CN112008718B - Robot control method, system, storage medium and intelligent robot - Google Patents
Robot control method, system, storage medium and intelligent robot Download PDFInfo
- Publication number
- CN112008718B CN112008718B CN202010537825.2A CN202010537825A CN112008718B CN 112008718 B CN112008718 B CN 112008718B CN 202010537825 A CN202010537825 A CN 202010537825A CN 112008718 B CN112008718 B CN 112008718B
- Authority
- CN
- China
- Prior art keywords
- robot
- coordinate point
- control mode
- position coordinate
- intelligent
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 117
- 238000013507 mapping Methods 0.000 claims abstract description 28
- 230000006870 function Effects 0.000 claims description 51
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000000126 substance Substances 0.000 claims 4
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 5
- 238000007726 management method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000036760 body temperature Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
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
- 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
- B25J9/1602—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
- B25J9/1656—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
Abstract
The invention discloses a robot control method, a system, a storage medium and an intelligent robot, wherein the method comprises the following steps: receiving a moving instruction, and controlling the robot to move to a target position according to the moving instruction; acquiring a coordinate point of the target position in a map; switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation; and controlling the robot to complete the corresponding function of the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode. Therefore, by adopting the embodiment of the application, the specific intelligent algorithm or the control mode is set through the working environment of the robot, so that more accurate scene application is realized, and the intelligence of the robot can be improved.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a robot control method, a robot control system, a storage medium and an intelligent robot.
Background
With the rapid development of science and technology, the development of intelligent robots also has a rapid and violent development trend, and the development of intelligent robots has appeared in public places such as restaurants, banks, halls and the like, and on one hand, the development of intelligent robots in the research of intelligent robots improves the autonomy of the intelligent robots, namely, the intelligent robots are expected to be further independent of people, have more friendly human-computer interfaces, can automatically form the steps of tasks, and automatically complete the steps. On the other hand, the adaptability of the intelligent robot is improved, and the capability of the intelligent robot adapting to environmental changes is improved, so that the intelligent robot has higher safety guarantee and more excellent capability of completing tasks.
At present, an intelligent robot is used for service guidance in halls and lobby halls in many cases, when the existing intelligent robot works, the robot with a specific function is needed to work according to a specific scene, for example, a floor sweeping robot, a restaurant robot and a bank service robot, and different service scenes can only need the robot in a specific field to complete the function, so that the intelligence of the intelligent robot is reduced.
Disclosure of Invention
The embodiment of the application provides a robot control method, a robot control system, a storage medium and an intelligent robot. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present application provides a robot control method, where the method includes:
receiving a moving instruction, and controlling the robot to move to a target position according to the moving instruction;
acquiring a coordinate point of the target position in a map;
switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation;
and controlling the robot to complete the corresponding function of the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode.
Optionally, before the receiving the movement instruction, the method further includes:
acquiring a coordinate point of a target area;
marking the coordinate point of the target area in a map to generate a position point of the target area;
acquiring an intelligent algorithm or a control mode corresponding to the target area position point;
and configuring a mapping relation based on the target area position point and an intelligent algorithm or a control mode corresponding to the target area position point.
Optionally, the controlling the robot based on the intelligent algorithm or the control mode to complete the function corresponding to the intelligent algorithm or the control mode includes:
and when the algorithm is the intelligent algorithm, controlling the robot to complete the function corresponding to the intelligent algorithm according to the intelligent algorithm.
Optionally, the controlling the robot based on the intelligent algorithm or the control mode to complete the function corresponding to the intelligent algorithm or the control mode includes:
and when the control mode is the control mode, controlling the robot to complete the function corresponding to the control mode according to the control mode.
Optionally, the controlling the robot to move to the target position according to the movement instruction includes:
acquiring a target position coordinate point;
acquiring a current position coordinate point;
and controlling the robot to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm.
Optionally, the controlling the robot to move from the current position coordinate point to the target position coordinate point based on the preset path planning algorithm includes:
calculating a plurality of position coordinate points around the current position coordinate point to generate a position coordinate point set;
when the position coordinate point in the position coordinate point set is coincident with the target position coordinate point, stopping calculation and generating a coincident position coordinate point;
drawing an optimal path based on the coincident position coordinate point and the current position coordinate point;
and controlling the robot to move to the target position coordinate point based on the optimal path.
In a second aspect, an embodiment of the present application provides a robot control system, including:
the control moving module is used for receiving a moving instruction and controlling the robot to move to a target position according to the moving instruction;
the position acquisition module is used for acquiring a coordinate point of the target position in a map;
the function switching module is used for switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation;
and the function completion module is used for controlling the robot to complete the function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode.
In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-mentioned method steps.
In a fourth aspect, an embodiment of the present application provides an intelligent robot, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the embodiment of the application, the intelligent robot receives a moving instruction, controls the robot to move to a target position according to the moving instruction, acquires a coordinate point of the target position in a map, switches to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation, and controls the robot to complete a function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode. According to the method and the system, a specific intelligent algorithm or a control mode is set through the working environment of the robot, so that the service of multiple scenes is realized by one robot, more accurate scene application is carried out aiming at the multiple scenes, and the intelligence of the robot can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic flowchart of a robot control method according to an embodiment of the present disclosure;
fig. 2 is a schematic process diagram of a robot moving process provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a robot moving from a current position to calculate a search target position according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of another robot control method provided in the embodiments of the present application;
FIG. 5 is a system diagram of a robotic control system according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an intelligent robot according to an embodiment of the present application.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of systems and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
At present, there are many cases when an intelligent robot is used for hall and lobby service guidance, and when the current intelligent robot works, the robot with a specific function is needed to work according to a specific scene, such as a floor sweeping robot, a restaurant robot and a bank service robot, and different service scenes can only need the robot in a specific field to complete the function, so that the intelligence of the intelligent robot is reduced. Therefore, the present application provides a robot control method, system, storage medium, and intelligent robot to solve the above-mentioned problems associated with the related art. In the technical scheme provided by the application. According to the method and the system, a specific intelligent algorithm or a control mode is set through the working environment of the robot, so that the service of multiple scenes is realized by one robot, more accurate scene application is carried out aiming at the multiple scenes, the intelligence of the robot can be improved, and the detailed description is carried out by adopting an exemplary embodiment.
The robot control method provided by the embodiment of the present application will be described in detail below with reference to fig. 1 to 4. The method may be implemented in dependence of a computer program, which may be run on a robot control system based on the von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application. The robot control system in the embodiment of the application is applied to an intelligent robot.
Referring to fig. 1, a flow chart of a robot control method is provided in an embodiment of the present application. As shown in fig. 1, the method of the embodiment of the present application may include the steps of:
s101, receiving a moving instruction, and controlling the robot to move to a target position according to the moving instruction;
wherein the instructions are computer instructions, i.e. instructions and commands directing the robot to work. The movement instruction is a command for the user to move to an instruction position, which is input to the intelligent robot according to the user's intention. The target position is the final position reached by the intelligent robot.
In the embodiment of the application, a user issues a work instruction to the intelligent robot, the intelligent robot receives the instruction and analyzes the position to be reached, after the position is analyzed, the current position point is obtained, the position point to be reached is obtained, and finally the robot is controlled to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm.
For example, as shown in fig. 2, the intelligent robot constructs a map system through three steps of scanning, constructing a map, and marking a point location, and can move between a set single point location and a set multi-point location after the map system is provided. The three point locations of the charging pile, the reception place and the doorway are marked on the map, the user can issue an instruction to enable the robot to move among the three point locations, and the robot can realize autonomous movement through multi-sensor fusion algorithms such as instant positioning, dynamic global and local path planning, obstacle avoidance algorithm and the like after receiving the instruction of the point location movement.
In a possible implementation manner, when the robot is controlled to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm, firstly, a plurality of position coordinate points around the current position coordinate point need to be calculated to generate a position coordinate point set, then when the position coordinate points in the position coordinate point set coincide with the target position coordinate point, the calculation is stopped, a coincident position coordinate point is generated, then, an optimal path is planned based on the coincident position coordinate point and the current position coordinate point, and finally, the robot is controlled to move to the target position coordinate point based on the optimal path. For example, as shown in fig. 3, for example, the current position of the robot is 1, the path planning algorithm calculates a plurality of position coordinate points 2 around the current position according to the current position, when the calculated plurality of coordinate points are different from the target position coordinate point 0, continues to calculate coordinate points 3 around the plurality of position coordinate points 2, when the calculated coordinate points 3 coincide with the target position point 0, stops calculating, generates a coinciding position point, plans an optimal path according to the coinciding position coordinate point and the current position point, and finally controls the intelligent robot to move to the target position point 0 according to the optimal path.
S102, acquiring a coordinate point of the target position in a map;
the map is an online map which is constructed on the intelligent robot in advance, map information can be viewed through a visual interface, each position point in the map corresponds to the abscissa and the ordinate, and the abscissa and the ordinate form the coordinate point of the position.
In a possible implementation manner, after the intelligent robot reaches the target position point included in the instruction based on step S101, the intelligent robot sends information of reaching the current position point to the processor through wired or wireless, the processor receives the information, when the processor receives the information, the processor triggers a map loading function through an internally set program, after the map loading function is triggered, a map which is pre-built in the intelligent robot is loaded, and after the map loading is successful, a coordinate point of the current position of the intelligent robot in the map is located.
For example, the intelligent robot receives a work order, and the work order is to go to the door of a company to identify the body temperature of people entering and exiting the company. After receiving the instruction, the intelligent robot analyzes that the target position contained in the instruction is the door of the company, plans the path from the current position to the door of the company through a path planning algorithm, obtains an optimal moving route after planning, moves to the door of the company according to the planned optimal intelligent route to identify the body temperature of the person entering or exiting the company, and loads a built-in map after reaching the door of the company, and locates the coordinate point of the current position in the map.
S103, switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation;
the configured mapping relation is a function that a user configures the position points of the actual work according to the position points of the actual work of the intelligent robot. It can be understood that the specific working position point of the intelligent robot has a specific intelligent algorithm or control mode, and may have a mapping relationship as shown in table 1.
Generally, the position point reached by the intelligent robot through receiving the work order may be a specific position point, a range formed by a plurality of position points, or an angle formed by a plurality of position points.
In this embodiment of the application, based on step S102, a coordinate point in a map of a position coordinate point reached by the intelligent robot may be obtained, and after the coordinate point is obtained, the intelligent robot automatically switches to an intelligent algorithm or a control mode corresponding to the coordinate point. The intelligent algorithm or the control mode corresponding to the coordinate point is that the user marks the intelligent algorithm or the control mode at the position point in advance (namely, the position point is bound with the intelligent algorithm or the control mode), data bound by the intelligent algorithm or the control mode is used as a mapping relation, and after the intelligent robot reaches the position point, the intelligent algorithm or the control mode of the position point can be obtained through the mapping relation.
And S104, controlling the robot to complete the corresponding function of the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode.
In a possible implementation manner, when the function obtained by the position point reached by the intelligent robot through the mapping relation is an intelligent algorithm, the intelligent robot is controlled according to the intelligent algorithm to complete the function corresponding to the intelligent algorithm. For example, a dedicated identification algorithm identifies the instrument panel, and the intelligent robot switches to an intelligent identification algorithm to identify the instrument panel and extract effective data.
In another possible implementation manner, when the function acquired by the position point reached by the intelligent robot through the mapping relationship is the control mode, the intelligent robot is controlled according to the control mode to complete the function corresponding to the control mode. For example, the robot sterilizes a company corridor, and the intelligent robot is controlled to perform different sterilization modes and movement modes according to different space sizes and sterilization high, medium and low levels.
In the embodiment of the application, the intelligent robot receives a moving instruction, controls the robot to move to a target position according to the moving instruction, acquires a coordinate point of the target position in a map, switches to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation, and controls the robot to complete a function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode. According to the method and the system, a specific intelligent algorithm or a control mode is set through the working environment of the robot, so that the service of multiple scenes is realized by one robot, more accurate scene application is carried out aiming at the multiple scenes, and the intelligence of the robot can be improved.
Fig. 4 is a schematic flow chart of a robot control method according to an embodiment of the present disclosure. The present embodiment is exemplified by applying the robot control method to an intelligent robot. The robot control method may include the steps of:
s201, acquiring a coordinate point of a target area;
in a possible implementation manner, a user inputs an instruction for searching different target area positions from a map to the intelligent robot through a management platform on the intelligent robot, the intelligent robot receives the instruction, and the intelligent robot acquires coordinate points of different target areas from the installed map.
S202, marking the coordinate point of the target area in a map to generate a position point of the target area;
in a possible implementation manner, after obtaining coordinate points of different target areas based on step S201, a user inputs a location point marking instruction to the intelligent robot through a management platform on the intelligent robot, and the intelligent robot receives a map marking instruction and marks different area locations after receiving the instruction.
S203, acquiring an intelligent algorithm or a control mode corresponding to the target area position point;
in a possible implementation manner, based on step S202, different area locations may be labeled, after the labeling is finished, a user inputs an intelligent algorithm or a control mode corresponding to different locations to the intelligent robot through a management platform on the intelligent robot, and the intelligent robot receives and stores the intelligent algorithm or the control mode corresponding to different locations.
S204, configuring a mapping relation based on the target area position point and an intelligent algorithm or a control mode corresponding to the target area position point;
in a possible implementation manner, when the intelligent robot receives the intelligent algorithms or control modes corresponding to different positions, a user performs mapping relationship configuration on the intelligent algorithms or control modes corresponding to different positions and different positions through the operation management platform, and the intelligent robot receives a mapping relationship configuration instruction to complete the mapping configuration operation of different target position points and the intelligent algorithms or control modes.
S205, receiving a moving instruction, and controlling the robot to move to a target position according to the moving instruction;
specifically, refer to step S101, which is not described herein again.
S206, acquiring a coordinate point of the target position in a map;
specifically, refer to step S102, which is not described herein again.
S207, switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation;
specifically, refer to step S103, which is not described herein again.
And S208, controlling the robot to complete the corresponding function of the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode.
Specifically, refer to step S104, which is not described herein again.
In the embodiment of the application, the intelligent robot receives a moving instruction, controls the robot to move to a target position according to the moving instruction, acquires a coordinate point of the target position in a map, switches to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation, and controls the robot to complete a function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode. According to the method and the system, a specific intelligent algorithm or a control mode is set through the working environment of the robot, so that the service of multiple scenes is realized by one robot, more accurate scene application is carried out aiming at the multiple scenes, and the intelligence of the robot can be improved.
The following are embodiments of systems of the present invention that may be used to perform embodiments of methods of the present invention. For details which are not disclosed in the embodiments of the system of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 5, a schematic structural diagram of a robot control system according to an exemplary embodiment of the present invention is shown. The robot control system may be implemented as all or part of an intelligent robot through software, hardware, or a combination of both. The system 1 includes a control moving module 10, a position acquiring module 20, a function switching module 30, and a function completing module 40.
The control moving module 10 is used for receiving a moving instruction and controlling the robot to move to a target position according to the moving instruction;
a position obtaining module 20, configured to obtain a coordinate point of the target position in a map;
the function switching module 30 is configured to switch to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preconfigured mapping relationship;
and the function completion module 40 is used for controlling the robot to complete the function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode.
It should be noted that, when the robot control system provided in the foregoing embodiment executes the robot control method, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the robot control system provided by the above embodiment and the robot control method embodiment belong to the same concept, and details of the implementation process are referred to the method embodiment, which are not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the embodiment of the application, the intelligent robot receives a moving instruction, controls the robot to move to a target position according to the moving instruction, acquires a coordinate point of the target position in a map, switches to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation, and controls the robot to complete a function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode. According to the method and the system, a specific intelligent algorithm or a control mode is set through the working environment of the robot, so that the service of multiple scenes is realized by one robot, more accurate scene application is carried out aiming at the multiple scenes, and the intelligence of the robot can be improved.
The present invention also provides a computer readable medium having stored thereon program instructions which, when executed by a processor, implement the robot control method provided by the various method embodiments described above.
The invention also provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the robot control method as described in the various method embodiments above.
Please refer to fig. 6, which provides a schematic structural diagram of an intelligent robot according to an embodiment of the present application. As shown in fig. 6, the smart robot 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, memory 1005, at least one communication bus 1002.
Wherein a communication bus 1002 is used to enable connective communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
The Memory 1005 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable medium. The memory 1005 may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 1005 may optionally be at least one memory system located remotely from the processor 1001. As shown in fig. 6, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a robot control application program.
In the intelligent robot 1000 shown in fig. 6, the user interface 1003 is mainly used to provide an input interface for a user to obtain data input by the user; and the processor 1001 may be configured to invoke the robot control application stored in the memory 1005 and specifically perform the following operations:
receiving a moving instruction, and controlling the robot to move to a target position according to the moving instruction;
acquiring a coordinate point of a target position in a map;
switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation;
and controlling the robot to complete the corresponding functions of the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode.
In one embodiment, the processor 1001, when executing the move instruction, further performs the following:
acquiring a coordinate point of a target area;
marking the coordinate point of the target area in a map to generate a target area position point;
acquiring an intelligent algorithm or a control mode corresponding to the target area position point;
and configuring a mapping relation based on an intelligent algorithm or a control mode corresponding to the target area position point and the target area position point.
In one embodiment, when the processor 1001 executes a function corresponding to an intelligent algorithm or a control mode based on the intelligent algorithm or the control mode to control the robot to complete the intelligent algorithm or the control mode, the following operations are specifically performed:
and when the algorithm is an intelligent algorithm, controlling the robot to complete the function corresponding to the intelligent algorithm according to the intelligent algorithm.
In one embodiment, when the processor 1001 executes a function corresponding to an intelligent algorithm or a control mode based on the intelligent algorithm or the control mode to control the robot to complete the intelligent algorithm or the control mode, the following operations are specifically performed:
and when the robot is in the control mode, controlling the robot to complete the function corresponding to the control mode according to the control mode.
In one embodiment, when executing the control of the robot to move to the target position according to the movement instruction, the processor 1001 specifically executes the following operations:
acquiring a target position coordinate point;
acquiring a current position coordinate point;
and controlling the robot to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm.
In one embodiment, when executing the control of the robot to move from the current position coordinate point to the target position coordinate point based on the preset path planning algorithm, the processor 1001 specifically executes the following operations:
the control of the robot to move from the current position coordinate point to the target position coordinate point based on the preset path planning algorithm comprises:
calculating a plurality of position coordinate points around the current position coordinate point to generate a position coordinate point set;
when the position coordinate point in the position coordinate point set is coincident with the target position coordinate point, stopping calculation and generating a coincident position coordinate point;
drawing an optimal path based on the coincident position coordinate point and the current position coordinate point;
and controlling the robot to move to the target position coordinate point based on the optimal path.
In the embodiment of the application, the intelligent robot receives a moving instruction, controls the robot to move to a target position according to the moving instruction, acquires a coordinate point of the target position in a map, switches to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation, and controls the robot to complete a function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode. According to the method and the system, a specific intelligent algorithm or a control mode is set through the working environment of the robot, so that the service of multiple scenes is realized by one robot, more accurate scene application is carried out aiming at the multiple scenes, and the intelligence of the robot can be improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.
Claims (6)
1. A robot control method, characterized in that the method comprises:
receiving a moving instruction, and controlling the robot to move to a target position according to the moving instruction;
acquiring a coordinate point of the target position in a map;
switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation;
controlling the robot to complete the function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode;
wherein, before receiving the movement instruction, the method further comprises:
acquiring a coordinate point of a target area;
marking the coordinate point of the target area in a map to generate a target area position point;
acquiring an intelligent algorithm or a control mode corresponding to the target area position point;
configuring a mapping relation based on the target area position point and an intelligent algorithm or a control mode corresponding to the target area position point; wherein the content of the first and second substances,
the controlling the robot to move to the target position according to the moving instruction comprises the following steps:
acquiring a target position coordinate point;
acquiring a current position coordinate point;
controlling the robot to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm; wherein the content of the first and second substances,
the control of the robot to move from the current position coordinate point to the target position coordinate point based on the preset path planning algorithm comprises:
calculating a plurality of position coordinate points around the current position coordinate point to generate a position coordinate point set;
when the position coordinate point in the position coordinate point set is coincident with the target position coordinate point, stopping calculation and generating a coincident position coordinate point;
drawing an optimal path based on the coincident position coordinate point and the current position coordinate point;
and controlling the robot to move to the target position coordinate point based on the optimal path.
2. The method of claim 1, wherein controlling the robot to perform the function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode comprises:
and when the algorithm is the intelligent algorithm, controlling the robot to complete the function corresponding to the intelligent algorithm according to the intelligent algorithm.
3. The method of claim 1, wherein controlling the robot to perform the function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode comprises:
and when the control mode is the control mode, controlling the robot to complete the function corresponding to the control mode according to the control mode.
4. A robotic control system, the system comprising:
the control moving module is used for receiving a moving instruction and controlling the robot to move to a target position according to the moving instruction;
the position acquisition module is used for acquiring a coordinate point of the target position in a map;
the function switching module is used for switching to an intelligent algorithm or a control mode corresponding to the coordinate point based on a preset mapping relation;
the function completion module is used for controlling the robot to complete the function corresponding to the intelligent algorithm or the control mode based on the intelligent algorithm or the control mode;
wherein, before receiving the movement instruction, the method further comprises:
acquiring a coordinate point of a target area;
marking the coordinate point of the target area in a map to generate a target area position point;
acquiring an intelligent algorithm or a control mode corresponding to the target area position point;
configuring a mapping relation based on the target area position point and an intelligent algorithm or a control mode corresponding to the target area position point; wherein the content of the first and second substances,
the control movement module is used for
Acquiring a target position coordinate point;
acquiring a current position coordinate point;
controlling the robot to move from the current position coordinate point to the target position coordinate point based on a preset path planning algorithm; wherein the content of the first and second substances,
the control of the robot to move from the current position coordinate point to the target position coordinate point based on the preset path planning algorithm comprises:
calculating a plurality of position coordinate points around the current position coordinate point to generate a position coordinate point set;
when the position coordinate point in the position coordinate point set is coincident with the target position coordinate point, stopping calculation and generating a coincident position coordinate point;
drawing an optimal path based on the coincident position coordinate point and the current position coordinate point;
and controlling the robot to move to the target position coordinate point based on the optimal path.
5. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to perform the method steps according to any of claims 1 to 3.
6. An intelligent robot, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1 to 3.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537825.2A CN112008718B (en) | 2020-06-12 | 2020-06-12 | Robot control method, system, storage medium and intelligent robot |
| PCT/CN2020/133968 WO2021248856A1 (en) | 2020-06-12 | 2020-12-04 | Robot control method and, system, storage medium and smart robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537825.2A CN112008718B (en) | 2020-06-12 | 2020-06-12 | Robot control method, system, storage medium and intelligent robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112008718A CN112008718A (en) | 2020-12-01 |
| CN112008718B true CN112008718B (en) | 2022-04-05 |
Family
ID=73506686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010537825.2A Active CN112008718B (en) | 2020-06-12 | 2020-06-12 | Robot control method, system, storage medium and intelligent robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112008718B (en) |
| WO (1) | WO2021248856A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008718B (en) * | 2020-06-12 | 2022-04-05 | 特斯联科技集团有限公司 | Robot control method, system, storage medium and intelligent robot |
| CN115674170B (en) * | 2021-07-30 | 2023-12-19 | 北京小米移动软件有限公司 | Robot control method, device, robot and storage medium |
| CN114442614A (en) * | 2021-12-30 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Multi-machine cooperative robot system and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139172A (en) * | 2017-05-18 | 2017-09-08 | 深圳市微付充科技有限公司 | Robot control method and device |
| CN107414829A (en) * | 2017-07-28 | 2017-12-01 | 安徽爱依特科技有限公司 | The more scene application systems of robot and method |
| WO2018074903A1 (en) * | 2016-10-20 | 2018-04-26 | 엘지전자 주식회사 | Control method of mobile robot |
| CN108638062A (en) * | 2018-05-09 | 2018-10-12 | 科沃斯商用机器人有限公司 | Robot localization method, apparatus, positioning device and storage medium |
| CN108885459A (en) * | 2018-06-08 | 2018-11-23 | 珊口（深圳）智能科技有限公司 | Air navigation aid, navigation system, mobile control system and mobile robot |
| CN110377015A (en) * | 2018-04-13 | 2019-10-25 | 北京三快在线科技有限公司 | Robot localization method and robotic positioning device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0881044B1 (en) * | 1995-09-11 | 2006-06-07 | Kabushiki Kaisha Yaskawa Denki | Robot controller |
| CN109434827B (en) * | 2018-09-30 | 2021-01-19 | 深圳市旭展通达科技有限公司 | Companion robot control method, system, mobile terminal and storage medium |
| TWI672206B (en) * | 2018-12-19 | 2019-09-21 | 財團法人工業技術研究院 | Method and apparatus of non-contact tool center point calibration for a mechanical arm, and a mechanical arm system with said calibration function |
| CN110978011A (en) * | 2019-12-30 | 2020-04-10 | 深圳市汉伟智能技术有限公司 | Multi-functional robot of hospital |
| CN112008718B (en) * | 2020-06-12 | 2022-04-05 | 特斯联科技集团有限公司 | Robot control method, system, storage medium and intelligent robot |
-
2020
- 2020-06-12 CN CN202010537825.2A patent/CN112008718B/en active Active
- 2020-12-04 WO PCT/CN2020/133968 patent/WO2021248856A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018074903A1 (en) * | 2016-10-20 | 2018-04-26 | 엘지전자 주식회사 | Control method of mobile robot |
| CN107139172A (en) * | 2017-05-18 | 2017-09-08 | 深圳市微付充科技有限公司 | Robot control method and device |
| CN107414829A (en) * | 2017-07-28 | 2017-12-01 | 安徽爱依特科技有限公司 | The more scene application systems of robot and method |
| CN110377015A (en) * | 2018-04-13 | 2019-10-25 | 北京三快在线科技有限公司 | Robot localization method and robotic positioning device |
| CN108638062A (en) * | 2018-05-09 | 2018-10-12 | 科沃斯商用机器人有限公司 | Robot localization method, apparatus, positioning device and storage medium |
| CN108885459A (en) * | 2018-06-08 | 2018-11-23 | 珊口（深圳）智能科技有限公司 | Air navigation aid, navigation system, mobile control system and mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021248856A1 (en) | 2021-12-16 |
| CN112008718A (en) | 2020-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112008718B (en) | Robot control method, system, storage medium and intelligent robot | |
| CN109764877B (en) | Robot cross-floor navigation method and device and robot | |
| KR102170928B1 (en) | Robot obstacle avoidance control system, method, robot and storage medium | |
| CN103389699B (en) | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system | |
| US9684305B2 (en) | System and method for mobile robot teleoperation | |
| US20220357174A1 (en) | Stand-alone self-driving material-transport vehicle | |
| US20210138654A1 (en) | Robot and method for controlling the same | |
| US20190219409A1 (en) | System and methods for robotic autonomous motion planning and navigation | |
| CN110858098A (en) | Self-driven mobile robot using human-robot interaction | |
| US20210046644A1 (en) | Automated personalized feedback for interactive learning applications | |
| CN110986920B (en) | Positioning navigation method, device, equipment and storage medium | |
| CN111805535B (en) | Positioning navigation method, device and computer storage medium | |
| US20190377358A1 (en) | Systems and methods for simulation utilizing a segmentable monolithic mesh | |
| KR20150009413A (en) | System for cleaning user defined area using cleaning robot and method thereof | |
| WO2023151548A1 (en) | Navigation method and apparatus, and program and computer-readable storage medium | |
| JP6940204B2 (en) | Coding education method using augmented reality | |
| US20230297120A1 (en) | Method, apparatus, and device for creating map for self-moving device with improved map generation efficiency | |
| US11618164B2 (en) | Robot and method of controlling same | |
| CN110426038B (en) | Robot navigation control method and device, computing equipment and computer storage medium | |
| CN112327828A (en) | Path planning method and device and computer readable storage medium | |
| US20200208987A1 (en) | Indoor positioning method and apparatuses for performing the same | |
| CN110631586A (en) | Map construction method based on visual SLAM, navigation system and device | |
| Nasti et al. | Obstacle avoidance during robot navigation in dynamic environment using fuzzy controller | |
| CN116412824A (en) | Relocation method and equipment for self-mobile equipment and storage medium | |
| CN111694353A (en) | Guidance control method and device, storage medium and service robot |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231108 Address after: 100600 District C, Qiankun Building, Chaoyang District, Beijing Patentee after: Beijing Weimo Zhuoran Technology Co.,Ltd. Address before: 100016 rooms 1-6, building 1, courtyard 3, binhuibei 1st Street, Tongzhou District, Beijing Patentee before: Teslan Technology Group Co.,Ltd. |