I+C+S)
Wherein, L indicates the height that robot can increase, and G1 indicates the first growth rate, and G2 indicates the second growth rate, T
Indicate that the corresponding weighting coefficient of temperature, H indicate that the corresponding weighting coefficient of humidity, N indicate that the corresponding weighting coefficient of noise, I indicate
The corresponding weighting coefficient of interaction duration, C indicate that interaction content is distributed corresponding weighting coefficient, and S indicates that interaction time distribution corresponds to
Weighting coefficient.
In some embodiments, the corresponding weighting coefficient of environmental data and the corresponding weighting coefficient of interaction data are determined, is wrapped
It includes:
Obtain temperature, humidity and the corresponding total weight of noise；
According to temperature, humidity and noise in current period respectively where range, determine corresponding current period
Weight；
Determine temperature in current period, humidity and the corresponding weighting coefficient of noise, wherein temperature, humidity and noise are each
Self-corresponding weighting coefficient is the product of the weight of corresponding total weight and corresponding current period；
It obtains interaction duration, interaction content distribution and interaction time and is distributed corresponding total weight；
According to the range where interaction duration, interaction content distribution and interaction time distribution respectively in current period, determine
The weight of corresponding current period；
Determine that interaction duration in current period, interaction content distribution and interaction time are distributed corresponding weighting coefficient,
Wherein interact duration, interaction content distribution and interaction time be distributed corresponding weighting coefficient be corresponding total weight with
The product of the weight of corresponding current period.
In some embodiments, before the growth of control robot, method further include: judge that robot satisfaction is following at least
One condition: robot is in idle condition, unmanned state is in around robot and is currently at as growth institute, robot
The preset period of time of setting.
In some embodiments, this method further include: judge whether robot has grown to end-state；If robot
End-state has been grown to, then has stopped controlling robot growth.
In some embodiments, this method further include: relevant to environmental data and/or interaction data according to instruction adjustment
Parameter, parameter include temperature preference, humidity preference, liveness preference, content-preference, time preference, environmental data it is corresponding plus
At least one of weight coefficient and the corresponding weighting coefficient of interaction data.
In some embodiments, the growth of robot is controlled, comprising: one or more control signal is generated, wherein every road
Control signal is used to control at least one position growth of robot.
In some embodiments, this method further include: export the status information of robot, status information include it is following at least
A kind of: the physiological age of robot, the awakening age of robot, robot enliven age, the height of robot, robot
The interaction time of interaction times, the interaction content distribution of robot and robot is distributed.
In some embodiments, this method further include: obtain user information；
Wherein, described according at least one of the environmental data and the interaction data, control the robot
Growth, comprising:
According at least one of the environmental data and the interaction data and the user information, institute is controlled
State robot growth.
Second aspect provides a kind of control device of robot, the control device for realizing the above first aspect with
And the control method of the robot of each embodiment.Correspondingly, the device include module for executing above each process or
Unit.For example, the device includes: acquiring unit, between the environmental data and robot and user for obtaining robot
At least one of interaction data；Processing unit, for controlling machine according at least one of environmental data and interaction data
Device life is long.
In some embodiments, the device further include: output unit, for exporting the status information of robot, state letter
Breath comprises at least one of the following: the physiological age of robot, the awakening age of robot, robot enliven age, robot
Height, robot referring in interaction distribution and robot of the interaction times, robot in the specified period within the specified period
Interaction time distribution in fixed cycle.
In some embodiments, the device further include: input unit, for being in householder mode or privilege in robot, institute
When mode, the instruction of user's input is received；Processing unit is also used to according to instruction adjustment and environmental data and/or interaction data phase
The parameter of pass, parameter include temperature preference, humidity preference, liveness preference, content-preference, time preference, environmental data correspondence
Weighting coefficient and at least one of the corresponding weighting coefficient of interaction data.
The third aspect provides a kind of robot, comprising: ontology；And it is installed on the processor of body interior, for holding
The row such as control method of above-mentioned first aspect and each embodiment.
In some embodiments, robot further include: sensor module is passed for acquiring the environmental data of robot
Sensor module comprises at least one of the following sensor: humidity sensor, humidity sensor, ambient noise sensor, air quality
Sensor.
In some embodiments, the robot further include: output equipment, for exporting the status information of robot, state
Information comprises at least one of the following: the physiological age of robot, the awakening age of robot, robot enliven age, machine
The height of people, robot exist in interaction distribution and robot of the interaction times, robot in the specified period within the specified period
Interaction time distribution in the specified period.
In some embodiments, the artificial biped robot of machine, ontology include height-adjustable biped mechanism joint.
Fourth aspect provides a kind of computer readable storage medium, for storing computer-readable instruction, works as computer
When readable instruction is executed by computer, so that the control method of robot more than computer execution.
It, can by controlling robot growth according to the environmental data and/or interaction data of environment in the embodiment of the present application
Environment locating for robot and robot are mapped in the growth of robot at least one of the situation that interacts of user,
It allows users to intuitively experience robot growth under the company of user is looked after, to preferably enhance user
Emotion between robot, so that robot plays the role of better company.
Simultaneously as the environment where each robot is had nothing in common with each other, the interactive quality between each user and robot
Also have nothing in common with each other, even the robot of same model by different user after a period of use, the growth conditions of robot
Can be different, therefore for different users, the embodiment of the present invention can bring certain differentiation to experience for user, more
Conducive to the exclusive sense of culture robot.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application
Attached drawing, which is done, simply to be introduced.
Fig. 1 is the schematic flow chart of the control method of the robot of the embodiment of the present application；
Fig. 2 is the structural schematic diagram of the control device of the robot of the embodiment of the present application；
Fig. 3 is the structural schematic diagram of the control device of the robot of another embodiment of the application；
Fig. 4 is the structural schematic diagram of the robot of the embodiment of the present application；
Fig. 5 is the structural schematic diagram of the robot of another embodiment of the application.
Specific embodiment
Below in conjunction with the attached drawing in present invention implementation, technical solution in the embodiment of the present invention is described.Obviously,
Described embodiment is section Example of the invention, rather than whole embodiments.
The embodiment of the invention provides a kind of control methods of robot, can be according to environment where robot and robot
Interaction with user controls the growth of robot, allows user to experience making much of for oneself and brings robot up, favorably
Emotion between enhancing user and robot increases user's viscosity.
Fig. 1 is 100 schematic flow chart of control method of the robot of one embodiment of the invention, and method 100 can be by
The control device of robot executes, and the control device of the robot can be to be built in the module of robot interior (such as to handle
Device), or the equipment or server being connect with robot communication.As shown in Figure 1, this method 100 includes 110 and 120.
110, at least one of the interaction data between the environmental data and robot and user of robot is obtained.
In some embodiments, the environmental data of robot include in temperature, humidity, air quality index and noise extremely
Few one kind.For example, air quality index includes but is not limited to PM2.5, formaldehyde, pollen, carbon dioxide, carbon monoxide, PM10 etc.
Concentration.For example, can collect these environmental datas by sensor, sensor, which can be, to be built in robot,
Can be located in robot external sensor in the environment.Illustratively, the environmental data of robot, which can be, is working as
The weighted value of collected data in the preceding period, is also possible to the value range of the collected data in current period, can also
To be the average value of the collected data in current period.The duration of the current period can be set as the case may be
Determine, such as the duration of the current period can be one day, is also possible to one week, can also be any other duration.
In some embodiments, the interaction data between robot and user include interact duration, interaction content be distributed and
At least one of interaction time distribution can obtain these interaction datas by the interaction of statistical analysis robot and user.
Interaction duration, interaction content distribution and interaction time can reflect the interactive quality between robot and user.Illustratively,
Interaction data between robot and user can be the interaction data of robot and user in current period.
Illustratively, interaction duration can be the average interactive duration of current period (such as one day), for measuring machine
Interaction liveness between the people owner and robot.For daily interacting duration, accumulative total interaction duration (t1) can be used
It obtains daily interacting duration from the number of days of first time booting so far divided by robot.
Illustratively, for calculating, leisure type is interactive and the interactive ratio of learning type for interaction content distribution.For example, can be with not
The time duration of not busy formula interaction calculates the ratio of interaction content distribution divided by the time duration of learning type interaction.
Illustratively, the period that interaction time distribution occurs for counting user and robot interaction.For example, from white
It, evening, vacation and the aspect of working day 4 count the distribution of interaction time, to judge the friendship between robot and user
Mutually whether occur in the suitable period.
120, according at least one of environmental data and interaction data, robot growth is controlled.
It, can be by the environment and/or machine locating for robot according to environmental data and/or the growth of interaction data control robot
Device people is mapped in the growth of robot with the situation that interacts of user, and allows users to intuitively experience robot in user
Company look after under grow up, so that the emotion between user and robot is preferably enhanced, so that robot plays
Better company effect.
Simultaneously as the environment where each robot is had nothing in common with each other, the interactive quality between each user and robot
Also have nothing in common with each other, even the robot of same model by different user after a period of use, the growth conditions of robot
Can be different, therefore for different users, the embodiment of the present invention can bring certain differentiation to experience for user, more
Conducive to the exclusive sense of culture robot.
In some embodiments, method 100 can also include obtaining user information, and wherein user information includes the year of user
Age and/or height, user information can be user and pass through input equipment (such as keyboard, display screen, microphone) input.Accordingly
Ground controls robot growth in 120 according at least one of environmental data and interaction data and user information.Pass through ring
User information is also mapped onto the growth of robot simultaneously during border data and/or the growth of interaction data control robot
On, further the differentiation of user-specific can be brought to experience for user.In this way, for the different robots of same model,
Even if the environment at place is identical, the interaction between robot and user is suitable, but the robot for belonging to different user also has
Respectively different upgrowth situation.For example, two children in the same family can respectively possess one's own robot, if
The age height of two children is different, even when two interactions between child and robot are suitable, the life of Liang Ge robot
Long status would also vary from.For example, the growth of the robot of the higher child of older and/or height is fast in two children
Degree is greater than the speed of growth of the robot of another child.
In some embodiments, the growth of control robot includes: to control the shape change and/or technical ability upgrading of robot.
For example, it is full to work as at least one of interaction data and user information between the environmental data of robot, robot and user
When the preset growth conditions of foot, the shape for controlling robot changes and/or technical ability upgrading.Wherein, preset growth conditions can be with
It presets and is stored in a storage medium, for example, it may be the preference according to user is pre-set.For example, can be with
Multiple growth conditions are preset, whether (such as one day, one week, January) judgement is primary at regular intervals currently meets once
Growth conditions, if satisfied, it is primary then to control robot growth.For example, when the age of user and/or height increase preset value
When, the shape for controlling robot accordingly changes and/or technical ability accordingly upgrades；Alternatively, environmental data in current period and/or
When interaction data meets the environment and/or interactive requirements of robot growth, the shape for controlling robot accordingly changes and/or technical ability
Corresponding upgrading；Environmental data alternatively, increase preset value in the age of user and/or height, and in current period and/or
When interaction data meets the environment and/or interactive requirements of robot growth, the shape for controlling robot accordingly changes and/or technical ability
Corresponding upgrading.
Shape by controlling robot changes and/or technical ability upgrading, can allow user visual sense to robot at
It is long.
Illustratively, the technical ability upgrading of robot includes interaction content and/or the movement upgrading of robot.That is,
When meeting preset growth conditions, the interaction content of robot and/or movement can also change.It " is said for example, user assigns
When the instruction of story ", robot can select suitable story according to itself current growth conditions and play.For example, in robot
Multiple movements have been stored in advance in portion, and with the growth of robot, robot can unlock more movements.
In some embodiments, in 120, the shape change for controlling robot includes: to generate one or more control letter
Number, wherein the shape that every road control signal is used to control at least one position in robot changes.For example, robot can be by
The shape for being configured to specified one or more positions changes, and can send control signal, control respectively to appointed part
The corresponding mechanism of appointed part executes corresponding movement to realize profile variation.
Illustratively, the shape of robot changes at least one in height, form, weight and volume including robot
Kind changes.
In some embodiments, there is at least one length-adjustable articulation mechanism in robot, can be somebody's turn to do by control
The length of joint structure controls the height of robot.For example, the artificial biped robot of machine, the two legs of biped robot are closed
4 telescopic articulation mechanisms can be set on section, be separately mounted on left thigh, left leg, right thigh and right leg, it can be with
It generates 4 tunnels control signal and controls 4 telescopic articulation mechanisms to control the height of robot.
In some embodiments, robot has at least two forms, and in the normal state, a kind of shape is presented in robot
State, when meeting preset growth conditions, robot can deform by show it is another in the form of.Such as robot initial is double
Biped robot, when robot has met preset growth conditions, the wheel of robot foot section stretches out to carry out rolling walking,
It is deformed into the form that wheel combines enough.For example, robot can be transformer robot, when robot meets preset growth item
When part, robot can be deformed into automobile.
It in some embodiments, include water-absorbing material in robot body, moisture can be absorbed in the material of the water imbibition,
So that the weight gain of robot.Schematically, the robot parts of body that the material of the water imbibition can be distributed in proportion,
Water-absorbing material can also with integrated distribution robot partial portion.Optionally, it can be set on the surface of water-absorbing material
There is the seal closure of isolation air, when robot has met preset growth conditions, control seal closure is opened, and allows water-absorbing material
It exposes in air, to increase the weight of robot.For example, water-absorbent material can seal the different parts for being distributed in robot,
The seal closure of different parts can be opened several times during controlling robot and growing.
In some embodiments, the volume of robot can change.For example, can on robot body trunk and/
Or the mechanical structure of volume-tunable is set on limbs, pass through motor control machine people trunk in mechanical structure and/or limbs
Thickness, so that the volume change of robot.For example, it is also possible to which inflatable special material is arranged on at least partly surface of robot
Material, by controlling the stereomutation of robot as inflating in the special material.
Above embodiments only describe in robot growth course by taking the height of robot, form, weight and volume as an example
Shape change, but the embodiment of the present application not limits this, can also have in robot growth course other shapes to change.
In some embodiments, it includes the height change for controlling robot that the shape for controlling robot, which changes,.Correspondingly, root
According to environmental data and/or interaction data, the height change for controlling robot includes:
Determine the corresponding weighting coefficient of environmental data and the corresponding weighting coefficient of interaction data；
Obtain the second growth speed of corresponding first growth rate of environmental data and the corresponding robot of interaction data
Rate；
According to the corresponding weighting coefficient of environmental data, the first growth rate, the corresponding weighting coefficient of interaction data and second
Growth rate, the growth of control robot.
First growth rate and the second growth rate, which can be, to be preset and is stored in a storage medium.Alternatively, the
One growth rate and the second growth rate are also possible to determining according to following expression formula (1) and (2):
G1=R1* (L/T) (1)
G2=R2* (L/T) (2)
Wherein, G1 indicates the first growth rate, and R1 indicates environmental data weight shared in the height of robot changes,
G2 indicates the second growth rate, and R2 indicates that the interaction data between robot and user is shared in the height of robot changes
Weight, L indicate that the maximum that robot allows can increase height, and T indicates the duration of robot growth.R1, R2, L and T can be with
It presets and is stored in a storage medium.For example, the value that the value of R1 and R2 can be 0.5, L respectively can be 10
Centimetre (cm), the value of T can be 10 days, then G1=0.5cm, G2=0.5cm.
In some embodiments, corresponding according to the corresponding weighting coefficient of environmental data, the first growth rate, interaction data
Weighting coefficient and the second growth rate, the height for controlling robot change, comprising:
According to the height that following formula (3) calculating robot increases, control robot increases height:
L=G1* (T+H+N)+G2* (I+C+S) (3)
Wherein, L indicates the height that robot can increase, and G1 indicates the first growth rate, and G2 indicates the second growth rate, T
Indicate that the corresponding weighting coefficient of temperature, H indicate that the corresponding weighting coefficient of humidity, N indicate that the corresponding weighting coefficient of noise, I indicate
The corresponding weighting coefficient of interaction duration, C indicate that interaction content is distributed corresponding weighting coefficient, and S indicates that interaction time distribution corresponds to
Weighting coefficient.
In some embodiments, the corresponding weighting coefficient of environmental data and the corresponding weighting coefficient of interaction data are determined, is wrapped
It includes:
Obtain temperature, humidity and noise corresponding total weight t1, h1 and n1；
According to temperature, humidity and noise in current period respectively where range, temperature, humidity and noise are corresponding
Weight t2, h2 and n2 of current period；
Determine temperature in current period, humidity and noise corresponding weighting coefficient T, H and N, wherein T=t1*t2, H=h1*
H2, N=n1*n2；
It obtains interaction duration, interaction content distribution and interaction time and is distributed corresponding total weight i1, c1 and s1；
According to the range where interaction duration, interaction content distribution and interaction time distribution respectively in current period, determine
Interaction duration, interaction content distribution and interaction time are distributed weight i2, c2 and s2 of corresponding current period；
Determine in current period interaction duration, interaction content distribution and interaction time be distributed corresponding weighting coefficient I, C and
S, wherein I=i1*i2, C=c1*c2, S=s1*s2.
Assuming that current period is the same day, t1=40%, h1=30%, n1=30%, i1=40%, c1=30%, s1=
30%, and t2=100%, h2=100%, n2=100%, i2=100%, c2=100%, s2=100%, then same day machine
It is 1cm that device people, which can increase height L,；If t2=80%, h2=70%, n2=60%, i2=100%, c2=50%, s2=
60%, then it is 0.72cm that same day robot, which can increase height L,.
It should be noted that expression formula (3) is only by taking environmental data includes temperature, humidity and noise as an example, but the application is real
It applies example and this is not limited.For example, expression formula (3) can also be revised as L=G1* (T+H)+G2* (I+C+S), can also modify
For L=G1* (T+H+N)+G2* (I+C), L=G1* (T+H+N+A)+G2* (I+C+S) can also be revised as.Wherein A indicates air
The corresponding weighting coefficient of quality, A=a1*a2, a1 are the corresponding total weight of air quality, and a2 is air quality pair in current period
The weight for the current period answered.
Illustratively, the corresponding total weight of various environmental datas and the corresponding total weight of interaction data are normalized to 0~100%
Between number, the corresponding total weight of various environmental datas and be 1, the corresponding total weight of various interaction datas and be 1.Example
Such as, the corresponding weighting coefficient of temperature is 40% in environmental data, and the corresponding weighting coefficient of humidity is 30%, the corresponding weighting of noise
Coefficient is 30%, and the corresponding weighting coefficient of air quality is 0；The corresponding duration weighting coefficient of interaction duration is in interaction data
40%, it is 30% that interaction content, which is distributed corresponding content weighting coefficient, and interaction time is distributed corresponding time weight coefficient and is
30%.Various interaction datas between the corresponding total weight of the various environmental datas of robot and robot and user are corresponding total
Weight, which can be, according to the preference of user to be preset and is stored in a storage medium.
By using the product of the corresponding total weight of various environmental datas and the weight of current period as various environmental datas
Corresponding weighting coefficient, and using the product of the corresponding total weight of various interaction datas and the weight of current period as various interactions
Environmental data in user preference and current period and interaction data can be mapped to robot by the corresponding weighting coefficient of data
In growth.
The determination method of the weight of the temperature of citing description below, humidity and the corresponding current period of noise.
In some embodiments, if the temperature in current period corresponds to the first temperature weighted less than the first temperature threshold
Coefficient T 1；If temperature is greater than the first temperature threshold and is less than second temperature threshold value, second temperature weighting coefficient T2 is corresponded to；If temperature
Greater than second temperature threshold value, then third temperature weighted coefficient T 3 is corresponded to；Wherein the first temperature threshold is less than second temperature threshold value, and
T2 is greater than T1 and T3.Wherein, the first temperature threshold and second temperature threshold value can be different according to season, for example, when summer
It is each 2 degrees Celsius high when one temperature threshold and second temperature threshold value are than winter.The first temperature can be arranged according to the hobby of user to add
The size relation of weight coefficient and third temperature weighted coefficient, the embodiment of the present application not limit this.For example, if user likes heat not
Like it is cold, then T1 be less than T3, otherwise T1 be greater than T3.
In some embodiments, if the humidity in current period corresponds to the weighting of the first humidity less than the first humidity threshold
Coefficient H1；If humidity is greater than the first humidity threshold less than the second humidity threshold, the second humidity weighting coefficient H2 is corresponded to；If humidity
Greater than the second humidity threshold, then third humidity weighting coefficient H3 is corresponded to；Wherein the first humidity threshold is less than the second humidity threshold, and
H2 is greater than H1 and H3.This can not be limited according to the size relation of the hobby setting H1 and H3 of user, the embodiment of the present application.
For example, H1 is greater than H3, otherwise H1 is less than H3 if user prefers dry and do not like wet.
In some embodiments, if the noise in current period corresponds to the first noise weighting less than the first noise threshold
Coefficient N1；If noise is greater than the first noise threshold less than the second noise threshold, the second noise weighting coefficient N2 is corresponded to；If noise
Greater than the second noise threshold, then third noise weighting coefficient N3 is corresponded to；Wherein the first noise threshold is less than the second noise threshold, N1
It is greater than N3 greater than N2, N2.Wherein, the first noise threshold and the second noise threshold day and night can be different, for example, night
When the first noise threshold and the second noise threshold than daytime when small (such as small 10DB).Wherein it is possible to when according to daylight-saving time and winter
The duration on daytime and evening is distinguished, the duration on daytime and evening can also be distinguished according to season.
The interaction of citing description below duration, interaction content distribution and interaction time are distributed the weight of corresponding current period
Determine method.
If the interaction duration in current period less than the first duration threshold value, shows that interactive duration is shorter, robot liveness
Not enough, then the first duration weighting coefficient I1 is corresponded to；If interaction duration is greater than the first duration threshold value less than the second duration threshold value, show
Interaction duration is balanced, and robot liveness is moderate, then corresponds to the second duration weighting coefficient I2；If interaction duration is greater than the second duration
Threshold value shows that interactive duration is longer, and robot liveness is higher, then corresponds to third duration weighting coefficient I3；Wherein the first duration
Threshold value is less than the second duration threshold value, and I2 and I3 are respectively greater than I1.The embodiment of the present application not limits the size relation of I2 and I3
It is fixed.For example, I2 is greater than I3 if configuring balanced robot for robot.For example, the higher the better for default robot's liveness,
Then I3 is greater than I2.
In some embodiments, if the interaction content distribution between current period inner machine people and user is in the first model
It encloses, then corresponds to first content weighting coefficient C1；If interaction content distribution is in the second range, the second content weighting coefficient is corresponded to
C2；If interaction content distribution is in third range, third content weighting coefficient C3 is corresponded to；Wherein, the first Range Representation lies fallow
Formula interaction is less than study interaction, and the interaction of the second Range Representation leisure type is balanced with study interaction, and third Range Representation leisure type is handed over
Mutually more than study interaction.The embodiment of the present application not limits the size relation between C1, C2 and C3.For example, if by robot
It is configured to learning robot, then C3 is greater than C2, and C2 is greater than C1；If configuring leisure type robot for robot, C1 is greater than
C2, C2 are greater than C3.
If the interaction time distribution display between current period inner machine people and user interacts more generations and is closing
The suitable period then corresponds to the bigger weighting coefficient of value.In some embodiments, if interaction time is distributed in the white of vacation
It, then correspond to first time weighting coefficient S1；If interaction time is distributed in the evening of vacation, the second time weight system is corresponded to
Number S2；If interaction time is distributed in workaday daytime, third time weight coefficient S 3 is corresponded to；If interaction time is distributed
Evening on weekdays, then correspond to S4.For example, S1 is greater than S2, S3 and S4.Wherein it is possible to be distinguished when according to daylight-saving time and winter
The duration on daytime and evening can also distinguish the duration on daytime and evening according to season.
In some embodiments, in 120 before the growth of control robot, method 100 can also include: judgement robot
Meet at least one following condition: robot is in idle condition, is at unmanned state and current time around robot
In the preset period of time set for robot growth.It can guarantee will not influence user just when controlling robot growth in this way
It is often used, user will not be bothered.
It illustratively, can be true by sensor (such as camera, infrared sensor, sound transducer, thermal imaging system etc.)
Determine around robot in unmanned state.
In some embodiments, method 100 can also include: to judge whether robot has grown to end-state；If
Robot has grown to end-state, then stops controlling robot growth.Optionally, if robot has grown to final shape
State can export prompt information by output equipment (such as loudspeaker or display screen), user robot is prompted to grow to
End-state.
In some embodiments, robot includes a variety of growth patterns, control of the every kind of growth pattern user to robot
Permission is different.For example, the growth pattern of robot includes user mode, householder mode and privileged mode.User mode is corresponding
Control authority is less than the corresponding control authority of householder mode.Under user mode and householder mode, the growth of robot is irreversible
, such as the height of robot can grow tall or remain unchanged, and cannot become short；In privileged mode, machine can freely be adjusted
The height of people is to specified height, to facilitate the debugging and maintenance of robot.
In some embodiments, environmental parameter and/or interaction data can also be adjusted.For example, user can pass through input
Equipment (mouse, keyboard, key, touch screen, microphone etc.) input instruction, with modification adjustment environmental parameter and/or interaction data.
Illustratively, method 100 can also include: adjustment and ring when robot is in householder mode or privileged mode
Border data and/or the relevant parameter of interaction data, parameter include at least one parameter:
1) temperature preference, be determined for the corresponding first temperature weighted coefficient of temperature and third temperature weighted coefficient it
Between size relation；
2) humidity preference, be determined for the corresponding first humidity weighting coefficient of humidity and third humidity weighting coefficient it
Between size relation；
3) liveness preference is determined for the interactive corresponding second duration weighting coefficient of duration and the weighting of third duration
Size relation between coefficient；
4) content-preference is determined for the corresponding first content weighting coefficient of interaction content distribution, the second content adds
Size relation between weight coefficient and third content weighting coefficient；
5) time preference is determined for the corresponding first time weighting coefficient of interaction time distribution, the second time added
Size relation between weight coefficient, third time weight coefficient and the 4th time weight coefficient；
6) between the environmental data of robot weight and robot and user shared in the height of robot changes
Interaction data weight shared in the height of robot changes.
It should be understood that in some embodiments, robot can also only have a kind of growth pattern, under the growth pattern, use
Family can input corresponding instruction by input equipment, to modify relevant parameter described above.
In some embodiments, method 100 can also include: export robot status information, status information include with
It is lower at least one information: the physiological age of robot, the awakening age of robot, robot the body for enlivening age, robot
Height, the interaction content distribution of the interaction times of robot, robot and robot are specifying the interaction time distribution in the period.Its
In, the physiological age of robot can be the duration of robot factory so far, can be using year, the moon, week, day etc. as timing
Period；The awakening age of robot can be robot booting duration so far for the first time, equally can with year, the moon, week,
It etc. is used as time-count cycle；The age of enlivening of robot can continue in energized state so far for robot first time booting
It time, can be using year, the moon, week, day etc. as time-count cycle；The height of robot includes original height, current height and increasing
Long height；The interaction times of robot can be the average daily interaction times by the scheduled date；The interaction content of robot point
Cloth can be the average daily interaction content distribution by the scheduled date；The volume interaction time distribution of robot can be for by specified day
The average daily interaction time of phase is distributed.The state letter of robot can be exported when receiving the instruction of user query robotary
Breath, the state letter of output robot when can also be switched on for the first time or be interacted for the first time with user after robot grows completion
Breath.
By exporting the status information of robot, user can be facilitated to understand the state of robot.It can be defeated by screen
The status information of robot out can also export the status information of robot by loudspeaker.
The foregoing describe the control methods of robot according to an embodiment of the present invention, describe below with reference to Fig. 2 according to this Shen
Please embodiment robot control device.
Fig. 2 is the structural schematic diagram according to the control device 200 of the robot of the embodiment of the present application.Device 200 can be
It is built in the module (such as processor) of robot interior, or the equipment or server connecting with robot communication.Dress
200 are set for executing the control method of the robot according to the embodiment of the present application, to avoid repeating, is omitted here in corresponding
Hold, specifically please refers to the control method of above-described robot.
As shown in Fig. 2, device 200 includes acquiring unit 210 and processing unit 220.
Acquiring unit 210 is used to obtain in the interaction data between the environmental data and robot and user of robot
It is at least one；Processing unit 220 is used to control robot growth according at least one of environmental data and interaction data.
It, can be by the environment and/or machine locating for robot according to environmental data and/or the growth of interaction data control robot
Device people is mapped in the growth of robot at least one of the situation that interacts of user, and allows users to intuitively experience
Robot grows up under the company of user is looked after, so that the emotion between user and robot is preferably enhanced, so that
Robot plays the role of better company.
Simultaneously as the environment where each robot is had nothing in common with each other, the interactive quality between each user and robot
Also have nothing in common with each other, even the robot of same model by different user after a period of use, the growth conditions of robot
Can be different, therefore for different users, the embodiment of the present invention can bring certain differentiation to experience for user, more
Conducive to the exclusive sense of culture robot.
Optionally, as shown in figure 3, device 200 can also include output unit 230, the state for exporting robot is believed
Breath, status information comprises at least one of the following: the physiological age of robot, the awakening age of robot, robot active year
Age, the height of robot, the interaction times of robot, robot interaction content distribution and robot interaction time distribution.
For example, the status information of robot can be exported when receiving the instruction of status information of inquiry robot；Alternatively, controlling
Robot growth processed exports the status information of robot automatically when interacting for the first time with user after completing.
Fig. 4 is according to the structural schematic diagram of the robot 300 of the embodiment of the present application, as shown in figure 4, robot 300 includes
Ontology 310 and the processor 320 being installed on inside ontology 310.Processor 320 is for executing according to shown in the embodiment of the present application
The control method of robot.Specifically, the shape that processor 320 is used to control ontology 310 changes and/or processor 320 is used for
Control the technical ability upgrading of robot 300.
In some embodiments, there is at least one length-adjustable articulation mechanism, processor 320 can be on ontology 310
The height of robot is controlled by controlling the length of the joint structure.For example, robot 300 can be biped robot.Phase
Ying Di, ontology 310 include height-adjustable biped mechanism joint.For example, can be set 4 on the two legs joint of biped robot
A telescopic articulation mechanism, is separately mounted on left thigh, left leg, right thigh and right leg, and processor 320 can be generated
4 tunnels control signal controls 4 telescopic articulation mechanisms to control the height of robot.It should be understood that robot 300 can also be
Robot of other arbitrary shapes, such as humanoid robot, the robot of animal-type, cartoon robot etc..
In some embodiments, deformable component is provided on ontology 310, processor 320 can control deformable part
Part deforms so that the ontology 310 of robot shows another different form.In some embodiments, it is arranged on ontology 310
Have for realizing the material of changes of weight, such as water-absorbing material.In some embodiments, it is provided on ontology 310 for real
The mechanical structure and/or special material of existing own vol variation.The content of embodiment of the method part description above is specifically referred to,
Details are not described herein.
In some embodiments, ontology 310 can also include driving mechanism and mobile mechanism's (not shown), driving machine
Structure drives mobile mechanism mobile under the control of processor 320, to realize automatically moving for robot.Wherein moving structure can be with
For universal wheel, idler wheel, tire or the crawler belt etc. for being mounted on 310 bottom of ontology.
The processor 320 can be central processing unit (Central Processing Unit, abbreviation CPU), the processing
Device 320 can also be other general processors, digital signal processor (Digital Signal Processing, abbreviation
DSP), specific integrated circuit (Application Specific Integrated Circuit, abbreviation ASIC), scene can compile
Journey gate array (Field-Programmable Gate Array, abbreviation FPGA) or other programmable logic device, discrete gate
Or transistor logic, discrete hardware components etc..General processor can be microprocessor or the processor can also be with
It is any conventional processor etc..
In some embodiments, as shown in figure 5, robot 300 can also include sensor module 330, it is used for harvester
The environmental data of device people.
Sensor module 330 comprises at least one of the following sensor: humidity sensor, humidity sensor, ambient noise pass
Sensor and air quality sensor.
In some implementations, as shown in figure 5, robot 300 can also include: output equipment 340, for exporting robot
Status information, status information comprises at least one of the following: the physiological age of robot, the awakening age of robot, robot
Enliven the age, the height of robot, the interaction times of robot, robot interaction content distribution and robot interaction when
Between be distributed.Illustratively, output equipment 330 can be display screen or loudspeaker.
In some embodiments, robot 300 can also include communication module 350, be used for and external device communication.Example
Such as, which may include universal asynchronous receiving-transmitting transmitter (Universal Asynchronous Receiver/
Transmitter, UART) or Serial Peripheral Interface (SPI) (Serial Peripheral Interface, SPI).
The embodiment of the present application also provides a kind of computer readable storage mediums, for storing computer-readable instruction, when
When computer-readable instruction is executed by computer, so that computer executes the control method of the robot of the embodiment of the present application.It should
Storage medium may include USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
Any combination of (RAM, Random Access Memory), magnetic disk, CD or above-mentioned storage medium.
The embodiment of the present application also provides a kind of computer program, which can store beyond the clouds or local
On storage medium.When the computer program is run by computer or processor for executing the computer of the embodiment of the present application
The corresponding steps of control method, and for realizing according to the corresponding module of the control device of the robot of the embodiment of the present application.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
It is apparent to those skilled in the art that for convenience of description and succinctly, foregoing description is
The specific work process of system, device and unit, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.In addition, shown or beg for
Opinion mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit
Or communication connection, it is also possible to electricity, mechanical or other form connections.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs
Purpose.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, is also possible to two or more units and is integrated in one unit.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, the technical solution essence of the embodiment of the present application
On all or part of the part that contributes to existing technology or the technical solution can be with the shape of software product in other words
Formula embodies, which is stored in a storage medium, including some instructions are used so that a calculating
Machine equipment (can be personal computer, server or the network equipment etc.) executes the whole of each embodiment method of the present invention
Or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
More than, the only specific embodiment of the embodiment of the present application, but the protection scope of the embodiment of the present application does not limit to
In this, anyone skilled in the art can readily occur in each in the technical scope that the embodiment of the present application discloses
The equivalent modifications or substitutions of kind, these modifications or substitutions should all cover within the protection scope of the embodiment of the present application.Therefore, originally
The protection scope of application embodiment should be subject to the protection scope in claims.
Claims (13)
1. a kind of control method of robot characterized by comprising
Obtain at least one of the interaction data between the environmental data and the robot and user of the robot；
According at least one of the environmental data and the interaction data, the robot growth is controlled.
2. the method according to claim 1, wherein the control robot growth includes:
The shape for controlling the robot changes and/or technical ability upgrading, wherein it includes the machine that the shape of the robot, which changes,
At least one of height, form, weight and volume of device people change, and the technical ability upgrading of the robot includes the machine
The interaction content of people and/or movement upgrading.
3. according to the method described in claim 2, it is characterized in that, it includes the robot that the shape of the robot, which changes,
Height changes,
It is described according to the environmental data and/or the interaction data, controlling the robot growth includes:
Determine the corresponding weighting coefficient of the environmental data and the corresponding weighting coefficient of the interaction data；
Obtain the second of corresponding first growth rate of the environmental data and the corresponding robot of the interaction data
Growth rate；
According to the corresponding weighting coefficient of the environmental data, first growth rate, the corresponding weighting system of the interaction data
Several and second growth rate, the height for controlling the robot change.
4. according to the method described in claim 3, it is characterized in that, the environmental data include temperature, humidity, air quality and
At least one of noise, the interaction data include interactive duration, interaction content distribution and interaction time distribution at least
It is a kind of；
It is described according to the corresponding weighting coefficient of the environmental data, first growth rate, the interaction data it is corresponding plus
Weight coefficient and second growth rate, the height for controlling the robot change, comprising:
The height that the robot can increase is calculated according to following formula, the robot is controlled and increases height:
L=G1* (T+H+N)+G2* (I+C+S)
Wherein, L indicates the height that the robot can increase, and G1 indicates first growth rate, and G2 indicates that described second is raw
Long rate, T indicate that the corresponding weighting coefficient of temperature, H indicate that the corresponding weighting coefficient of humidity, N indicate the corresponding weighting system of noise
Number, I indicate that the corresponding weighting coefficient of interaction duration, C indicate that interaction content is distributed corresponding weighting coefficient, and S indicates interaction time
It is distributed corresponding weighting coefficient.
5. the method according to claim 3 or 4, which is characterized in that the corresponding weighting system of the determination environmental data
Number weighting coefficient corresponding with the interaction data, comprising:
Obtain the temperature, the humidity and the corresponding total weight of the noise；
According to temperature described in current period, the humidity and the noise respectively where range, determine corresponding work as
The weight in preceding period；
Determine the temperature in current period, the humidity and the corresponding weighting coefficient of the noise, wherein the temperature,
The humidity and the corresponding weighting coefficient of the noise are corresponding total weight and corresponding current period
The product of weight；
It obtains the interactive duration, interaction content distribution and the interaction time and is distributed corresponding total weight；
Model where interactive duration described in current period, interaction content distribution and interaction time distribution respectively
It encloses, determines the weight of corresponding current period；
Determine that the interactive duration in current period, interaction content distribution and the interaction time are distributed corresponding add
Weight coefficient, wherein the distribution of the interactive duration, the interaction content and the interaction time are distributed corresponding weighting coefficient
For the product of corresponding total weight and the weight of corresponding current period.
6. method according to claim 1 to 4, which is characterized in that before controlling the robot growth,
The method also includes:
Judge that the robot meets at least one following condition: the robot is in idle condition, around the robot
In unmanned state and it is currently at the preset period of time set for robot growth.
7. method according to claim 1 to 4, which is characterized in that further include:
Judge whether the robot has grown to end-state；
If the robot has grown to end-state, stop controlling the robot growth.
8. method according to claim 1 to 4, which is characterized in that further include:
The status information of the robot is exported, the status information comprises at least one of the following: the physiology year of the robot
Age, the awakening age of the robot, the robot enliven the age, the robot height, the robot friendship
The interaction time of mutual number, the interaction content distribution of the robot and the robot is distributed.
9. method according to any of claims 1-4, which is characterized in that further include:
Obtain user information；
It is wherein, described that the robot growth is controlled according at least one of the environmental data and the interaction data,
Include:
According at least one of the environmental data and the interaction data and the user information, the machine is controlled
Device life is long.
10. a kind of control device of robot characterized by comprising
Acquiring unit, in the interaction data between environmental data and the robot and user for obtaining the robot
At least one；
Processing unit, for controlling the robot according at least one of the environmental data and the interaction data
Growth.
11. a kind of robot characterized by comprising
Ontology；
It is installed on the processor of the body interior, for executing such as above-mentioned controlling party of any of claims 1-9
Method.
12. robot according to claim 11, which is characterized in that the artificial biped robot of machine, the ontology
Including height-adjustable biped mechanism joint.
13. a kind of computer readable storage medium, for storing computer-readable instruction, when the computer-readable instruction is by counting
When calculation machine executes, so that the computer executes control method according to any one of claims 1 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135816 | 2019-02-21 | ||
| CN2019101358168 | 2019-02-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110125938A true CN110125938A (en) | 2019-08-16 |
| CN110125938B CN110125938B (en) | 2021-07-02 |
Family
ID=67572892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910437548.5A Active CN110125938B (en) | 2019-02-21 | 2019-05-23 | Robot control method and device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125938B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115990892A (en) * | 2023-03-24 | 2023-04-21 | 中航西安飞机工业集团股份有限公司 | Double-robot cooperative assembly system and method for large airfoil skeleton |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1304345A (en) * | 1999-05-10 | 2001-07-18 | 索尼公司 | Robot device and method for controlling same |
| JP2002120179A (en) * | 2000-10-11 | 2002-04-23 | Sony Corp | Robot device and control method for it |
| CN1942289A (en) * | 2004-04-16 | 2007-04-04 | 松下电器产业株式会社 | Robot, hint output device, robot control system, robot control method, robot control program, and integrated circuit |
| CN105563493A (en) * | 2016-02-01 | 2016-05-11 | 昆山市工业技术研究院有限责任公司 | Height and direction adaptive service robot and adaptive method |
| CN105825268A (en) * | 2016-03-18 | 2016-08-03 | 北京光年无限科技有限公司 | Method and system for data processing for robot action expression learning |
| CN106078756A (en) * | 2016-06-24 | 2016-11-09 | 苏州美丽澄电子技术有限公司 | Running gear adjustable private tutor robot |
-
2019
- 2019-05-23 CN CN201910437548.5A patent/CN110125938B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1304345A (en) * | 1999-05-10 | 2001-07-18 | 索尼公司 | Robot device and method for controlling same |
| US6445978B1 (en) * | 1999-05-10 | 2002-09-03 | Sony Corporation | Robot device and method for controlling the same |
| JP2002120179A (en) * | 2000-10-11 | 2002-04-23 | Sony Corp | Robot device and control method for it |
| CN1942289A (en) * | 2004-04-16 | 2007-04-04 | 松下电器产业株式会社 | Robot, hint output device, robot control system, robot control method, robot control program, and integrated circuit |
| CN105563493A (en) * | 2016-02-01 | 2016-05-11 | 昆山市工业技术研究院有限责任公司 | Height and direction adaptive service robot and adaptive method |
| CN105825268A (en) * | 2016-03-18 | 2016-08-03 | 北京光年无限科技有限公司 | Method and system for data processing for robot action expression learning |
| CN106078756A (en) * | 2016-06-24 | 2016-11-09 | 苏州美丽澄电子技术有限公司 | Running gear adjustable private tutor robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115990892A (en) * | 2023-03-24 | 2023-04-21 | 中航西安飞机工业集团股份有限公司 | Double-robot cooperative assembly system and method for large airfoil skeleton |
| CN115990892B (en) * | 2023-03-24 | 2023-06-20 | 中航西安飞机工业集团股份有限公司 | Double-robot cooperative assembly system and method for large airfoil skeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110125938B (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11809192B2 (en) | Autonomously acting robot whose activity amount is controlled | |
| CN110024000B (en) | Behavior autonomous robot for changing pupil | |
| US11285614B2 (en) | Autonomously acting robot that understands physical contact | |
| US11376740B2 (en) | Autonomously acting robot that recognizes direction of sound source | |
| CN107817891B (en) | Screen control method, device, equipment and storage medium | |
| CN103942938B (en) | Using portable intelligent device as the intelligent interactive system of control axis | |
| JP6409207B2 (en) | Autonomous robot to wear clothes | |
| CN110494697A (en) | Data learning server and for generate and using its learning model method | |
| WO2018108175A1 (en) | Task plan adjustment method for wearable device, and device | |
| US10981279B2 (en) | Autonomously acting robot that seeks coolness | |
| CN109070330A (en) | The autonomous humanoid robot of behavior shy with strangers | |
| JP6436549B2 (en) | Autonomous robot | |
| GB2580273A (en) | Autonomously acting robot staring at partner | |
| JP2009131928A (en) | Robot control system, robot, program and information recording medium | |
| WO2019151387A1 (en) | Autonomous behavior robot that behaves on basis of experience | |
| GB2572312A (en) | Robot having outer skin fitted thereto | |
| JP2019169189A (en) | Autonomously behaving robot, server, and behavior control program | |
| JP2019171566A (en) | Robot having soft outer skin | |
| CN110125938A (en) | Control method, control device and the robot of robot | |
| Novak et al. | Digital technologies and 4D customized design: challenging conventions with responsive design | |
| US20230201517A1 (en) | Programmable interactive systems, methods and machine readable programs to affect behavioral patterns | |
| CN105251219B (en) | A kind of intelligent marionette idol control system | |
| CN107953346A (en) | Method and robot are slept in robot roars of laughter | |
| WO2020202540A1 (en) | Characteristic data setting device, robot, terminal device, and characteristic data setting method | |
| WO2023037608A1 (en) | Autonomous mobile body, information processing method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 306, Floor 3, No. 89, West Third Ring Road North, Haidian District, Beijing 100089 Patentee after: Beijing Meiji Technology Co.,Ltd. Address before: 102206 1107, unit 1, building 1, yard 1, Longyu middle street, Huilongguan town, Changping District, Beijing Patentee before: Beijing Geyuan Zhibo Technology Co.,Ltd. |