CN113146621B - Robot control method, device, robot and computer readable storage medium - Google Patents
Robot control method, device, robot and computer readable storage medium Download PDFInfo
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- CN113146621B CN113146621B CN202110285097.5A CN202110285097A CN113146621B CN 113146621 B CN113146621 B CN 113146621B CN 202110285097 A CN202110285097 A CN 202110285097A CN 113146621 B CN113146621 B CN 113146621B
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
Abstract
The embodiment of the application discloses a robot control method and device, a robot and a computer readable storage medium, which are used for improving the bearable impact capability of the robot and reducing the damage risk of the robot when being impacted. The method comprises the following steps: acquiring sensor data acquired by a sensor, wherein the sensor is arranged on the robot; if the robot is determined to be in a falling state according to the sensor data, determining a region to be collided of the robot; if the brittleness value of the area to be collided is smaller than the brittleness value of the first target area, sending a first control command to a first target steering engine corresponding to the first target area, wherein the first control command is used for indicating the first target steering engine to perform posture adjustment so as to adjust the collision area from the area to be collided to the first target area; the first target area is an area with the largest brittleness value in the local structure area, and the local structure area comprises the first target area and an area to be collided.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a robot control method and apparatus, a robot, and a computer-readable storage medium.
Background
With the continuous development of the robot technology, the application of the robot is more and more extensive.
During the working process, the robot often encounters irregular impact. For example, when the robot works on a table or a table surface, the robot is subjected to an external force to fall onto the floor. The machine may be damaged by an unusual impact that may cause damage to certain components.
At present, the robot does not have corresponding coping capability aiming at an impacted scene, so that the robot is easy to damage parts after being impacted, and the bearable impact capability of the robot is low.
Disclosure of Invention
The embodiment of the application provides a robot control method and device, a robot and a computer readable storage medium, which can improve the bearable impact capability of the robot and reduce the damage risk of the robot when being impacted.
In a first aspect, an embodiment of the present application provides a robot control method, including:
acquiring sensor data acquired by a sensor, wherein the sensor is arranged on the robot;
if the robot is determined to be in a falling state according to the sensor data, determining a region to be collided of the robot;
if the brittleness value of the area to be collided is smaller than the brittleness value of the first target area, sending a first control command to a first target steering engine corresponding to the first target area, wherein the first control command is used for indicating the first target steering engine to perform posture adjustment so as to adjust the collision area from the area to be collided to the first target area;
the first target area is an area with the largest brittleness value in the local structure area, and the local structure area comprises the first target area and an area to be collided.
Based on above-mentioned technical scheme, the robot is in after falling the state according to sensor data determination, confirms to wait the collision region, if this is waited the brittleness value in collision region and is less than the brittleness value in first target area, then control first target steering wheel and carry out the attitude adjustment, let the collision region follow and wait that the collision region changes first target area into, like this, when the robot receives the impact, let the regional biggest region of brittleness value in the local structure region bear the impact, improved the bearable impact ability of robot, damage risk when reducing the robot and receiving the impact.
Wherein the greater the brittleness value, the greater the impact resistance of the area.
In some possible implementations of the first aspect, after acquiring the sensor data fed back by the sensor, the method further comprises:
if the robot is determined to be in a pressed state according to the sensor data, determining whether the external force applied to the pressed area of the robot is greater than the stress threshold of a second target steering engine, wherein the second target steering engine is a steering engine corresponding to the pressed area;
if the external force applied to the pressed area is larger than the stress threshold value of the second target steering engine, changing the second target steering engine from the first state to the second state, and sending a second control instruction to the second target steering engine, wherein the second control instruction is used for instructing the second target steering engine to execute corresponding action so as to change the pressed area from the pressed area to the second target area;
wherein the brittleness value of the second target area is greater than a preset threshold value.
In the implementation mode, if the robot is determined to be in a compression state according to the sensor data, whether the external force applied to a compression area is larger than the limit capable of bearing the relevant steering engine or not is determined, and if the external force is larger than the limit capable of bearing the steering engine, the corresponding steering engine is controlled to execute corresponding action. Thus, the impact resistance of the robot can be further improved.
In some possible implementations of the first aspect, the method may further include:
and receiving the brittleness values of all areas of the robot, and storing the brittleness values of all areas of the robot.
In some possible implementations of the first aspect, the determining that the robot is in the falling state according to the sensor data may include:
and if the data of the acceleration sensor meets a first preset condition, determining that the robot is in a falling state, wherein the data of the acceleration sensor comprises the data of the acceleration sensor.
In some possible implementations of the first aspect, the determining that the robot is in the compressed state according to the sensor data may include:
and if the stress sensor data meet a second preset condition, determining that the robot is in a stressed state, wherein the sensor data comprise stress sensor data.
In a second aspect, an embodiment of the present application provides a robot control apparatus, including:
the acquisition module is used for acquiring sensor data acquired by a sensor, and the sensor is arranged on the robot;
the collision area determining module is used for determining the collision area of the robot if the robot is determined to be in a falling state according to the sensor data;
the posture adjusting module is used for sending a first control command to a first target steering engine corresponding to a first target area if the brittleness value of the area to be collided is smaller than the brittleness value of the first target area, and the first control command is used for indicating the first target steering engine to perform posture adjustment so as to adjust the collision area from the area to be collided to the first target area;
the first target area is an area with the largest brittleness value in the local structure area, and the local structure area comprises the first target area and an area to be collided.
In some possible implementations of the second aspect, the apparatus further comprises:
the stress judging module is used for determining whether the external force applied to the stressed area of the robot is greater than the stress threshold of a second target steering engine if the robot is determined to be in a stressed state according to the sensor data, wherein the second target steering engine is a steering engine corresponding to the stressed area;
the steering engine control module is used for changing the first target steering engine into a second state from a first state and sending a second control instruction to the second target steering engine if the external force applied to the pressed area is larger than the stress threshold of the second target steering engine, and the second control instruction is used for indicating the second target steering engine to execute corresponding action so as to change the pressed area into the second target area;
wherein the brittleness value of the second target area is greater than a preset threshold value.
In some possible implementations of the second aspect, the apparatus further comprises:
and the region brittleness value receiving module is used for receiving the brittleness values of the regions of the robot and storing the brittleness values of the regions of the robot.
In some possible implementation manners of the second aspect, the to-be-collided region determining module is specifically configured to:
and if the data of the acceleration sensor meets a first preset condition, determining that the robot is in a falling state, wherein the data of the acceleration sensor comprises the data of the acceleration sensor.
In some possible implementation manners of the second aspect, the to-be-collided region determining module is specifically configured to:
and if the stress sensor data meet a second preset condition, determining that the robot is in a compressed state, wherein the sensor data comprise stress sensor data.
In a third aspect, embodiments of the present application provide a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method according to any one of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to any one of the above first aspects.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on an electronic device, causes the electronic device to perform the method of any one of the above first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic block diagram of a flow of a robot control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a humanoid robot provided in an embodiment of the present application;
fig. 3 is a schematic diagram illustrating a robot pose adjustment according to an embodiment of the present disclosure;
fig. 4 is another schematic flow chart of a robot control method according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating a robot pose adjustment according to an embodiment of the present application;
fig. 6 is a block diagram of a robot control apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application.
In the embodiment of the application, when the robot determines that the robot is in a falling state, firstly, a to-be-collided area is determined, namely, an area to be collided with a contact surface is determined, then, whether the to-be-collided area is the area with the largest brittleness value in a local structure area is judged, if not, the steering engine corresponding to the to-be-collided area is controlled to execute corresponding action, the to-be-collided area is adjusted to the area with the largest brittleness value in the local structure area, the area with the largest brittleness value in the local structure area bears impact, the damage degree of the robot is reduced as far as possible, the impact bearing capacity of the robot is improved, and the damage risk of the robot when being impacted is reduced.
Wherein, the higher the brittleness value is, the stronger the impact bearing capacity is, or the higher the impact bearing strength is; conversely, the lower the brittleness value, the lower the impact resistance, or the lower the impact resistance. The brittleness value and the region division of each region on the robot are obtained in advance through tests and simulation.
The type of the robot is not limited in the embodiments of the present application, and for example, the robot may be a service robot.
The technical solutions provided by the embodiments of the present application are explained in detail below with reference to the accompanying drawings.
Referring to fig. 1, a schematic block diagram of a flow chart of a robot control method provided in an embodiment of the present application, where the method may be applied to a robot, and the method may include the following steps:
and S101, acquiring sensor data acquired by a sensor, wherein the sensor is arranged on the robot.
It should be noted that the sensor may include one or more sensors, and may include at least one type of sensor. For example, an acceleration sensor and a stress sensor are disposed on the robot, and in this case, the sensor data may include acceleration data collected by the acceleration sensor and stress data collected by the application sensor.
And S102, if the robot is determined to be in a falling state according to the sensor data, determining a to-be-collided area of the robot.
In specific application, the robot determines that the robot is in a falling state if the robot judges that the acceleration is suddenly changed according to data acquired by the acceleration sensor. The sudden change of the acceleration refers to that the change of the acceleration in a certain time period is larger than a certain threshold value, and both the time period and the threshold value can be set according to actual needs. For example, if the acceleration of the robot increases from zero to a certain value within a few seconds, the robot can be considered to be in a falling state.
Of course, in some other embodiments, the robot may also determine whether itself is in a falling state without using the data collected by the acceleration sensor, for example, determine whether it is in a falling state by using the data collected by the infrared sensor.
There are many reasons for the robot to fall. For example, the robot is working on a table, and a user carelessly applies an external force to the robot, causing the robot to lose balance and fall from the table to the ground.
After the robot determines that the robot is in a falling state, the falling posture of the robot is determined, and a region to be collided is determined according to the falling posture. The area to be collided is the area on the robot to be collided with the contact surface directly.
In some embodiments, the robot may determine the area to be impacted based on data collected by the three-axis acceleration sensor. Specifically, the robot determines a current fall attitude from the sensor data of the x-axis, the y-axis, and the z-axis, and the fall attitude may include an angle between the current robot and the ground, and the like. And then, determining a region to be collided by the robot according to the falling posture.
Of course, in other embodiments, the area to be impacted may be determined in other ways besides from three-axis acceleration sensors.
Step S103, if the brittleness value of the area to be collided is smaller than that of the first target area, sending a first control command to a first target steering engine corresponding to the first target area, wherein the first control command is used for indicating the first target steering engine to perform posture adjustment so as to adjust the collision area from the area to be collided to the first target area; the first target area is an area with the largest brittleness value in the local structure area, and the local structure area comprises the first target area and an area to be collided.
Note that the brittleness values or the sustainable strength of each region of the robot are stored in advance. In a specific application, the robot can receive the brittleness values of all areas of the robot and store the brittleness values of all areas of the robot.
The brittleness or the sustainable strength of each area of the robot is obtained in advance. In specific application, a complete machine drop test or simulation can be performed on the robot, a robot impact test or simulation can be performed on the robot, failure limits of all areas of the robot can be collected and calculated through the test or simulation, and brittleness values or bearable strength of all areas of the robot can be determined based on the failure limits. And finally, dividing the robot strength area according to the bearable strength or brittleness value of each area.
For example, referring to the schematic diagram of the humanoid robot shown in fig. 2, the left side of fig. 2 is a front view of the robot, and the right side is a side view of the robot. The head of the robot is taken as an example for description because the whole robot has more parts.
As shown in fig. 2, the local structural area is a head 21, and the brittleness values of the parts in the head 21 are ordered as follows: head side 22> head side speaker 23> head camera 24. The higher the brittleness value, the higher the impact resistance, so the head side 22 has the strongest impact resistance and the head camera 24 has the weakest impact resistance for the head 21.
Wherein, the robot also includes steering wheel 25 and arm 26 of neck department.
After the robot determines the area to be collided, whether the area to be collided is the area with the largest brittleness value in the local structure area is judged. The local structural area refers to an area associated with an area to be collided, and generally includes the area to be collided and other areas, and is divided in advance. The local structure region may comprise other regions in addition to the first target region and the region to be impacted.
For example, taking the robot in fig. 2 as an example, when the robot determines that the region to be collided is the head camera 24, the local structural region is the head 21.
If the zone to be collided is not the zone with the largest brittleness value in the local structure zone, the zone with the largest brittleness value in the local structure zone is determined as the collision zone, namely the zone with the largest brittleness value in the local structure zone directly collides with the contact surface, and the corresponding action can be executed by controlling the first target steering engine corresponding to the first target zone so as to adjust the posture and change the collision zone from the zone to be collided to the first target zone.
For example, referring to the schematic diagram of the posture adjustment of the robot shown in fig. 3, as shown in fig. 3, the robot in fig. 2 falls in a free fall mode at a certain moment, and the robot determines that the self acceleration changes suddenly according to data collected by the acceleration sensor, and then determines that the robot is in a fall state at present. And after the robot determines that the robot is in a falling state, determining a region to be collided. At this time, the robot determines that the area to be collided is the head camera 24 according to the falling posture of the robot.
After the robot determines that the area to be collided with the contact surface is the head camera 24, it further determines whether the head camera 24 is the area with the largest brittleness value among the heads 21, and at this time, the local structural area is the head 21.
The robot determines whether or not the head camera 24 is in the region of the head 21 where the brittleness value is the greatest, based on the brittleness values of the head camera 24, the head side 22, and the head side speaker, which are stored in advance. At this time, the brittleness values of the three regions are ranked as: head side 22> head side speaker 23> head camera 24. That is, the first target region is the head side 22, and the brittleness value of the region to be impacted, i.e., the head camera 24, is smaller than that of the first target region, i.e., the head side 22.
Because the brittleness value of the head camera 24 is low, if the posture adjustment is not carried out, the head camera collides with the contact surface, and the damage risk of the head camera 24 is high. In order to reduce the damage risk when the robot is impacted, the robot controls the first target steering engine corresponding to the first target area to execute corresponding action through the first control command, so that the area to be collided is adjusted to the head side 22 from the head camera 24. The area directly collided with the contact surface is changed into the head side edge 22 with larger brittleness value, so that the head side edge 22 with larger brittleness value bears the impact, and the damage risk of the robot is reduced.
The steering engine corresponding to the head side 22 is the steering engine 25 at the neck, that is, the first target steering engine is the steering engine 25, after the robot generates the first control instruction, the first control instruction is sent to the steering engine 25, after the steering engine 25 receives the large first control instruction, the first control instruction is executed, the head 21 is controlled to twist the corresponding angle, the direct collision area with the contact surface is changed to the head side 22, specifically, refer to the schematic diagram of the robot on the right side in fig. 3, wherein the arrow in the robot on the right side in fig. 3 indicates the twisting direction of the head 21.
Therefore, when the robot is impacted, the area with the largest brittleness value in the local structure area bears the impact, the impact bearing capacity of the robot is improved, and the damage risk of the robot when the robot is impacted is reduced.
Referring to fig. 4, another flow schematic block diagram of a robot control method, which is applied to a robot, may include the steps of:
and S401, acquiring sensor data acquired by a sensor, wherein the sensor is arranged on the robot.
And S402, if the robot is determined to be in a falling state according to the sensor data, determining a to-be-collided area of the robot.
Step S403, if the brittleness value of the area to be collided is smaller than that of the first target area, sending a first control command to a first target steering engine corresponding to the first target area, wherein the first control command is used for instructing the first target steering engine to perform posture adjustment so as to adjust the collision area from the area to be collided to the first target area; the first target area is an area with the largest brittleness value in the local structure area, and the local structure area comprises the first target area and an area to be collided.
It should be noted that, for the related descriptions in steps S401 to S403, reference may be made to the related contents in fig. 1, and details are not repeated here.
The robot is impacted in a scene, except a falling scene, the robot can be impacted by external force. Aiming at the scene of external force impact, the robot can also execute corresponding countermeasures according to the sensor data so as to further improve the capacity of the robot under impact and reduce the damage risk of the robot under impact.
The sensor data may include acceleration sensor data and stress sensor data. If the data of the acceleration sensor meet the first preset condition, the robot can determine that the robot is in a falling state, and corresponding measures are executed. If the data of the stress sensor meets the second preset condition, the robot can determine that the robot is in a stressed state, and corresponding measures are executed. The first preset condition may indicate that the change of the acceleration in a certain time period is greater than a certain threshold, and the second preset condition may indicate that the change of the stress of the robot in a certain time period is greater than a certain threshold.
That is, the robot can determine the state of the robot according to the sensor data, and execute the corresponding countermeasure of the respective states based on the state of the robot.
And S404, if the robot is determined to be in a pressed state according to the sensor data, determining whether the external force applied to the pressed area of the robot is greater than the stress threshold of a second target steering engine, wherein the second target steering engine is a steering engine corresponding to the pressed area.
In the specific application, the robot acquires data collected by the stress sensor, judges whether the stress changes suddenly according to the data of the stress sensor, and if the stress changes suddenly, the second preset condition is determined to be met, and the robot is pressed by external force at present and is in a pressed state.
The robot determines to be in after the state of being stressed, can determine which region receives the external force oppression according to stress sensor's position, determines promptly that to be stressed the region to, determine to be stressed regional second target steering wheel that corresponds.
Step S405, if the external force applied to the stressed area is larger than the stress threshold of a second target steering engine, changing the first state of the second target steering engine into a second state, and sending a second control instruction to the second target steering engine, wherein the second control instruction is used for indicating the second target steering engine to execute corresponding action so as to change the stressed area from the stressed area into the second target area; wherein the brittleness value of the second target area is greater than a preset threshold value.
It should be noted that the states of the steering engine include a locking state and an unlocking state, the first state may be a locking state or an unlocking state, and correspondingly, the second state is an unlocking state or a locking state.
If the external force applied to the robot is larger than the threshold value which can be borne by the second target steering engine, the second target steering engine can be damaged, and therefore the second target area with the brittleness value larger than the preset threshold value can bear the external force. The preset threshold value can be set according to actual needs, and the brittleness value of the second target area is usually larger than the pressed area, and certainly, the brittleness value of the second target area can also be not larger than the pressed area. And if the brittleness value of the second target area is larger than the preset threshold value, the second target area has stronger impact bearing capacity and is lower in damage risk when being impacted.
For example, referring to the schematic diagram of robot posture adjustment shown in fig. 5, the upper schematic diagram in fig. 5 is a schematic diagram when the robot is impacted by an external force, and the lower schematic diagram is a schematic diagram after the robot has adjusted the posture.
As shown in fig. 5, the robot is in a horizontal state, and the arm 26 of the robot receives an external force F, and the arm 26 is in a locked state as a whole. After stress sensors on the arms 26 collect stress data, the robot judges whether the stress changes suddenly according to the stress sensor data, if the stress changes suddenly, the robot is determined to be in a stressed state, the stressed area is the arm 26, and the second target steering engine comprises a steering engine 261 out of a joint and a steering engine 262 on the shoulder.
If the external force F exceeds the limit that the steering gear 261 and the steering gear 262 can bear, the steering gear 261 and the steering gear 262 may be disabled. In order to avoid damage to the motion steering engine at the arm 26 when the robot is impacted by an external force, the robot may control the second target steering engine corresponding to the pressed area to perform a corresponding action.
In fig. 5, when the robot determines that the arm 26 is in a compressed state and the force is greater than a certain threshold, a second control command is generated, and the steering engine corresponding to the arm 26 is changed from a locked state to an unlocked state. The steering gears 261 and 262 receive the second control command, and perform the corresponding steering gear operation to adjust the arm 26 to the state shown in the lower robot in fig. 5. Thus, the chest (i.e. the second target area) of the robot is subjected to the external force F, but the arm 26 (i.e. the pressed area) is not subjected to the external force, so that the impact of the external force on the robot steering engine is effectively reduced.
It can be seen that if the robot is determined to be in a compressed state according to the sensor data, whether the external force applied to the compressed area is larger than the limit capable of being borne by the relevant steering engine is determined, and if the external force is larger than the limit capable of being borne by the steering engine, the corresponding steering engine is controlled to execute corresponding action. Therefore, the bearable impact capability of the robot can be further improved, and the damage risk of the robot when being impacted is reduced.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 shows a block diagram of a robot control device according to an embodiment of the present application, and only shows portions related to the embodiment of the present application for convenience of description.
Referring to fig. 6, the apparatus includes:
the acquisition module 61 is used for acquiring sensor data acquired by a sensor, and the sensor is arranged on the robot;
the collision area determining module 62 is configured to determine a collision area of the robot if the robot is determined to be in a falling state according to the sensor data;
the posture adjusting module 63 is used for sending a first control instruction to a first target steering engine corresponding to a first target region if the brittleness value of the region to be collided is smaller than the brittleness value of the first target region, wherein the first control instruction is used for indicating the first target steering engine to perform posture adjustment so as to adjust the collision region from the region to be collided to the first target region;
the first target area is an area with the largest brittleness value in the local structure area, and the local structure area comprises the first target area and an area to be collided.
In some possible implementations, the apparatus further includes:
the stress judging module is used for determining whether the external force applied to a stressed area of the robot is greater than a stress threshold value of a second target steering engine if the robot is in a stressed state according to the sensor data, wherein the second target steering engine is a steering engine corresponding to the stressed area;
the steering engine control module is used for changing the first target steering engine into a second state from a first state and sending a second control instruction to the second target steering engine if the external force applied to the pressed area is larger than the stress threshold of the second target steering engine, and the second control instruction is used for indicating the second target steering engine to execute corresponding action so as to change the pressed area into the second target area;
wherein the brittleness value of the second target area is greater than a preset threshold value.
In a first possible implementation manner, the apparatus further includes:
and the region brittleness value receiving module is used for receiving the brittleness values of the regions of the robot and storing the brittleness values of the regions of the robot.
In some possible implementations, the to-be-collided region determining module is specifically configured to:
and if the data of the acceleration sensor meets a first preset condition, determining that the robot is in a falling state, wherein the data of the acceleration sensor comprises the data of the acceleration sensor.
In some possible implementations, the to-be-collided region determining module is specifically configured to:
and if the stress sensor data meet a second preset condition, determining that the robot is in a stressed state, wherein the sensor data comprise stress sensor data.
The robot control device has the function of implementing the robot control method, the function can be implemented by hardware, or can be implemented by hardware executing corresponding software, the hardware or the software comprises one or more modules corresponding to the function, and the modules can be software and/or hardware.
It should be noted that, for the information interaction, execution process, and other contents between the above devices/modules, the specific functions and technical effects of the embodiments of the method of the present application are based on the same concept, and specific reference may be made to the section of the embodiments of the method, and details are not described herein again.
Fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 7, the robot 7 of this embodiment includes: at least one processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 implementing the steps in any of the various method embodiments described above when executing the computer program 72.
The robot may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of the robot 7, and does not constitute a limitation on the robot 7, and may include more or less components than those shown, or combine some of the components, or different components, such as input and output devices, network access devices, etc.
The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may in some embodiments be an internal storage unit of the robot 7, such as a hard disk or a memory of the robot 7. In other embodiments, the memory 71 may also be an external storage device of the robot 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the robot 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which, when running on a robot, enables the robot to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in 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 can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to an electronic device, a recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In some jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and proprietary practices.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
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 place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A robot control method, comprising:
acquiring sensor data acquired by a sensor, wherein the sensor is arranged on the robot;
if the robot is determined to be in a falling state according to the sensor data, determining a to-be-collided area of the robot;
if the brittleness value of the area to be collided is smaller than the brittleness value of a first target area, sending a first control command to a first target steering engine corresponding to the first target area, wherein the first control command is used for indicating the first target steering engine to perform posture adjustment so as to adjust the collision area from the area to be collided to the first target area;
wherein the first target region is a region with the largest brittleness value in a local structure region, and the local structure region comprises the first target region and the region to be collided;
the brittleness value is used to describe the magnitude of the bearable impact strength, the higher the brittleness value is, the higher the bearable impact strength is, and the lower the brittleness value is, the lower the bearable impact strength is.
2. The method of claim 1, wherein after the obtaining sensor data for sensor feedback, the method further comprises:
if the robot is determined to be in a compressed state according to the sensor data, determining whether the external force applied to a compressed area of the robot is greater than a stress threshold of a second target steering engine, wherein the second target steering engine is a steering engine corresponding to the compressed area;
if the external force applied to the pressed area is larger than the stress threshold of the second target steering engine, changing the second target steering engine from a first state to a second state, and sending a second control instruction to the second target steering engine, wherein the second control instruction is used for instructing the second target steering engine to execute corresponding action so as to change the stressed area from the pressed area to the second target area;
wherein the brittleness value of the second target area is greater than a preset threshold value.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
and receiving the brittleness values of all areas of the robot, and storing the brittleness values of all areas of the robot.
4. The method of claim 1, wherein said determining from the sensor data that the robot is in a fall state comprises:
and if the acceleration sensor data meet a first preset condition, determining that the robot is in a falling state, wherein the sensor data comprise the acceleration sensor data.
5. The method of claim 2, wherein said determining from the sensor data that the robot is in a compressed state comprises:
and if the stress sensor data meet a second preset condition, determining that the robot is in a compressed state, wherein the sensor data comprise the stress sensor data.
6. A robot control apparatus, comprising:
the acquisition module is used for acquiring sensor data acquired by a sensor, and the sensor is arranged on the robot;
the collision area determining module is used for determining the collision area of the robot if the robot is determined to be in a falling state according to the sensor data;
the attitude adjusting module is used for sending a first control command to a first target steering engine corresponding to a first target area if the brittleness value of the area to be collided is smaller than the brittleness value of the first target area, wherein the first control command is used for instructing the first target steering engine to perform attitude adjustment so as to adjust the collision area from the area to be collided to the first target area;
wherein the first target region is a region with the largest brittleness value in a local structure region, and the local structure region comprises the first target region and the region to be collided;
the brittleness value is used to describe the magnitude of the bearable impact strength, the higher the brittleness value is, the higher the bearable impact strength is, and the lower the brittleness value is, the lower the bearable impact strength is.
7. The apparatus of claim 6, further comprising:
the stress judging module is used for determining whether the external force applied to a stressed area of the robot is greater than a stress threshold value of a second target steering engine if the robot is determined to be in a stressed state according to the sensor data, wherein the second target steering engine is a steering engine corresponding to the stressed area;
the steering engine control module is used for changing the second target steering engine from a first state to a second state and sending a second control instruction to the second target steering engine if the external force applied to the pressed area is greater than the stress threshold of the second target steering engine, wherein the second control instruction is used for indicating the second target steering engine to execute corresponding action so as to change the pressed area from the pressed area to the second target area;
wherein the brittleness value of the second target area is greater than a preset threshold value.
8. The apparatus of claim 6 or 7, further comprising:
and the region brittleness value receiving module is used for receiving the brittleness values of the regions of the robot and storing the brittleness values of the regions of the robot.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 5.
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