CN110609554B - Robot movement control method and device - Google Patents
Robot movement control method and device Download PDFInfo
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- CN110609554B CN110609554B CN201910877637.1A CN201910877637A CN110609554B CN 110609554 B CN110609554 B CN 110609554B CN 201910877637 A CN201910877637 A CN 201910877637A CN 110609554 B CN110609554 B CN 110609554B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a robot movement control method and a device, wherein the method comprises the following steps: acquiring broadcast contents corresponding to the current point location; determining the moving speed required by moving to the next point according to the broadcast content; and controlling the robot to move to the next position at the moving speed, and broadcasting the broadcast content in a voice mode in the moving process. In the multi-point guiding process of the robot, the moving speed between the current point location and the next point location is determined according to the broadcasting content of the current point location, so that the aim of automatically adjusting the moving speed between the point locations of the robot is fulfilled, and the moving explanation broadcasting is further realized.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a robot movement control method and device.
Background
The robot is combined with the machine vision, and tense guiding and tour of the robot are utilized, so that the robot is widely applied to scenes such as exhibitions, industrial meetings, large places and the like.
In the prior art, when the robot guides and explains at multiple points, the robot moves at a fixed speed, and stays for a period of time to perform voice broadcasting when the robot moves to a certain set point. However, if the content to be broadcasted is more, the robot may not have been broadcasted completely, and then starts to move to the next point location, and if the content to be broadcasted is less, after the robot finishes broadcasting, the robot still stays in place because the preset stay time is not reached, and the robot does not start to move to the next point location until the preset stay time is reached, so that the user experience is poor.
Disclosure of Invention
The present invention is directed to a method and an apparatus for controlling movement of a robot, which are provided to overcome the above-mentioned disadvantages of the prior art, and the object of the present invention is achieved by the following means.
A first aspect of the present invention provides a robot movement control method, including:
acquiring broadcast contents corresponding to current point locations;
determining the moving speed required by moving to the next point according to the broadcast content;
and controlling the robot to move to the next position at the moving speed, and broadcasting the broadcast content in a voice mode in the moving process.
A second aspect of the present invention provides a robot movement control apparatus, the apparatus comprising:
the acquisition module is used for acquiring broadcast contents corresponding to the current point location;
the determining module is used for determining the moving speed required by moving to the next point according to the broadcast content;
and the first control module is used for controlling the robot to move to the next point at the moving speed and broadcasting the broadcast content in a voice broadcasting mode in the moving process.
In the embodiment of the application, the broadcasting content corresponding to the current point location is obtained, and the moving speed required by moving to the next point location is determined according to the broadcasting content, so that the robot is controlled to move to the next point location at the moving speed, and the broadcasting content is broadcasted in a voice mode in the moving process.
Based on the description, the robot determines the moving speed between the current point location and the next point location according to the broadcast content of the current point location in the multi-point location guiding process, so that the purpose of automatically adjusting the moving speed between the point locations of the robot is achieved, and then mobile explanation broadcasting is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1A is a flowchart illustrating an embodiment of a method for controlling movement of a robot according to an exemplary embodiment of the present invention;
FIG. 1B is a schematic diagram of a robot site location configuration according to the embodiment of FIG. 1A;
FIG. 2 is a diagram of a hardware configuration of a robot shown in accordance with an exemplary embodiment of the present application;
fig. 3 is a flowchart illustrating an embodiment of a robot movement control apparatus according to an exemplary embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this disclosure and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.
At present, a robot can perform multi-point guidance, tour and the like in a specific space. By setting a route, such as a → B → C multi-point route, the robot can perform autonomous route planning and autonomous obstacle avoidance to complete point location guidance according to the set multi-point route. In the guiding process, the robot explains the mode that the robot stays at the point A for a fixed time to broadcast, then moves to the point B at a set speed, continues to stay for a fixed time to broadcast the content of the point B, and so on. The broadcasting mode has certain limitation on the length of the content which can be broadcasted at each point, and the robot moves at a fixed speed and broadcasts the content in a static explanation mode, so that the experience brought to users is poor.
In order to solve the technical problem, the invention provides a robot movement control method, when a certain point location is detected to be reached, the robot is controlled to move to the next point location at the movement speed by acquiring broadcast contents corresponding to the current point location and determining the movement speed required by moving to the next point location according to the broadcast contents, and the broadcast contents are broadcasted in a voice mode in the moving process.
Based on the description, the robot determines the moving speed between the current point location and the next point location according to the broadcast content of the current point location in the multi-point location guiding process, so that the purpose of automatically adjusting the moving speed between the point locations of the robot is achieved, and then mobile explanation broadcasting is achieved.
The following describes the robot movement control scheme proposed by the present invention in detail with specific embodiments.
Fig. 1A is a flowchart illustrating an embodiment of a robot movement control method according to an exemplary embodiment of the present invention, which may be applied to a robot, as shown in fig. 1A, the robot movement control method including the steps of:
step 101: and acquiring broadcast contents corresponding to the current point location.
In the present invention, before the robot is used to perform multi-point guide interpretation, parameters such as a point location sequence of the robot and broadcast contents of each point location may be configured in advance.
The configuration can be carried out through a Web page or an APP mode, and the configuration parameters are synchronized to the robot.
In an embodiment, the robot performs route planning according to a preconfigured point location sequence, and when the robot moves to a certain point location, broadcast content corresponding to the current point location can be obtained from the configuration parameters.
In an exemplary scenario, as shown in the configuration interface shown in fig. 1B, the configured point location sequence is AA → BB, and the contents in the "point location introduction" column are the broadcast contents of each specific point location, where the broadcast explanation needs to be moved at the AA point location, and the broadcast explanation needs to be static at the BB point location. The point location sequence can be adjusted through the operations of upward moving and downward moving; through 'editing' and 'deleting', the configuration parameters of the point location can be modified.
In addition, in the configuration interface, the user can also configure the dwell time of each point and the speed between the points.
Step 102: and determining the moving speed required by moving to the next position according to the broadcast content.
In an embodiment, before step 102 is executed, it may be determined whether broadcast content corresponding to a currently located point location needs to be broadcasted in a moving manner, if yes, the process of step 102 is executed, if not, a staying time duration is determined according to the broadcast content, and after the robot is controlled to stay at the currently located point location for the staying time duration, the robot is controlled to move to a next point location at a preset speed. And the robot broadcasts the broadcast content in voice during the time when the robot stays at the current position for the stay time.
As shown in fig. 1B, it can be determined whether the current point location needs to be broadcasted movably according to the configuration parameters.
For example, the preset speed may be a speed configured for the point location in the configuration parameters, and if the report does not need to be moved, the robot is controlled to move to the next point location at the configured speed.
In an example, for a process of determining a dwell time according to the broadcast content, the broadcast time may be determined according to the broadcast content and a voice broadcast speed, and if the broadcast time is greater than a preset time, the broadcast time is determined as the dwell time; and if the broadcasting time length is less than the preset time length, determining the preset time length as the stay time length.
The voice broadcasting speed can meet auditory sense of a user, the user can not feel that the broadcasting is too fast, the user can not feel that the broadcasting is too slow, and the voice broadcasting speed can be set according to practical experience. The preset duration can be the stay time configured for the point location in the configuration parameters, in order to ensure that the robot can completely explain the broadcast content during the stay period and meet the stay time requirement configured by the user as much as possible, the stay time configured by the user needs to be automatically adjusted, namely, the proper stay time is selected according to the required broadcast duration and the preset duration.
The broadcasting time duration refers to the shortest time required for the robot to completely broadcast the broadcasting content, and the calculating formula of the broadcasting time duration is as follows:
T＝M/V speed of speech
Wherein, M represents the number of characters of the broadcast content; v Speed of speech The voice broadcast speed of the robot is represented.
In an embodiment, after it is determined that the broadcast needs to be moved, the number of characters of the broadcast content is counted, the distance between the current point location and the next point location is obtained, then a candidate speed is determined according to the number of characters, the distance and the voice broadcast speed, and further the moving speed required for moving to the next point location is determined according to the candidate speed.
Wherein, the candidate speed refers to the minimum moving speed that the robot will broadcast the content and completely finish broadcasting, and the calculation formula of the candidate speed is as follows:
V candidates for ＝L/(M/V Speed of speech )
Wherein, L represents the distance between the current point and the next point; m represents the number of characters of the broadcast content; v Speed of speech And the voice broadcasting speed of the robot is shown.
For example, for the process of determining the moving speed required for moving to the next position according to the candidate speed, if the candidate speed does not exceed the preset speed, determining the candidate speed as the required moving speed; and if the candidate speed exceeds a preset speed, determining the preset speed as the required moving speed.
The preset speed may be a speed configured for the point location in the configuration parameters, and in order to ensure that the robot can completely explain the broadcast content in the moving process, the moving speed configured by the user needs to be automatically adjusted, that is, an appropriate moving speed is selected according to the candidate speed and the preset speed.
Step 103: and controlling the robot to move to the next point at the moving speed, and broadcasting the broadcast content in a voice mode in the moving process.
In the invention, the speed of broadcasting is adopted by the robot to broadcast no matter the robot broadcasts statically or broadcasts movably, and the speed of sound suitable for human hearing is adopted.
In the embodiment of the application, the broadcasting content corresponding to the current point location is obtained, and the moving speed required by moving to the next point location is determined according to the broadcasting content, so that the robot is controlled to move to the next point location at the moving speed, and the broadcasting content is broadcasted in a voice mode in the moving process.
Based on the description, the robot determines the moving speed between the current point location and the next point location according to the broadcast content of the current point location in the multi-point location guiding process, so that the purpose of automatically adjusting the moving speed between the point locations of the robot is achieved, and then mobile explanation broadcasting is achieved.
Fig. 2 is a hardware structure diagram of a robot according to an exemplary embodiment of the present application, where the electronic device includes: a communication interface 201, a processor 202, a machine-readable storage medium 203, and a bus 204; wherein the communication interface 201, the processor 202 and the machine-readable storage medium 203 are in communication with each other via a bus 204. The processor 202 may perform the robot movement control method described above by reading and executing machine executable instructions in the machine readable storage medium 203 corresponding to the control logic of the robot movement control method, and the specific contents of the method are referred to the above embodiments, which will not be described herein again.
The machine-readable storage medium 203 referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: volatile memory, non-volatile memory, or similar storage media. In particular, the machine-readable storage medium 203 may be a RAM (random Access Memory), a flash Memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, a DVD, etc.), or similar storage medium, or a combination thereof.
Fig. 3 is a flowchart of an embodiment of a robot movement control apparatus according to an exemplary embodiment of the present invention, which may be applied to a robot, as shown in fig. 3, the apparatus including:
an obtaining module 310, configured to obtain broadcast content corresponding to a current location point;
a determining module 320, configured to determine, according to the broadcast content, a moving speed required to move to a next position;
and the first control module 330 is used for controlling the robot to move to the next point at the moving speed and broadcasting the broadcast content in a voice mode in the moving process.
In an alternative implementation, the apparatus further comprises (not shown in fig. 3):
a determining module, configured to determine whether the broadcast content corresponding to the current location needs to be broadcasted in a moving manner before the determining module 320 determines, according to the broadcast content, a moving speed required to move to a next location; when the mobile broadcast is judged to be needed, executing the process of the determining module 320;
the second control module is used for determining the stay time according to the broadcast content when the mobile broadcast is judged not to be needed, and controlling the robot to move to the next point location at a preset speed after the robot stays at the current point location for the stay time; and the robot broadcasts the broadcast content in voice during the time when the robot stays at the current position for the stay time.
In an optional implementation manner, the second control module is specifically configured to determine a broadcast duration according to the broadcast content and a voice broadcast speed in a process of determining a dwell duration according to the broadcast content; if the broadcasting time length is longer than the preset time length, determining the broadcasting time length as the stay time length; and if the broadcasting time length is less than the preset time length, determining the preset time length as the stay time length.
In an optional implementation manner, the determining module 320 is specifically configured to count the number of characters of the broadcast content; obtaining the distance between the current point position and the next point position; determining a candidate speed according to the number of the characters, the distance and the voice broadcasting speed; and determining the moving speed required by moving to the next point according to the candidate speed.
In an optional implementation manner, the determining module 320 is specifically configured to, in the process of determining the moving speed required to move to the next location according to the candidate speed, determine the candidate speed as the required moving speed if the candidate speed does not exceed a preset speed; and if the candidate speed exceeds a preset speed, determining the preset speed as the required moving speed.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A robot movement control method, characterized in that the method comprises:
acquiring broadcast contents corresponding to the current point location;
determining the moving speed required by moving to the next position according to the broadcast content;
controlling the robot to move to the next point at the moving speed, and broadcasting the broadcast content in a voice mode in the moving process;
wherein, according to said broadcast content confirms the required moving speed of moving to next bit, including:
counting the number of characters of the broadcast content;
obtaining the distance between the current point position and the next point position;
determining a candidate speed according to the number of the characters, the distance and the voice broadcasting speed;
and determining the moving speed required by moving to the next point according to the candidate speed.
2. The method of claim 1, wherein before determining a moving speed required to move to a next position according to the broadcast content, the method further comprises:
judging whether broadcast contents corresponding to the current point position need to be broadcasted in a moving mode or not;
if yes, determining the moving speed required by moving to the next position according to the broadcast content;
if not, determining the stay time according to the broadcast content, controlling the robot to stay at the current point location for the stay time, and controlling the robot to move to the next point location at a preset speed;
and the robot broadcasts the broadcast content in voice during the time when the robot stays at the current point position for the stay time.
3. The method according to claim 2, wherein the determining a dwell time based on the broadcast content comprises:
determining broadcasting time according to the broadcasting content and the voice broadcasting speed;
if the broadcasting time length is longer than the preset time length, determining the broadcasting time length as the staying time length;
and if the broadcasting time length is less than the preset time length, determining the preset time length as the stay time length.
4. The method of claim 1, wherein determining a movement velocity required to move to a next location based on the candidate velocities comprises:
if the candidate speed does not exceed the preset speed, determining the candidate speed as the required moving speed;
and if the candidate speed exceeds a preset speed, determining the preset speed as the required moving speed.
5. A robot movement control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring broadcast contents corresponding to the current point location;
the determining module is used for determining the moving speed required by moving to the next point according to the broadcast content;
the first control module is used for controlling the robot to move to the next point at the moving speed and broadcasting the broadcast content in a voice mode in the moving process;
the determining module is specifically used for counting the number of characters of the broadcast content; obtaining the distance between the current point position and the next point position; determining a candidate speed according to the number of the characters, the distance and the voice broadcasting speed; and determining the moving speed required by moving to the next point according to the candidate speed.
6. The apparatus of claim 5, further comprising:
the judging module is used for judging whether the broadcast content corresponding to the current point position needs to be broadcasted in a moving mode before the determining module determines the moving speed needed by moving to the next point position according to the broadcast content; when the mobile broadcast is judged to be needed, executing the process of the determining module;
the second control module is used for determining the stay time according to the broadcast content when the mobile broadcast is judged not to be needed, and controlling the robot to move to the next point location at a preset speed after the robot stays at the current point location for the stay time; and the robot broadcasts the broadcast content in voice during the time when the robot stays at the current position for the stay time.
7. The device according to claim 6, wherein the second control module is specifically configured to determine a broadcast duration according to the broadcast content and a voice broadcast speed in the process of determining the stay duration according to the broadcast content; if the broadcasting time length is longer than the preset time length, determining the broadcasting time length as the staying time length; and if the broadcasting time length is less than the preset time length, determining the preset time length as the stay time length.
8. The apparatus according to claim 5, wherein the determining module is specifically configured to, in determining the moving speed required for moving to the next position according to the candidate speed, determine the candidate speed as the required moving speed if the candidate speed does not exceed a preset speed; and if the candidate speed exceeds a preset speed, determining the preset speed as the required moving speed.
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| CN114393575B (en) * | 2021-12-17 | 2024-04-02 | 重庆特斯联智慧科技股份有限公司 | Robot control method and system based on high-efficiency recognition of user gestures |
| CN114313006B (en) * | 2021-12-30 | 2024-04-09 | 重庆特斯联智慧科技股份有限公司 | Robot chassis device for enhancing stability and regulation and control method thereof |
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