CN118012031A - Control method and device of robot, robot and storage medium - Google Patents
Control method and device of robot, robot and storage medium Download PDFInfo
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- CN118012031A CN118012031A CN202211337744.3A CN202211337744A CN118012031A CN 118012031 A CN118012031 A CN 118012031A CN 202211337744 A CN202211337744 A CN 202211337744A CN 118012031 A CN118012031 A CN 118012031A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
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Abstract
The invention discloses a control method and device of a robot, the robot and a storage medium. The method comprises the following steps: when the sensor arranged on the robot is detected to be triggered in the walking process, acquiring the number of the triggered sensors; and controlling the direction of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction. The invention can simplify the steering control method of the robot, reduce the requirements on hardware resources such as calculation, storage and the like, and further reduce the price of the robot.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for controlling a robot, and a storage medium.
Background
The robot usually triggers the sensor due to the detection of an obstacle during walking, requiring a change of direction. For example, when the mowing robot performs a mowing task, at least one geomagnetic sensor is arranged on the mowing robot to detect whether the mowing robot approaches a geomagnetic boundary in real time, so that the mowing robot is controlled to change direction.
However, the existing calculation process for controlling the robot to change direction through triggering of the sensor is quite complex, and the requirement on hardware resources is high, so that the robot is high in price. For task robots such as mowing robots, sweeping robots and the like, the requirements on small calculation amount and low price are far higher than the requirements on high precision of walking routes.
Disclosure of Invention
The invention provides a control method, a device, a robot and a storage medium for a robot, which are used for solving the problem of large calculation amount of a method for controlling the turning direction of the robot in the prior art, and controlling the robot to walk along the preset direction based on a simple preset control strategy by the number of triggered sensors, so that the steering control method of the robot can be simplified, and the requirements on hardware resources such as calculation, storage and the like are reduced, thereby reducing the price of the robot.
According to an aspect of the present invention, there is provided a control method of a robot provided with at least one sensor, the method comprising:
When the sensor arranged on the robot is detected to be triggered in the walking process, acquiring the number of the triggered sensors;
And controlling the direction of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction.
According to another aspect of the present invention, there is provided a control device of a robot having at least one sensor provided thereon, the device comprising:
The acquisition module is used for acquiring the number of the triggered sensors when the sensors arranged on the robot are triggered in the walking process;
and the control module is used for controlling the orientation of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction.
According to another aspect of the present invention, there is provided a robot including:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of controlling a robot according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a control method of a robot according to any one of the embodiments of the present invention.
According to the technical scheme, when the sensors arranged on the robot are triggered in the walking process, the number of the triggered sensors is obtained; controlling the orientation of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction; according to the number of triggered sensors and a preset control strategy, the robot is controlled to face, the control process is simple, the calculated amount is small, the problems that in the prior art, the sensor information needs to be analyzed and the complex calculation is needed to control the robot, the requirement on hardware resources such as calculation and storage is high, and therefore the robot price is high are solved, and the effect of reducing the robot price is achieved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a control method of a robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of the installation of a single sensor provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of the installation of two sensors provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of at least two sensors for controlling steering of a robot after a short time according to an embodiment of the present invention;
Fig. 6 is a flowchart of controlling an orientation of a robot based on a second preset control strategy according to an embodiment of the present invention;
Fig. 7 is a flowchart of a control method of a robot according to an embodiment of the present invention;
Fig. 8 is a schematic flow chart of controlling the direction of a robot based on a first preset control strategy according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control device of a robot according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a control method of a robot according to an embodiment of the present invention, where the embodiment is applicable to a situation of controlling a motion of the robot, the method may be performed by a control device of the robot, and the control device of the robot may be implemented in a form of hardware and/or software. As shown in fig. 1, the method includes:
S110, acquiring the number of triggered sensors when the sensors arranged on the robot are triggered in the walking process.
The robot may be a robot for performing a task, for example, a mowing robot or a sweeping robot. A sensor needs to be installed on the robot for sensing a boundary or an obstacle. The type of sensor may be, for example, a lidar sensor, a millimeter wave radar sensor, a geomagnetic sensor, or the like. The number of sensors mounted on the robot may be one, two or more.
Specifically, if the sensor is triggered when the robot is detected to be in a process of moving along a certain direction, the number of the triggered sensors is obtained. It will be appreciated that for robots with a single sensor installed, the number of sensors triggered is one; for robots with at least two sensors mounted, the number of triggered sensors may be one, two or more.
And S120, controlling the direction of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction.
The preset control strategy is a strategy for controlling the direction of the robot. The preset control strategy may include control operations such as controlling the robot to retract and rotate. In the embodiment of the invention, the preset control strategies adopted by different numbers of the triggered sensors can also be different.
Specifically, the corresponding preset control strategies are determined according to the number of the triggered sensors, and the direction of the robot is controlled according to the preset control strategies corresponding to the number of the sensors, so that the robot walks along the preset direction, and when the sensors on the robot are triggered, the robot is controlled to change the direction to avoid the obstacle and the operation is continuously completed.
For example, if there is a sensor triggered, the preset control strategy may be to control the direction of the robot by using the first preset control strategy, so that the robot walks along the preset direction; if two sensors or more than two sensors are triggered, the direction of the robot is controlled by adopting a second preset control strategy, so that the robot walks along the preset direction.
In a specific example, for a mowing robot for mowing work on a lawn and provided with two geomagnetic sensors, when the geomagnetic sensors provided on the mowing robot detect geomagnetic boundary lines provided on the lawn to be triggered, the number of triggered geomagnetic sensors is acquired, and the direction of the mowing robot is controlled according to the number of triggered sensors and a preset control strategy, so that the mowing robot walks in a preset direction and continues to perform mowing work.
According to the embodiment of the invention, when the sensor arranged on the robot is triggered in the walking process, the number of the triggered sensors is obtained; controlling the orientation of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction; according to the number of triggered sensors and a preset control strategy, the robot is controlled to face, the control process is simple, the calculated amount is small, the problems that in the prior art, the sensor information needs to be analyzed and the complex calculation is needed to control the robot, the requirement on hardware resources such as calculation and storage is high, and therefore the robot price is high are solved, and the effect of reducing the robot price is achieved.
Fig. 2 is a flowchart of a control method of a robot according to an embodiment of the present invention, where the method is refined based on step S120 of the foregoing embodiment. And step S120, controlling the orientation of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction. As shown in fig. 2, the method includes:
s210, acquiring the number of triggered sensors when the sensors arranged on the robot are triggered in the walking process.
S220, controlling the orientation of the robot based on a first preset control strategy under the condition that the number of the triggered sensors is one sensor.
The first preset control strategy is a control strategy when the number of the triggered sensors is one sensor.
Specifically, a corresponding control strategy is determined according to the number of the triggered sensors, and if the number of the triggered sensors is one sensor, a first preset control strategy is adopted to control the robot to retreat or adjust the rotation direction of the robot so as to control the direction of the robot.
Fig. 3 is a schematic view of a robot with a single sensor according to a second embodiment of the present invention. As shown in fig. 3, the sensor may be disposed on a center line of the head position of the robot.
And S230, controlling the orientation of the robot based on a second preset control strategy under the condition that the number of the triggered sensors is at least two.
The second preset control strategy is a control strategy when the number of the triggered sensors is at least two.
Specifically, a corresponding preset control strategy is determined according to the number of the triggered sensors, and if the number of the triggered sensors is at least two, a second preset control strategy is adopted to control the robot to retreat or adjust the rotation direction of the robot so as to control the direction of the robot.
It will be appreciated that, if the number of sensors triggered at this time is one after the robot is operated to retract and/or rotate based on the second preset control strategy, the robot may be controlled by using the first preset control strategy.
Fig. 4 is a schematic diagram of a robot with two sensors according to a second embodiment of the present invention, and as shown in fig. 4, the two sensors are respectively installed on two sides of a head position of the robot. Fig. 5 is a schematic diagram of steering of a robot with two sensors according to a second embodiment of the present invention, where after the sensors of the robot are triggered again, the robot is controlled to steer based on a second preset control strategy as shown in fig. 5.
According to the embodiment of the invention, when the sensor arranged on the robot is triggered in the walking process, the number of the triggered sensors is obtained; controlling the orientation of the robot based on a first preset control strategy under the condition that the number of the triggered sensors is one sensor; and controlling the orientation of the robot based on a second preset control strategy under the condition that the number of the triggered sensors is at least two. The control strategy is determined to be different according to the number of the triggered sensors, so that the robot can be controlled according to different scenes, the robot is controlled quickly, the control strategy is simple and easy to realize, and the requirement on hardware resources is low.
Optionally, in the case that the number of triggered sensors is at least two, controlling the orientation of the robot based on a second preset control strategy includes:
controlling the robot to retreat by a first preset distance;
If the sensor arranged on the robot is not triggered after the sensor retreats, controlling the robot to rotate a first preset angle towards a first preset direction;
And if only one triggered sensor exists after the sensor arranged on the robot backs up, controlling the direction of the robot based on a first preset control strategy.
The first preset distance is a distance for controlling the robot to retreat under the condition that the number of the triggered sensors is at least two. The first preset direction is a direction for controlling the robot to rotate in case that the number of sensors to be triggered is at least two, and may be, for example, a clockwise direction or a counterclockwise direction. The first preset angle is an angle that controls the robot to rotate in case that the number of sensors to be triggered is at least two. It is understood that the first preset distance, the first preset direction and the first preset angle may be set according to actual requirements or experimentally obtained data or experience.
Specifically, fig. 6 is a flowchart of controlling the direction of the robot based on the second preset control strategy according to the second embodiment of the present invention. As shown in fig. 6, in the case that the number of triggered sensors is at least two, the robot is retreated by a first preset distance and the number of triggered sensors after retreating is determined, if the sensors arranged on the robot are not triggered after retreating, this means that the robot is far away from an obstacle or a boundary at this time, and the robot can be controlled to rotate by a first preset angle in a first preset direction. If the sensor arranged on the robot has only one triggered sensor after the back-off, the direction of the robot is controlled by adopting a first preset control strategy aiming at the only one triggered sensor. If at least two triggered sensors exist after the sensor arranged on the robot backs up, the robot needs to be controlled to back up again for a first preset distance, and the number of the triggered sensors after the robot backs up is continuously judged until the number of the triggered sensors after the robot backs up is smaller than two.
The method comprises the steps of enabling a condition that a sensor on a robot is triggered to be simplified into a condition that only one triggered sensor exists by controlling the robot with at least two triggered sensors to retreat, and controlling the direction of the robot based on a first preset control strategy; or the condition that the triggered sensor does not exist is simplified, the robot is controlled to rotate by a first preset angle towards a first preset direction, and the control strategy is simple and easy to realize.
Fig. 7 is a flowchart of a control method of a robot according to an embodiment of the present invention, where the method is refined based on step S220 of the foregoing embodiment. Step S220, controlling the orientation of the robot based on a first preset control strategy under the condition that the number of the triggered sensors is one sensor. As shown in fig. 7, the method includes:
And S310, acquiring the number of the triggered sensors when the sensors arranged on the robot are triggered in the walking process.
And S320, controlling the robot to rotate a second preset angle towards a second preset direction under the condition that the number of the triggered sensors is one.
The second preset direction is a direction for controlling the robot to rotate under the condition that the number of the triggered sensors is one sensor. The second preset angle is an angle that controls the robot to rotate in case that the number of sensors to be triggered is one sensor. The second preset direction may be the same as or different from the first preset direction; the second preset angle may be the same as or different from the first preset angle, which is not limited in the embodiment of the present invention.
Specifically, the robot can determine the number of triggered sensors by receiving the trigger signal sent by the sensor, and when the number of triggered sensors is one sensor, the robot rotates a second preset angle towards a second preset direction.
S330, judging whether a sensor arranged on the robot is triggered in the rotating process.
It will be appreciated that the rotation process of the robot may include: the process of rotating the robot by a second preset angle toward a second preset direction may also include: the robot is triggered to rotate reversely during the rotation process due to the sensor.
Specifically, the robot needs to determine whether a sensor provided on the robot is triggered during the process of rotating the robot by a second preset angle in a second preset direction or during the process of rotating the robot in a reverse direction.
And S340, if a sensor arranged on the robot is triggered in the rotating process, controlling the robot to continue rotating based on a preset rotating strategy until the robot is not triggered in the rotating process.
The preset rotation control strategy is used for controlling the rotation of the robot, and the rotation strategy can be set according to actual requirements.
Specifically, if the robot is triggered during the process of rotating the robot by a second preset angle in a second preset direction or during the process of rotating the robot reversely, the robot is required to be controlled to rotate according to a preset rotation strategy.
For example, if a sensor arranged on the robot is triggered in the rotation process, the preset rotation control strategy can control the robot to rotate in the opposite direction of the current rotation direction, and the robot is circularly reciprocated until the robot is not triggered in the rotation process; or the step of controlling the robot to rotate in the opposite direction of the current rotation direction if the sensor arranged on the robot is triggered in the rotation process, counting the accumulated times of the sensor triggered in the rotation process, and returning to execute the step of controlling the robot to rotate in the second preset direction for a second preset angle after the accumulated times reach the preset times and the robot is controlled to retreat for a certain distance.
And S350, if a sensor arranged on the robot is not triggered in the rotating process, controlling the robot to walk along the rotating direction.
Specifically, if the sensor arranged on the robot is not triggered in the process of rotating by a second preset angle in a second preset direction or in the process of controlling the robot to continue rotating based on a preset rotation strategy, the robot is far away from an obstacle or a boundary at the moment, and the robot is controlled to walk in the direction after rotating by the second preset angle in the second preset direction.
And S360, controlling the orientation of the robot based on a second preset control strategy under the condition that the number of the triggered sensors is at least two.
According to the embodiment of the invention, when the sensor arranged on the robot is triggered in the walking process, the number of the triggered sensors is obtained; controlling the robot to rotate a second preset angle towards a second preset direction under the condition that the number of the triggered sensors is one; judging whether a sensor arranged on the robot is triggered in the rotating process or not; if a sensor arranged on the robot is triggered in the rotating process, controlling the robot to continue rotating based on a preset rotating strategy until the robot is not triggered in the rotating process; if the sensor arranged on the robot is not triggered in the rotating process, the robot is controlled to walk along the direction after rotating; and controlling the orientation of the robot based on a second preset control strategy under the condition that the number of the triggered sensors is at least two. Under the condition that the number of the triggered sensors is one, the robot can be assisted to avoid obstacles and complete the operation by judging whether the sensors arranged on the robot are triggered to control the robot to rotate in the rotating process.
Optionally, fig. 8 is a schematic flow chart of controlling the direction of the robot based on the first preset control strategy according to the third embodiment of the present invention. As shown in fig. 8, step S340, if a sensor provided on the robot is triggered during rotation, controls the robot to rotate based on a preset rotation strategy, including:
S341, controlling the robot to rotate a third preset angle towards the reverse direction of the rotation process, and counting the accumulated number of times that a sensor arranged on the robot is triggered in the rotation process.
The third preset angle may be the same as or different from the first preset angle, or may be the same as or different from the second preset angle, which is not limited in the embodiment of the present invention.
Specifically, if the sensor arranged on the robot is triggered in the rotation process, the robot is controlled to rotate by a third preset angle towards the opposite direction of the current rotation direction in the rotation process, and when the sensor is triggered, the accumulated number of times that the sensor is triggered in the rotation process and/or the opposite rotation process is counted. After the sensor moves straight along a certain direction, the accumulated times are cleared.
For example, if the sensor provided on the robot is triggered during the rotation of the second preset angle in the second preset direction, the robot is controlled to rotate a third preset angle in the opposite direction of the second preset direction; and if the sensor arranged on the robot is triggered in the process of rotating the third preset angle towards the reverse direction of the second preset direction, controlling the robot to rotate the third preset angle towards the second preset direction.
S342, judging whether the accumulated times exceeds a preset times threshold.
The preset times threshold is a threshold for judging the next rotation direction of the robot.
Specifically, whether the accumulated times exceeds a preset times threshold is judged to control the next rotation direction of the robot.
S343, if the accumulated number of times that the sensor arranged on the robot is triggered in the rotating process does not exceed the preset number of times threshold, returning to the step of executing the third preset angle for controlling the robot to rotate in the opposite direction of the rotating process.
Specifically, after determining that the number of times the sensor provided on the robot is triggered in the rotation process does not exceed the preset number of times threshold, returning to execute step S341, controlling the robot to rotate by a third preset angle in the opposite direction of the rotation process, and counting the number of times the sensor provided on the robot is triggered in the rotation process; if the number of times the sensor arranged on the robot is triggered in the rotation process does not exceed the preset number of times threshold, continuing to return to the execution step S341, controlling the robot to rotate by a third preset angle in the opposite direction of the rotation process, and counting the number of times the sensor arranged on the robot is triggered in the rotation process; until the accumulated number of times the sensor provided on the robot is triggered during rotation exceeds a preset number of times threshold, step S344 is performed.
And S344, if the accumulated number of times that the sensor arranged on the robot is triggered in the rotation process exceeds a preset number of times threshold, controlling the robot to retreat for a second preset distance and then returning to execute the step of controlling the robot to rotate for a second preset angle in a second preset direction until the robot is not triggered in the rotation process.
Specifically, after determining that the number of times the sensor provided on the robot is triggered in the rotation process exceeds a preset number of times threshold, returning to control the robot to retreat for a second preset distance, and returning to execute step S320 to control the robot to rotate a second preset angle in a second preset direction; and so on until the robot is not triggered during rotation.
Optionally, a sensor is disposed on a central line of the robot, and before the robot is controlled to rotate by a second preset angle towards a second preset direction under the condition that the number of triggered sensors is one sensor, the method further includes:
And controlling the robot to retreat by a third preset distance.
The third preset distance is a distance that the robot retreats before the robot is controlled to rotate a second preset angle towards the second preset direction under the condition that only one sensor is arranged and triggered. The third preset distance may be the same as the first preset distance, or may be different from the first preset distance.
Specifically, a sensor is arranged on a central line of the robot, and under the condition that the number of the triggered sensors is one, the robot is controlled to rotate a second preset angle towards a second preset direction after being controlled to retreat by a third preset distance, whether the sensor arranged on the robot is triggered in the rotating process is judged, if the sensor arranged on the robot is triggered in the rotating process, the robot is controlled to continue to rotate based on a preset rotating strategy until the robot is not triggered in the rotating process, and if the sensor arranged on the robot is not triggered in the rotating process, the robot is controlled to walk along the rotating direction.
Optionally, a sensor is respectively disposed on two sides of a center line of the robot, and under the condition that the number of triggered sensors is one sensor, the robot is controlled to rotate by a second preset angle towards a second preset direction, including:
The robot is controlled to rotate a second preset angle towards the direction of one side of the sensor which is not triggered.
Wherein, the second is preset the angle both sides and is provided with a sensor respectively and only a sensor is triggered the angle of control robot rotation.
Specifically, one sensor is respectively arranged at two sides of the center line of the robot, and under the condition that the number of the triggered sensors is one sensor, the robot is controlled to rotate by a second preset angle towards one side of the non-triggered sensors.
Fig. 9 is a schematic structural diagram of a control device for a robot according to an embodiment of the present invention. As shown in fig. 9, the apparatus includes: an acquisition module 410, a control module 420;
The acquiring module 410 is configured to acquire the number of triggered sensors when detecting that the sensors set on the robot are triggered in the walking process;
And the control module 420 is used for controlling the orientation of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction.
Optionally, the control module 420 includes:
the first control unit is used for controlling the orientation of the robot based on a first preset control strategy under the condition that the number of the triggered sensors is one sensor;
And the second control unit is used for controlling the orientation of the robot based on a second preset control strategy under the condition that the number of the triggered sensors is at least two.
Optionally, the second control unit includes:
The first backward sub-unit is used for controlling the robot to backward by a first preset distance;
the first control subunit is used for controlling the robot to rotate a first preset angle towards a first preset direction if the sensor arranged on the robot is not triggered after the sensor retreats;
And the second control subunit is used for controlling the orientation of the robot based on a first preset control strategy if only one sensor is triggered after the sensor arranged on the robot backs up.
Optionally, the first control unit includes:
The rotating subunit is used for controlling the robot to rotate a second preset angle towards a second preset direction;
the judging subunit is used for judging whether the sensor arranged on the robot is triggered in the rotating process or not;
The rotation control subunit is used for controlling the robot to continue rotating based on a preset rotation strategy if a sensor arranged on the robot is triggered in the rotation process until the robot is not triggered in the rotation process;
and the orientation control subunit is used for controlling the robot to walk along the orientation after rotation if the sensor arranged on the robot is not triggered in the rotation process.
Optionally, the rotation control subunit is specifically configured to:
controlling the robot to rotate a third preset angle towards the reverse direction of the rotation process, counting the accumulated number of times that a sensor arranged on the robot is triggered in the rotation process,
Judging whether the accumulated times exceeds a preset times threshold value or not;
If the accumulated number of times that the sensor arranged on the robot is triggered in the rotating process does not exceed a preset number of times threshold, returning to execute the step of controlling the robot to rotate by a third preset angle towards the reverse direction of the rotating process;
if the accumulated number of times that the sensor arranged on the robot is triggered in the rotating process exceeds a preset number of times threshold, controlling the robot to retreat for a second preset distance and then returning to execute the step of controlling the robot to rotate for a second preset angle towards a second preset direction until the robot is not triggered in the rotating process.
Optionally, the apparatus further includes:
and the backward unit is used for controlling the robot to backward by a third preset distance before the robot is controlled to rotate a second preset angle towards a second preset direction under the condition that one sensor is arranged on the central line of the robot and the number of the triggered sensors is one.
Optionally, the rotating subunit is further configured to:
And under the condition that one sensor is arranged on two sides of the central line of the robot and the number of the triggered sensors is one, the robot is controlled to rotate a second preset angle towards one side of the non-triggered sensors.
The control device of the robot provided by the embodiment of the invention can execute the control method of the robot provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 10 is a schematic structural diagram of a robot according to an embodiment of the present invention, which may be, but is not limited to, an intelligent robot, for example, a cleaning robot, a mowing robot, a security robot, or a disabled assisting robot. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 10, the robot 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the robot 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
The various components in the robot 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; a communication unit 19 such as a network card, modem, wireless communication transceiver, etc.; and one or more sensors 20. The communication unit 19 allows the robot 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks. The sensor 20 may be a geomagnetic sensor, a lidar sensor, or a millimeter wave radar sensor.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, for example, a control method of a robot.
In some embodiments, the control method of the robot may be implemented as a computer program, which is tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the robot 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the control method of the robot in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the robot. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of controlling a robot, wherein at least one sensor is provided on the robot, the method comprising:
When the sensor arranged on the robot is detected to be triggered in the walking process, acquiring the number of the triggered sensors;
And controlling the direction of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction.
2. The method of claim 1, wherein controlling the orientation of the robot according to the number of trigger signals and a preset control strategy comprises:
controlling the orientation of the robot based on a first preset control strategy under the condition that the number of the triggered sensors is one sensor;
and controlling the orientation of the robot based on a second preset control strategy under the condition that the number of the triggered sensors is at least two.
3. The method of claim 2, wherein controlling the orientation of the robot based on a second preset control strategy comprises:
controlling the robot to retreat by a first preset distance;
If the sensor arranged on the robot is not triggered after the sensor retreats, controlling the robot to rotate a first preset angle towards a first preset direction;
And if only one triggered sensor exists after the sensor arranged on the robot backs up, controlling the direction of the robot based on a first preset control strategy.
4. A method according to any of claims 2-3, wherein controlling the orientation of the robot based on a first preset control strategy comprises:
Controlling the robot to rotate a second preset angle towards a second preset direction;
judging whether a sensor arranged on the robot is triggered in the rotating process or not;
if a sensor arranged on the robot is triggered in the rotating process, controlling the robot to continue rotating based on a preset rotating strategy until the robot is not triggered in the rotating process;
and if the sensor arranged on the robot is not triggered in the rotating process, controlling the robot to walk along the rotated direction.
5. The method of claim 4, wherein if a sensor provided on the robot is triggered during rotation, controlling the robot to continue rotation based on a preset rotation strategy comprises:
controlling the robot to rotate a third preset angle towards the reverse direction of the rotation process, counting the accumulated number of times that a sensor arranged on the robot is triggered in the rotation process,
Judging whether the accumulated times exceeds a preset times threshold value or not;
If the accumulated number of times that the sensor arranged on the robot is triggered in the rotating process does not exceed a preset number of times threshold, returning to execute the step of controlling the robot to rotate by a third preset angle towards the reverse direction of the rotating process;
if the accumulated number of times that the sensor arranged on the robot is triggered in the rotating process exceeds a preset number of times threshold, controlling the robot to retreat for a second preset distance and then returning to execute the step of controlling the robot to rotate for a second preset angle towards a second preset direction until the robot is not triggered in the rotating process.
6. The method of claim 4, wherein, in the case that one sensor is disposed on a centerline of the robot and the number of triggered sensors is one sensor, before controlling the robot to rotate a second preset angle in a second preset direction, further comprising:
and controlling the robot to retreat by a third preset distance.
7. The method according to claim 4, wherein, in the case that one sensor is provided on each side of the center line of the robot and the number of sensors to be triggered is one sensor, controlling the robot to rotate a second preset angle in a second preset direction includes:
and controlling the robot to rotate a second preset angle towards the direction of one side of the sensor which is not triggered.
8. A control device for a robot, wherein at least one sensor is provided on the robot, the device comprising:
The acquisition module is used for acquiring the number of the triggered sensors when the sensors arranged on the robot are triggered in the walking process;
and the control module is used for controlling the orientation of the robot according to the number of the triggered sensors and a preset control strategy so as to enable the robot to walk along a preset direction.
9. A robot, the robot comprising:
One or more processors;
one or more sensors for generating a trigger signal in the event of a trigger;
A storage means for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the method of controlling a robot as claimed in any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to execute the control method of the robot according to any one of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211337744.3A CN118012031A (en) | 2022-10-28 | 2022-10-28 | Control method and device of robot, robot and storage medium |
| PCT/CN2023/127057 WO2024088376A1 (en) | 2022-10-28 | 2023-10-27 | Robot control method and device, robot, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211337744.3A CN118012031A (en) | 2022-10-28 | 2022-10-28 | Control method and device of robot, robot and storage medium |
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| Publication Number | Publication Date |
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| CN118012031A true CN118012031A (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211337744.3A Pending CN118012031A (en) | 2022-10-28 | 2022-10-28 | Control method and device of robot, robot and storage medium |
Country Status (2)
| Country | Link |
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| CN (1) | CN118012031A (en) |
| WO (1) | WO2024088376A1 (en) |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873891B (en) * | 2018-05-25 | 2022-07-05 | 深圳创动科技有限公司 | Robot control method, robot and storage medium |
| CN109739223B (en) * | 2018-12-17 | 2020-07-03 | 中国科学院深圳先进技术研究院 | Robot obstacle avoidance control method and device, terminal device and storage medium |
| CN113064408B (en) * | 2019-12-13 | 2023-03-10 | 苏州宝时得电动工具有限公司 | Autonomous robot, control method thereof, and computer storage medium |
| CN111557619B (en) * | 2020-04-24 | 2021-05-25 | 珠海格力电器股份有限公司 | Sweeping robot anti-falling method, sweeping robot and computer readable medium |
| CN113805571B (en) * | 2020-05-29 | 2024-03-12 | 苏州科瓴精密机械科技有限公司 | Robot walking control method, system, robot and readable storage medium |
| CN113200047A (en) * | 2021-05-08 | 2021-08-03 | 合肥泰禾智能科技集团股份有限公司 | Anti-falling control method, walking robot, electronic device and storage medium |
| CN114587208B (en) * | 2021-07-26 | 2023-09-12 | 北京石头创新科技有限公司 | Control method of cleaning robot |
| CN113552890A (en) * | 2021-08-04 | 2021-10-26 | 美的集团(上海)有限公司 | Robot obstacle avoidance control method and device and robot |
| CN115005711B (en) * | 2021-11-05 | 2024-05-14 | 追觅创新科技(苏州)有限公司 | Operation control method and device of cleaning robot, storage medium and electronic device |
| CN114211486B (en) * | 2021-12-13 | 2024-03-22 | 中国科学院深圳先进技术研究院 | Robot control method, robot and storage medium |
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- 2022-10-28 CN CN202211337744.3A patent/CN118012031A/en active Pending
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- 2023-10-27 WO PCT/CN2023/127057 patent/WO2024088376A1/en unknown
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| WO2024088376A1 (en) | 2024-05-02 |
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