CN110228065A - Motion planning and robot control method and device - Google Patents
Motion planning and robot control method and device Download PDFInfo
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- CN110228065A CN110228065A CN201910356313.3A CN201910356313A CN110228065A CN 110228065 A CN110228065 A CN 110228065A CN 201910356313 A CN201910356313 A CN 201910356313A CN 110228065 A CN110228065 A CN 110228065A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
This application discloses a kind of modes of motion planning and robot control method and device, and the induction by receiving user's triggering instructs；Instruction out of service is generated according to induction instruction；According to the operation out of service for instructing the mechanism that breaks off an action.Robot can be carried out by way of induction by, which having achieved the purpose that, halts; to realize when robot during exercise; can also gesture or clap stop by way of easily halt the technical effect of robot, and then solve as button click type triggering caused by the technical issues of clicking is inconvenient in robot motion.
Description
Technical field
This application involves technical field of robot control, in particular to a kind of motion planning and robot control method and dress
It sets.
Background technique
In people's daily life, more and more important role plays the part of in robot.It will be various in existing technology
Functional unit be built in robot, impart the more and more functions of robot.But robot in the prior art
Be to be provided services to the user in fixed position mostly, be then to maintain the state of cruising there are also a kind of, when user needs into
Row is halted；Halting robot on the market at present is mainly the triggering of button click type, due to working as robot during exercise, button point
Move therewith, therefore there are the bad click of button point, operation difficulty is higher for a user, be difficult it is primary just can accurately by
Under, it is easy the disadvantages of being collided by robot.
For the problem for halting robot manipulation's inconvenience is clicked in the related technology, effective solution side is not yet proposed at present
Case.
Summary of the invention
The main purpose of the application is to provide a kind of motion planning and robot control method and device, to solve in background technique
At least one existing technical problem.
To achieve the goals above, according to the one aspect of the application, a kind of motion planning and robot control method is provided.
Include: according to the motion planning and robot control method of the application
Receive the induction instruction of user's triggering；
Instruction out of service is generated according to induction instruction；
According to the operation out of service for instructing the mechanism that breaks off an action.
Further, motion planning and robot control method as the aforementioned, the induction instruction for receiving user's triggering, comprising:
It presets and halts gesture information for halt robot；
Obtain the gesture information of user；
Judge the gesture information and whether halt gesture information consistent；
If the gesture information is consistent with gesture information is halted, induction instruction is generated；Otherwise any operation is not executed.
Further, motion planning and robot control method as the aforementioned is obtaining the gesture information of user and is judging the hand
Gesture information and halt gesture information it is whether consistent between, further includes:
Obtain the facial image information or centre of the palm image information of user；
Whether the facial image information or centre of the palm image information for judging the user are face robot；
If the facial image information or centre of the palm image information face robot of the user, perform the next step rapid；Otherwise
Any operation is not executed.
Further, motion planning and robot control method as the aforementioned, the induction instruction for receiving user's triggering, comprising:
Obtain the slap information of user's induction zone at the top of robot；
The induction instruction is generated according to the slap information.
Further, motion planning and robot control method as the aforementioned is obtaining the gesture information of user and is judging the hand
Gesture information and halt gesture information it is whether consistent between, further includes:
Obtain the distance between user information；And
Determine the maximum distance threshold value halted；
The distance between with user according to the information the distance between with user and maximum distance threshold decision
Whether information is in maximum distance threshold value；
If being performed the next step rapid in maximum distance threshold value；Otherwise any operation is not executed.
To achieve the goals above, according to the another aspect of the application, a kind of robot movement control device is provided.
Include: according to the robot movement control device of the application
Instruction process unit is incuded, for receiving the induction instruction of user's triggering；
Instruction generation unit out of service, for generating instruction out of service according to induction instruction；
Unit is halted, for according to the operation out of service for instructing the mechanism that breaks off an action.
Further, robot movement control device as the aforementioned, the induction instruction process unit include:
Gesture presetting module halts gesture information for halt robot for presetting；
Gesture obtains module, for obtaining the gesture information of user；
Gesture judgment module, for judging the gesture information and whether halt gesture information consistent；
First processing module, for when the gesture information is consistent with gesture information is halted, generating induction instruction；Otherwise
Any operation is not executed.
Further, robot movement control device as the aforementioned, further includes: first judgment module；First judgement
Module includes:
Image information acquisition submodule, for obtaining the facial image information or centre of the palm image information of user；
Judging submodule, for judging whether facial image information or the centre of the palm image information of the user are face machine
People；
Second processing submodule, for the facial image information or centre of the palm image information face robot in the user
When, it performs the next step rapid；Otherwise any operation is not executed.
Further, robot movement control device as the aforementioned, the induction instruction process unit include:
Module is flopped, for obtaining the slap information of user's induction zone at the top of robot；
Second processing module is instructed for generating the induction according to the slap information.
Further, robot movement control device as the aforementioned, further includes: Distance Judgment unit；The Distance Judgment
Unit includes:
Distance obtains module, for obtaining the distance between user information；And
Maximum distance threshold module, for determining the maximum distance threshold value halted；
Distance judgment module, for according to the distance between described and user information and maximum distance threshold decision
Whether the distance between user information is in maximum distance threshold value；
Third processing module when in maximum distance threshold value, then performs the next step rapid；Otherwise any operation is not executed.
In the embodiment of the present application, using a kind of side of motion planning and robot control method and device halted by induction type
Formula, the induction by receiving user's triggering instruct；Instruction out of service is generated according to induction instruction；It is transported according to the stopping
Row instructs the operation for the mechanism that breaks off an action.Robot can be carried out by way of induction by, which having achieved the purpose that, halts, thus real
Show and worked as robot during exercise, the technical effect of robot can also be easily halted in such a way that gesture or bat are stopped, into
And solve is inconvenient to the technical issues of clicking as caused by the triggering of button click type in robot motion.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the flow diagram according to a kind of motion planning and robot control method of embodiment of the application；
Fig. 2 is according to a kind of functional module structure schematic diagram of the robot movement control device of embodiment of the application；With
And
Fig. 3 is according to a kind of flow diagram of the application examples of embodiment of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
According to one embodiment of the application, a kind of motion planning and robot control method is provided.As shown in Figure 1, this method
Include the following steps, namely S1 to step S3:
S1. the induction instruction of user's triggering is received；
That is, the induction instruction, is in user by such as touching, and after the behaviors such as gesture operation, robot
The instruction obtained according to above-mentioned Activity recognition；
S2. instruction out of service is generated according to induction instruction；
That is, robot can be instructed according to the induction generates instruction out of service, in general, the stopping is transported
Row instruction is the instruction for making the walking executing mechanism of robot break off an action；
S3. according to the operation out of service for instructing the mechanism that breaks off an action；
That is, managing the executing mechanism according to the instruction out of service, allow the robot to stop
Only；Specifically, the driving unit that the instruction out of service can be for controlling corresponding executing mechanism is out of service, in turn
Achieve the purpose that control action mechanism.
In some embodiments, motion planning and robot control method as the aforementioned, the induction instruction for receiving user's triggering,
Include:
It presets and halts gesture information for halt robot；
That is, can import one or more gesture informations in advance in robot system (includes: to halt gesture letter
Breath)；
Obtain the gesture information of user；
Specifically, the gesture information can be identified by capacitive sensing module, and preferred, the capacitive sensing
Module is set to the top of the robot；When user, which enters palm, enters induction zone, remember to obtain gesture information；
Judge the gesture information and whether halt gesture information consistent；
That is, when it is preset halt gesture information be left and right wave when, and the gesture information of user be front and back pendulum
When hand, then judge that the two information is inconsistent；In general, can export one judges information；
If the gesture information is consistent with gesture information is halted, induction instruction is generated；Otherwise any operation is not executed；
That is, machine talent conference is in the gesture information and halts hand only after obtaining above-mentioned judgement information
Gesture information unanimously generates the induction instruction afterwards.
In some embodiments, motion planning and robot control method as the aforementioned, in gesture information and the judgement for obtaining user
The gesture information and halt gesture information it is whether consistent between, further includes:
Obtain the facial image information or centre of the palm image information of user；
Specifically, halting for robot can also be realized by picture recognition module；
Whether the facial image information or centre of the palm image information for judging the user are face robot；
If the facial image information or centre of the palm image information face robot of the user, perform the next step rapid；Otherwise
Any operation is not executed；
Specifically, being mainly used for judging user in the mesh for carrying out remote gesture operation using the method in the present embodiment
Whether be robot to be halted, in general, when needing to halt a certain unit, all can the face unit, therefore, the present embodiment
Using this characteristic, judge that whether the face of user or the centre of the palm were directed towards robot judges that user carries out the mesh of gesture operation
, and then the case where reduction mistakenly stop；Improve the accuracy of the task execution of robot.
In some embodiments, motion planning and robot control method as the aforementioned, the induction instruction for receiving user's triggering,
Include:
Obtain the slap information of user's induction zone at the top of robot；
The induction instruction is generated according to the slap information.
Specifically, capacitive sensing module can be equally placed at the top of robot, after user flops the part,
It can trigger and generate the induction instruction, achieve the purpose that robot halts；By the setting, compared with the existing technology in press
Button is halted, increase can operations area, while without pressing can be realized so that the method halted is more convenient.
In some embodiments, motion planning and robot control method as the aforementioned, in gesture information and the judgement for obtaining user
The gesture information and halt gesture information it is whether consistent between, further includes:
Obtain the distance between user information；And
Determine the maximum distance threshold value halted；
The distance between with user according to the information the distance between with user and maximum distance threshold decision
Whether information is in maximum distance threshold value；
If being performed the next step rapid in maximum distance threshold value；Otherwise any operation is not executed.
That is, through this embodiment, for realizing the control for halting distance, therefore, the range information can lead to
It crosses depth camera to be acquired, prevents from also reacting to excessively remote gesture information, it is preferred that the maximum distance threshold
Value can be 1 meter or 2 meters, thus can prevent from detecting excessive gesture information, reduce data processing amount；In addition, for same
The gesture information detected in maximum distance threshold value determines the corresponding range information of each gesture information, then determines most
Close gesture information, and reacted accordingly according to nearest gesture information.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to embodiments of the present invention, a kind of robot fortune for implementing above-mentioned motion planning and robot control method is additionally provided
Dynamic control device, as shown in Fig. 2, the device includes:
Instruction process unit 1 is incuded, for receiving the induction instruction of user's triggering；
Instruction generation unit 2 out of service, for generating instruction out of service according to induction instruction；
Unit 3 is halted, for according to the operation out of service for instructing the mechanism that breaks off an action.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot movement control device as the aforementioned, the induction instruction process unit include:
Gesture presetting module halts gesture information for halt robot for presetting；
Gesture obtains module, for obtaining the gesture information of user；
Gesture judgment module, for judging the gesture information and whether halt gesture information consistent；
First processing module, for when the gesture information is consistent with gesture information is halted, generating induction instruction；Otherwise
Any operation is not executed.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot movement control device as the aforementioned, further includes: first judgment module；Described
One judgment module includes:
Image information acquisition submodule, for obtaining the facial image information or centre of the palm image information of user；
Judging submodule, for judging whether facial image information or the centre of the palm image information of the user are face machine
People；
Second processing submodule, for the facial image information or centre of the palm image information face robot in the user
When, it performs the next step rapid；Otherwise any operation is not executed.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot movement control device as the aforementioned, the induction instruction process unit include:
Module is flopped, for obtaining the slap information of user's induction zone at the top of robot；
Second processing module is instructed for generating the induction according to the slap information.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot movement control device as the aforementioned, further includes: Distance Judgment unit；It is described away from
Include: from judging unit
Distance obtains module, for obtaining the distance between user information；And
Maximum distance threshold module, for determining the maximum distance threshold value halted；
Distance judgment module, for according to the distance between described and user information and maximum distance threshold decision
Whether the distance between user information is in maximum distance threshold value；
Third processing module when in maximum distance threshold value, then performs the next step rapid；Otherwise any operation is not executed.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
It is as described below that the application examples that robot halts is carried out according to the method in a kind of embodiment of the application:
As shown in figure 3, when robot cruises and executes task, when a user brandishes palm or slap top at the top of robot
When portion's induction zone, robot is by corresponding induction instruction；Then instruction out of service is generated according to induction instruction；
And according to the operation out of service for instructing the mechanism that breaks off an action, the further operating of user is waited.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of motion planning and robot control method characterized by comprising
Receive the induction instruction of user's triggering；
Instruction out of service is generated according to induction instruction；
According to the operation out of service for instructing the mechanism that breaks off an action.
2. motion planning and robot control method according to claim 1, which is characterized in that the induction for receiving user's triggering
Instruction, comprising:
It presets and halts gesture information for halt robot；
Obtain the gesture information of user；
Judge the gesture information and whether halt gesture information consistent；
If the gesture information is consistent with gesture information is halted, induction instruction is generated；Otherwise any operation is not executed.
3. motion planning and robot control method according to claim 2, which is characterized in that obtain user gesture information with
Judge the gesture information and halt gesture information it is whether consistent between, further includes:
Obtain the facial image information or centre of the palm image information of user；
Whether the facial image information or centre of the palm image information for judging the user are face robot；
If the facial image information or centre of the palm image information face robot of the user, perform the next step rapid；Otherwise it does not hold
Any operation of row.
4. motion planning and robot control method according to claim 1, which is characterized in that the induction for receiving user's triggering
Instruction, comprising:
Obtain the slap information of user's induction zone at the top of robot；
The induction instruction is generated according to the slap information.
5. motion planning and robot control method according to claim 2, which is characterized in that obtain user gesture information with
Judge the gesture information and halt gesture information it is whether consistent between, further includes:
Obtain the distance between user information；And
Determine the maximum distance threshold value halted；
According to the information the distance between with user and maximum distance threshold decision with the distance between user information
Whether in maximum distance threshold value；
If being performed the next step rapid in maximum distance threshold value；Otherwise any operation is not executed.
6. a kind of robot movement control device characterized by comprising
Instruction process unit is incuded, for receiving the induction instruction of user's triggering；
Instruction generation unit out of service, for generating instruction out of service according to induction instruction；
Unit is halted, for according to the operation out of service for instructing the mechanism that breaks off an action.
7. robot movement control device according to claim 6, which is characterized in that the induction instruction process unit packet
It includes:
Gesture presetting module halts gesture information for halt robot for presetting；
Gesture obtains module, for obtaining the gesture information of user；
Gesture judgment module, for judging the gesture information and whether halt gesture information consistent；
First processing module, for when the gesture information is consistent with gesture information is halted, generating induction instruction；Otherwise it does not hold
Any operation of row.
8. robot movement control device according to claim 7, which is characterized in that further include: first judgment module；Institute
Stating first judgment module includes:
Image information acquisition submodule, for obtaining the facial image information or centre of the palm image information of user；
Judging submodule, for judging whether facial image information or the centre of the palm image information of the user are face robot；
Second processing submodule, for holding in the facial image information or centre of the palm image information face robot of the user
Row next step；Otherwise any operation is not executed.
9. robot movement control device according to claim 6, which is characterized in that the induction instruction process unit packet
It includes:
Module is flopped, for obtaining the slap information of user's induction zone at the top of robot；
Second processing module is instructed for generating the induction according to the slap information.
10. robot movement control device according to claim 7, which is characterized in that further include: Distance Judgment unit；
The Distance Judgment unit includes:
Distance obtains module, for obtaining the distance between user information；And
Maximum distance threshold module, for determining the maximum distance threshold value halted；
Distance judgment module, for according to described in the distance between described and user information and maximum distance threshold decision with
Whether the distance between family information is in maximum distance threshold value；
Third processing module when in maximum distance threshold value, then performs the next step rapid；Otherwise any operation is not executed.
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| CN114683273A (en) * | 2020-12-31 | 2022-07-01 | 美的集团(上海)有限公司 | Robot halt control method and device, robot and storage medium |
| CN114683273B (en) * | 2020-12-31 | 2024-05-24 | 美的集团(上海)有限公司 | Robot shutdown control method and device, robot and storage medium |
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Application publication date: 20190913 |