WO2018028360A1

WO2018028360A1 - Control method and device for smart robot, and robot

Info

Publication number: WO2018028360A1
Application number: PCT/CN2017/091972
Authority: WO
Inventors: 刘若鹏; 李志�; 张莹莹
Original assignee: 深圳光启合众科技有限公司
Priority date: 2016-08-08
Filing date: 2017-07-06
Publication date: 2018-02-15
Also published as: CN107696028B; CN107696028A

Abstract

Disclosed are a control method and device for a smart robot. The control method for a smart robot comprises: detecting a behavior of a target user and generating a first control command corresponding to the behavior of the target user, the first control command being a command for controlling a smart robot to perform a first operation, the target user being an object interacting with the smart robot; determining, according to the first control command, a first operation to be performed by the smart robot; and performing the first operation in response to the first control command. The control device for a smart robot comprises a detecting unit (10), a determining unit (20), and a performing unit (30) corresponding to the method. Also disclosed is a smart robot comprising the control device and capable of responding to commands of humans.

Description

Control method and device for intelligent robot and robot

[0001] The present invention relates to the field of robots, and in particular to a control method and apparatus for an intelligent robot and a robot.

Background technique

[0002] At present, with the improvement of people's quality of life and the development of robot technology, people are increasingly demanding intelligent robots, and various functional robots have emerged, such as sweeping robots, food delivery robots, and accompanying robots. However, these robots can only provide specific services, have low interaction with people, and have no added value. They can't respond according to people's needs, and they can't make people feel emotionally dependent.

technical problem

[0003] The existing intelligent robots are large and versatile, and have a low degree of intelligence. They are all biased towards service type, and there are fewer external signals that can be processed. The implementation of technologies such as grabbed items and the requirements of serving humans are still There is a big gap and basically no practical significance. The accompanying robot is also limited to a small amount of voice and audio video playback. In view of the problem that the intelligent robot in the prior art cannot respond according to people's commands, an effective solution has not been proposed yet.

Problem solution

Technical solution

[0004] A main object of the present invention is to provide a control method and apparatus for an intelligent robot and a robot to solve at least the problem that the intelligent robot cannot respond according to a person's command in the related art.

In order to achieve the above object, according to an aspect of the present invention, a control method for an intelligent robot is provided. The control method for the intelligent robot includes: detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user, wherein the first control command is a command for controlling the intelligent robot to perform the first operation, the target user An object for interacting with the intelligent robot; determining a first operation that the intelligent robot needs to perform according to the first control command; performing the first operation in response to the first control command. [0006] Further, detecting the behavior of the target user and generating the first control command corresponding to the behavior of the target user includes: detecting an action of the target user and generating an action control command corresponding to the action of the target user, determining according to the first control command The first operation that the intelligent robot needs to perform includes: determining, according to the motion control command, a first operation that the intelligent robot needs to perform, and in response to the first control command, performing the first operation includes: switching a current state of the intelligent robot according to the motion control command, The first operation is performed in response to the action control command.

[0007] Further, detecting an action of the target user and generating a motion control command corresponding to the action of the target user includes: detecting a pressure signal generated by the target user on the intelligent robot, obtaining pressure data, and determining, according to the motion control command, that the intelligent robot needs to perform The first operation includes: determining, according to the pressure data, a first operation that the intelligent robot needs to perform.

[0008] Further, before determining the first operation that the intelligent robot needs to perform according to the first control command, the control method for the intelligent robot further includes: detecting a distance signal generated between the intelligent robot and the surrounding object, and obtaining the distance data. Determining, according to the first control command, the first operation that the intelligent robot needs to perform includes: determining, according to the distance data, a first operation that the intelligent robot needs to perform.

[0009] Further, detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user includes: detecting a voice sent by the target user and generating a voice control command corresponding to the voice sent by the target user, according to the first control The command determining the first operation that the intelligent robot needs to perform includes: determining, according to the voice control command, the first operation that the intelligent robot needs to perform, and in response to the first control command, performing the first operation comprises: performing the first operation in response to the voice control command.

[0010] Further, determining, according to the voice control command, the first operation that the intelligent robot needs to perform includes: acquiring an image acquisition command in the voice control command; acquiring the target image according to the image acquisition command; performing processing on the target image according to the image processing algorithm, Processing result; determining the first operation that the intelligent robot needs to perform according to the processing result.

[0011] Further, in response to the voice control command, performing the first operation comprises: selecting an audio file to be played according to the voice control command; performing playback on the audio file.

[0012] Further, after performing the first operation in response to the first control command, the control method for the intelligent robot further includes: detecting a behavior of the target user and generating a second control command corresponding to the behavior of the target user, The second control command is a command for controlling the intelligent robot to perform the second operation; Determining whether there is a change between the second control command and the first control command; if it is determined that there is a change between the second control command and the first control command, adjusting the first operation according to the first control command and the second control command to obtain a second operation, the response And performing a second operation on the second control command; and performing a first operation in response to the second control command if it is determined that there is no change between the second control command and the first control command.

In order to achieve the above object, according to another aspect of the present invention, a control apparatus for an intelligent robot is also provided. The control device for the intelligent robot includes: a detecting unit, configured to detect a behavior of the target user and generate a first control command corresponding to the behavior of the target user, wherein the first control command is used to control the intelligent robot to perform the first operation The target user is an object that interacts with the intelligent robot; the determining unit is configured to determine, according to the first control command, a first operation that the intelligent robot needs to perform; and the executing unit, configured to perform the first operation in response to the first control command .

[0014] Further, the detecting unit is configured to detect an action of the target user and generate a motion control command corresponding to the action of the target user, where the determining unit is configured to determine, according to the motion control command, a first operation that the smart robot needs to perform, and the executing unit is configured to use The current state of the intelligent robot is switched according to the motion control command, and the first operation is performed in response to the motion control command.

[0015] Further, the detecting unit is configured to detect a pressure signal generated by the target user on the intelligent robot to obtain pressure data, and the determining unit is configured to determine, according to the pressure data, a first operation that the intelligent robot needs to perform.

[0016] Further, the detecting unit is further configured to: before determining the first operation that the intelligent robot needs to perform according to the first control command, detecting a distance signal generated between the intelligent robot and the surrounding object to obtain distance data, where the determining unit is further used to The first operation that the intelligent robot needs to perform is determined based on the distance data.

[0017] Further, the detecting unit is configured to detect a voice sent by the target user and generate a voice control command corresponding to the voice sent by the target user, where the determining unit is configured to determine, according to the voice control command, a first operation that the smart robot needs to perform, and the executing unit For performing a first operation in response to a voice control command.

[0018] Further, an acquiring module is configured to acquire an image capturing command in the voice control command, an acquiring module, configured to collect the target image according to the image capturing command, and a processing module, configured to perform processing on the target image according to the image processing algorithm, to obtain Processing result; determining module, configured to determine, according to the processing result, a first operation that the intelligent robot needs to perform.

[0019] Further, the executing unit includes: a selecting module, configured to select an audio file to be played according to the voice control command; and a playing module, configured to perform playing on the audio file. Advantageous effects of the invention

Beneficial effect

[0020] With the present invention, the first control command corresponding to the behavior of the target user is generated by detecting the behavior of the target user, wherein the first control command is a command for controlling the intelligent robot to perform the first operation, and the target user is An intelligent robot performs an interaction object; determining, according to the first control command, a first operation that the intelligent robot needs to perform; and performing a first operation in response to the first control command, solving a problem that the intelligent robot cannot respond according to a human command, In turn, the effect of the intelligent robot responding according to people's commands is achieved.

Brief description of the drawing

DRAWINGS

[0021] The accompanying drawings, which are incorporated in FIG. In the drawings: [0022] FIG. 1 is a flowchart of a control method for an intelligent robot according to a first embodiment of the present invention;

2 is a flowchart of a control method for an intelligent robot according to a second embodiment of the present invention;

3 is a flowchart of a control method for an intelligent robot according to a third embodiment of the present invention;

4 is a schematic diagram of a control device for an intelligent robot according to a first embodiment of the present invention;

5 is a schematic diagram of a control apparatus for an intelligent robot according to a second embodiment of the present invention; and FIG. 6 is a schematic diagram of a control apparatus for an intelligent robot according to a third embodiment of the present invention.

Embodiments of the invention

[0028] It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be combined with each other. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. The embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope should fall within the scope of the present application. [0030] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or Prioritization. It should be understood that the data so used may be interchanged where appropriate to enable the embodiments of the present application described herein. In addition, the terms "comprises" and "comprising" and "comprises" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

[0031] Embodiments of the present invention provide a control method for an intelligent robot.

1 is a flow chart of a control method for an intelligent robot according to a first embodiment of the present invention. As shown in FIG. 1, the control method for the intelligent robot includes the following steps:

[0033] Step S101: detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user

[0034] The target user is an object that interacts with the intelligent robot, and the target user can perform a voice interaction or an action interaction with the intelligent robot. For example, the target user calls the intelligent robot, and the intelligent robot moves toward the target user according to the target user's voice. For example, the target user strokes or taps the robot, and the robot responds according to the target user's motion. After the target user interacts with the intelligent robot, the behavior of the target user is detected, whether the target user emits a voice, or whether there is a behavior action for the intelligent robot. When the behavior of the target user is detected, generating a first control command corresponding to the behavior of the target user, the first control command being a command for controlling the intelligent robot to perform the first operation, and a command for realizing the demand of the target user, for example The target user issues a voice to the intelligent robot, generates a first control command corresponding to the voice issued by the target user, to control the intelligent robot to perform the first operation, and meets the target user's needs, and the target user applies an action to the intelligent robot to generate and target the user. The applied action corresponds to the first control command to control the intelligent robot to perform the first operation to meet the needs of the target user.

[0035] Optionally, when the behavior of the target user is voice, the voice data is received by the voice module, and the voice data is transmitted to the main control module through the UART serial port, and the main control module further processes the voice data; The action is to generate action data, collect action data generated by the action of the target user, and transmit the action data to the main control module through the UART, and the main control module further processes the action data. [0036] Optionally, the acquiring the sensing signal generates a first control command, and the first control command may be generated by acquiring the multiple sensing signals.

[0037] detecting the behavior of the target user and generating a first control command corresponding to the behavior of the target user, so that the intelligent robot receives the external information.

[0038] Step S102: Determine, according to the first control command, a first operation that the intelligent robot needs to perform.

[0039] after detecting the behavior of the target user and generating a first control command corresponding to the behavior of the target user, determining, according to the first control command, a first operation that the intelligent robot needs to perform, that is, making a decision according to the first control command, Further determining what first operation the intelligent robot needs to perform, for example, performing a first operation of image acquisition, performing a first operation of state switching, performing a first operation of playing an audio file, performing a first operation of continuous walking, performing and motion control The first operation of the module for communication, etc. The intelligent robot can be a home smart robot.

[0040] Optionally, the main control module processes the first control command to obtain a processing result. For example, when there is an image acquisition command in the first control command, the first control command is processed according to the image acquisition algorithm, and is processed. As a result, when the first control command is a pressure signal generated by a person touching or tapping the intelligent robot, or a distance signal from the surrounding object during the walking of the intelligent robot, the data is collected through the UA RT serial port and transmitted to the main control module. The main control module converts the data and obtains the processing result. The first operation that the family can perform the intelligent robot is determined according to the processing result.

[0041] determining, according to the first control command, the first operation that the intelligent robot needs to perform realizes that the intelligent robot makes a reasonable decision according to the external information after receiving the external information.

[0042] Step S103: Perform a first operation in response to the first control command.

[0043] after determining, according to the first control command, the first operation that the intelligent robot needs to perform, performing the first operation determined according to the first control command in response to the first control command, increasing the amount of interaction between the intelligent robot and the target user, According to the needs of the target users, the corresponding response is achieved, and the effect of the intelligent robot responding according to people's commands is achieved.

[0044] The embodiment detects the behavior of the target user and generates a first control command corresponding to the behavior of the target user, wherein the first control command is a command for controlling the intelligent robot to perform the first operation, and the target user is the smart An object that the robot interacts with; determining, according to the first control command, a first operation that the intelligent robot needs to perform; performing the first operation in response to the first control command, reaching the intelligent robot according to the The effect of people's commands responding.

[0045] As an optional implementation manner, detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user includes: detecting an action of the target user and generating an action control command corresponding to the action of the target user, Determining, according to the first control command, the first operation that the intelligent robot needs to perform comprises: determining, according to the motion control command, a first operation that the intelligent robot needs to perform, and in response to the first control command, performing the first operation, comprising: the intelligent robot according to the motion control command The current state is switched, and the first operation is performed in response to the action control command.

[0046] Detecting the behavior of the target user, the action of the target user can be detected, for example, detecting the action of the target user touching the smart robot or tapping the intelligent robot. Generating a motion control command corresponding to the action of the target user may be: when detecting that the target user touches the smart robot, generating an action control command for issuing a call and a comfortable action, and determining, according to the action control command, that the smart robot needs to execute A first operation of issuing a squeaking sound and a comfortable motion, switching a current state of the intelligent robot according to the motion control command, and issuing a first operation of the scream and the comfortable motion in response to the motion control command. After switching the current state of the intelligent robot according to the motion control command, the first operation of continuously walking may be performed in response to the first control command, or may be communicated with the motion control module after completing an action.

[0047] As an optional implementation manner, detecting an action of the target user and generating a motion control command corresponding to the action of the target user includes: detecting a pressure signal generated by the target user on the intelligent robot, obtaining pressure data, and controlling according to the action The command determines the first operation that the intelligent robot needs to perform includes: determining, according to the pressure data, the first operation that the intelligent robot needs to perform.

[0048] The target user applies pressure on the intelligent robot to generate a pressure signal, and the force sensitive module determines the magnitude of the force according to the pressure signal to generate different pressure data. For example, the target user taps the smart robot, and the strokes and the like have different actions. The strength of the force sensitive module will detect different pressure data according to the action of different strengths. The main control module determines, according to the pressure data detected by the force sensitive module, the target user to tap or stroke the intelligent robot, thereby determining the first operation that the intelligent robot needs to perform. For example, when the target user touches the intelligent robot, the force sensitive module generates pressure data according to the magnitude of the force, and the intelligent robot will make a sounding call and a comfortable motion, so that people can feel the intelligence of the intelligent robot, thereby making people Intelligent robots generate feelings of love and dependence. [0049] As an optional implementation manner, before determining the first operation that the intelligent robot needs to perform according to the first control command, detecting a distance signal generated between the intelligent robot and the surrounding object, and obtaining distance data, according to the first control The command determining the first operation that the intelligent robot needs to perform includes: determining, according to the distance data, a first operation that the intelligent robot needs to perform.

[0050] Before determining the first operation that the intelligent robot needs to perform according to the first control command, detecting a distance signal generated between the smart robot and the surrounding object to obtain distance data, and obtaining the distance data by measuring the distance signal by the ranging module. The robot generates a distance signal between the object and the surrounding object during the walking process, and the robot determines the obstacles around the distance according to the distance signal to determine the obstacle avoidance behavior of the obstacle avoiding obstacle. Alternatively, the target user calls for the intelligent robot, and the intelligent robot advances toward the target user, and judges the distance of the obstacle according to the change of the distance signal to perform obstacle avoidance behavior and the like.

[0051] As an optional implementation manner, detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user includes: detecting a voice sent by the target user and generating voice control corresponding to the voice sent by the target user The command, determining, according to the first control command, the first operation that the intelligent robot needs to perform includes: determining, according to the voice control command, a first operation that the intelligent robot needs to perform, and in response to the first control command, performing the first operation includes: responding to the voice control command , perform the first operation.

[0052] Detecting the behavior of the target user may be detecting a voice uttered by the target user, and the voice uttered by the target user may be a command to command the intelligent robot to perform the first operation. Determining, according to the voice control command, a first operation that the intelligent robot needs to perform, for example, the target user calls the intelligent robot, detects that the target user calls the voice of the intelligent robot, and generates a voice control command corresponding to the voice sent by the target user, and the voice control command may be a first control command for controlling the intelligent robot to advance toward the target user, and the intelligent robot performs a first operation toward the target user in response to the voice control command, thereby satisfying the target user's demand, and improving the target user and the intelligent robot The amount of interaction between the home intelligence robots receives external information and makes appropriate decisions, in response to the needs of the target users, to make people feel emotional.

[0053] As an optional implementation manner, determining, according to the voice control command, the first operation that the intelligent robot needs to perform includes: determining, according to the voice control command, the first operation that the intelligent robot needs to perform, including: acquiring image collection in the voice control command Command; acquiring a target image according to an image acquisition command; performing processing on the target image according to the image processing algorithm, obtaining a processing result; and determining the smart machine according to the processing result The first action that the person needs to perform.

[0054] determining whether there is an image acquisition command for image acquisition in the voice control command; if it is determined that there is an image acquisition command in the voice control, and acquiring an image acquisition command in the voice control command, the image acquisition module may be called to collect the target image, for example, Collecting face images, object images, moving images, etc., passing the collected image data to the main control module through the USB interface, and obtaining the processing result through the image processing algorithm, for example, obtaining the processing result of the face image, the processing result of the object image, Dynamically tracking the processing result of the image, etc., placing the processing result into the main control decision queue, and determining the first operation that the intelligent robot needs to perform according to the processing result, wherein the image acquisition module can be a camera. Optionally, if it is determined that there is no image acquisition command for image acquisition in the voice control command, the image acquisition module is not called to collect the image.

[0055] As an optional implementation manner, in response to the voice control command, performing the first operation includes: selecting an audio file to be played according to the voice control command; performing playback on the audio file.

[0056] The audio file to be played is selected according to the voice control command, and the first operation of performing playback on the audio file is completed in the audio play thread.

[0057] As an optional implementation manner, after performing the first operation in response to the first control command, detecting a behavior of the target user and generating a second control command corresponding to the behavior of the target user, where the second control The command is a command for controlling the intelligent robot to perform the second operation; determining whether there is a change between the second control command and the first control command; if it is determined that the second control command and the first control command are changed, according to the first control command and the The second control command adjusts the first operation to obtain a second operation, and in response to the second control command, performs a second operation; and if it is determined that the second control command and the first control command do not change, the second control command is executed in response to the second control command An operation.

[0058] In this embodiment, the interaction behavior of the robot with the target user is continuously detected, and a control command is generated. After determining the first operation that the intelligent robot needs to perform according to the first control command, detecting an interaction behavior between the current robot and the target user, and generating a second control command, the main control module may determine whether there is a change between the second control command and the first control command. , and then adjust. If it is determined that there is a change between the second control command and the first control command, adjusting the first operation according to the first control command and the second control command to obtain a second operation, and performing a second operation in response to the second control command, if it is determined The second control command and the first control command do not change, and in response to the second control command, continue to perform the first operation, thereby Now, according to the change of the second control command, the adjustment is made in the decision, and the audio or different actions are played to respond to different operations of the people, so that people feel vivid and not boring to the intelligent robot. Determining whether the first control command changes; if it is determined that the first control command changes, adjusting the first control command, obtaining an adjustment first control command; determining the first operation that the intelligent robot needs to perform according to adjusting the first control command, thereby Achieved the effect of intelligent robots responding according to people's orders

[0059] The technical solution of the present invention will be described below in conjunction with preferred embodiments.

2 is a flow chart of a control method for an intelligent robot according to a second embodiment of the present invention. As shown in FIG. 2, the control method for the intelligent robot includes the following steps:

[0061] Step S201: Generate a first control command.

[0062] detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user, and collecting control data corresponding to the first control command, for example, motion control data, voice data, image data, pressure data, distance data , audio data, etc., can collect motion control data through the motion control module, collect voice data through the voice module, collect image data through the image acquisition module, collect pressure data through the force sensitive module, collect distance data through the distance measuring module, and collect through the audio module Audio data. The motion control module, the image acquisition module, the voice module, the force sensitive module, the ranging module, the audio module communicate with the main control module through the U ART interface, and the audio playback module communicates with the main control module through the audio interface, and the image acquisition module communicates with the main control module through the USB interface. The main control module is connected to communicate, and the main control module receives control data collected by various sensors through the UART and the USB interface, and generates a first control command according to the control data.

[0063] Step S202, performing processing on the first control command, and obtaining a processing result.

[0064] after the first control command is generated, performing processing on the first control command, for example, processing the image data collected by the image acquisition module according to an image processing algorithm, and obtaining a processing result, and acquiring pressure data collected by the force sensitive module. Data conversion is performed, the processing result is obtained, and the processing result is placed in the decision queue of the intelligent robot.

[0065] Step S203: Determine a first operation that the intelligent robot needs to perform.

[0066] After the control data is collected, the first operation that the intelligent robot needs to perform may be directly determined by the control data, or the first operation that the intelligent robot needs to perform may be determined after the processing is performed on the control data to obtain the processing result. [0067] Step S204, executing the first operation in response to the first control command.

[0068] After determining the first operation that the intelligent robot needs to perform, the first operation is performed in response to the first control command corresponding to the control data.

[0069] This embodiment proposes a decision model of an intelligent robot, which enables the robot to receive a variety of external information, and processes and makes decisions on various external information to make an appropriate response, so that people feel no longer to the robot. Then rigid. The decision model includes an interface of a main control module, a motion control module, a voice module, an image acquisition module, a force sensitive module, a ranging module, an audio playback module, and various types of sensors. The voice module, the motion control module, the force sensitive module and the ranging module communicate with the main control module through the UART interface; the audio playback module communicates with the main control module through the audio interface; and the image acquisition module communicates with the main control module through the USB interface. The main control module receives the control data collected by various sensors through the UART and the USB interface, and then controls the data for processing, obtains the processing result, and then makes a decision on the processing result, and outputs corresponding actions and sounds, and the intelligent robot is made according to the commands of the people. The effect of the response.

3 is a flow chart of a control method for an intelligent robot according to a third embodiment of the present invention. As shown in FIG. 3, the control method for the intelligent robot includes the following steps:

[0071] step S301, detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user

[0072] detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user, and receiving voice data, pressure data, distance data, and the like through the UART serial port, and generating a first control command corresponding to the behavior of the target user.

[0073] Step S302: Determine, according to the first control command, a first operation that the intelligent robot needs to perform.

[0074] After detecting the behavior of the target user and generating a first control command corresponding to the behavior of the target user, the decision is made to determine, by the first control command, the first operation that the intelligent robot needs to perform.

[0075] Step S303, image acquisition.

[0076] After determining the first operation that the intelligent robot needs to perform according to the first control command, when the image acquisition command is involved in the first control command, the image acquisition function is started, and the camera may be called to acquire an image. Image acquisition is processed in the image acquisition processing thread.

[0077] Step S304, identifying the image.

[0078] After image acquisition, an image may be identified. Optionally, you can recognize faces, objects, etc. . Image recognition is processed in the image acquisition processing thread.

[0079] Step S305, selecting to play the audio file according to the first control command.

[0080] After determining the first operation that the intelligent robot needs to perform according to the first control command, when the voice command is involved in the first control command, the audio file is selected to be played according to the first control command. The playback audio file is selected to be processed in the audio playback thread according to the first control command.

[0081] Step S306, the state machine is called to implement state switching.

[0082] After determining the first operation that the intelligent robot needs to perform according to the first control command, the state machine is called to implement state switching, for example, the smart robot's twisting, bending, running, etc. state switching.

[0083] Step S307, combining single steps to achieve continuous walking.

[0084] After the state machine is called to implement state switching, a single step can be combined in the walking state machine to realize continuous walking of the intelligent robot.

[0085] Step S308, completing an action to perform communication with the motion control module.

[0086] After the state machine is called to implement state switching, an action is completed and communication with the motion control module can be performed. Performing communication with the motion control module takes place in the action state machine.

[0087] Step S309, delaying.

[0088] After the state machine is called to implement the state switching, the delay is performed, and the delay is in the millisecond level. After the delay arrives, step S301 is re-executed to detect the behavior of the target user and generate a first control command corresponding to the behavior of the target user.

[0089] The command of the target user to the intelligent robot is received by the voice module, and is transmitted to the main control module through the UART serial port. If the image acquisition is involved in the command, the camera capture image is transmitted to the main control module through the USB interface, and the image processing algorithm is used to process the result into the main control decision queue. The pressure signal generated by the intelligent robot touching or tapping and the distance signal of the intelligent robot to the surrounding objects during the walking process are transmitted to the main control module through the UART serial port, and the conversion result is put into the decision queue through data conversion. in. The main control module adjusts and adjusts according to the change of the current input data, and plays audio or different actions to respond to different first operations of the people, so that people feel vivid and not boring, for example, people gently touch the robot The force sensitive module will generate different pressure values according to the magnitude of the force. The robot will make a scream and a comfortable movement. People call the intelligent robot. The robot will move toward the direction of the people and judge according to the change of the distance signal. Obstacle avoidance Obstacle behavior, etc., make people feel the robot intelligence and not rigid, thus generating feelings of like and dependence, and achieving the effect that the intelligent robot responds according to people's commands.

[0090] It should be noted that the steps shown in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some In this case, the steps shown or described may be performed in a different order than the ones described herein.

[0091] Embodiments of the present invention also provide a control apparatus for an intelligent robot. It is to be noted that the control device for the intelligent robot of this embodiment can be used to execute the control method for the intelligent robot of the embodiment of the present invention.

4 is a schematic diagram of a control device for an intelligent robot according to a first embodiment of the present invention. As shown in Fig. 4, the control device for the intelligent robot comprises: a detecting unit 10, a determining unit 20 and an executing unit 30.

[0093] The detecting unit 10 is configured to detect a behavior of the target user and generate a first control command corresponding to the behavior of the target user, where the first control command is a command for controlling the intelligent robot to perform the first operation, and the target user is An object that interacts with an intelligent robot.

[0094] The determining unit 20 is configured to determine, according to the first control command, a first operation that the intelligent robot needs to perform.

[0095] The executing unit 30 is configured to perform a first operation in response to the first control command.

[0096] Optionally, the detecting unit 10 is configured to detect an action of the target user and generate a motion control command corresponding to the action of the target user, and the determining unit 20 is configured to determine, according to the motion control command, the first operation that the smart robot needs to perform, and execute The unit 30 is configured to switch the current state of the intelligent robot according to the motion control command, and perform the first operation in response to the motion control command.

[0097] Optionally, the detecting unit 10 is configured to detect pressure data generated by the target user on the intelligent robot, and the determining unit 20 is configured to determine, according to the pressure data, a first operation that the intelligent robot needs to perform.

[0098] Optionally, the detecting unit 10 is further configured to: before determining the first operation that the intelligent robot needs to perform according to the first control command, detecting a distance signal generated between the intelligent robot and the surrounding object, to obtain distance data, and determining unit 20 It is also used to determine the first operation that the intelligent robot needs to perform based on the distance data.

[0099] Optionally, the detecting unit 10 is configured to detect a voice sent by the target user and generate a voice control command corresponding to the voice sent by the target user, and the determining unit 20 is configured to determine, according to the voice control command, the first operation that the smart robot needs to perform. The executing unit 30 is configured to perform the first operation in response to the voice control command. 5 is a schematic diagram of a control device for an intelligent robot according to a second embodiment of the present invention. As shown in FIG. 5, the control device for the intelligent robot includes: a detecting unit 10, a determining unit 20, and an executing unit 30. The determining unit 20 includes: an obtaining module 21, an acquiring module 22, a processing module 23, and a determining module 24.

The detecting unit 10, the determining unit 20 and the executing unit 30 of this embodiment have the same functions as those of the control device for the intelligent robot of the first embodiment of the present invention, and are not described herein again.

[0102] The obtaining module 21 is configured to acquire an image capturing command in the voice first control command.

[0103] The acquisition module 22 is configured to collect a target image acquisition target image according to an image acquisition command.

[0104] The processing module 23 is configured to perform processing on the target image according to the image processing algorithm to obtain a processing result.

[0105] The determining module 24 is configured to determine, according to the processing result, a first operation that the intelligent robot needs to perform.

6 is a schematic diagram of a control device for an intelligent robot according to a third embodiment of the present invention. As shown in Fig. 6, the control device for the intelligent robot comprises: a detecting unit 10, a determining unit 20 and an executing unit 3

0. The execution unit 30 includes: a selection module 31 and a playback module 32.

The detecting unit 10, the determining unit 20 and the executing unit 30 of the embodiment have the same functions as those of the control device for the intelligent robot of the first embodiment of the present invention, and details are not described herein again.

[0108] The selecting module 31 is configured to select an audio file to be played according to the voice control command.

[0109] The playing module 32 is configured to perform playing on the audio file.

[0110] It should be noted that the playing module 32 can be used to execute the method performed by the audio playing module in the above-described embodiment of the control method for the intelligent robot.

[0111] The embodiment of the present invention detects the behavior of the target user by the detecting unit 10 and generates a first control command corresponding to the behavior of the target user, where the first control command is a command for controlling the intelligent robot to perform the first operation, and the target user is The object interacting with the intelligent robot determines the first operation that the intelligent robot needs to perform according to the first control command, and performs the first operation by the execution unit 30 in response to the first control command, and the intelligent robot is determined according to the The effect of the command responding.

[0112] The present invention also provides an embodiment of a robot for an intelligent robot according to an embodiment of the present invention.

[0113] The embodiments of the present invention can be applied to applications in robots in other fields, and communication and control with external smart devices can be extended to other actuators or execution devices with communication modules. [0114] The decision model of the embodiment of the present invention can simultaneously collect multi-channel sensor signals, can interact with people, and control the actuator to actively respond appropriately. The control decision model can be applied to robots with other sensor devices and intelligence. The home or the execution device, the control decision model can also be controlled by other sensors, and achieve the effect that the intelligent robot responds according to people's commands.

[0115] It will be apparent to those skilled in the art that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device, which can be centralized on a single computing device or distributed across multiple computing devices. Optionally, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or Implementing multiple modules or steps in them as a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

Claim

[Claim 1] A control method for an intelligent robot, comprising:

Detecting a behavior of the target user and generating a first control command corresponding to the behavior of the target user, where the first control command is a command for controlling the intelligent robot to perform a first operation, and the target user is An object that the intelligent robot performs interaction; determining, according to the first control command, a first operation that the intelligent robot needs to perform;

The first operation is performed in response to the first control command.

[Claim 2] The method according to claim 1, characterized in that

Detecting the behavior of the target user and generating a first control command corresponding to the behavior of the target user includes: detecting an action of the target user and generating an action control command corresponding to the action of the target user,

Determining, according to the first control command, the first operation that the smart robot needs to perform includes: determining, according to the action control command, a first operation that the smart robot needs to perform, and performing the first operation command in response to the first control command The first operation includes: switching a current state of the smart robot according to the action control command, and performing the first operation in response to the action control command.

[Claim 3] The method according to claim 2, characterized in that

Detecting the action of the target user and generating an action control command corresponding to the action of the target user includes: detecting a pressure signal generated by the target user on the intelligent robot, and obtaining pressure data,

Determining, according to the action control command, the first operation that the intelligent robot needs to perform comprises: determining, according to the pressure data, a first operation that the intelligent robot needs to perform.

[Claim 4] The method according to claim 1, wherein

Before determining, according to the first control command, the first operation that the intelligent robot needs to perform, the method further includes: detecting a distance signal generated between the intelligent robot and a surrounding object, and obtaining distance data,

Determining, according to the first control command, a first operation that the smart robot needs to perform includes : determining, according to the distance data, a first operation that the intelligent robot needs to perform.

[Claim 5] The method according to claim 1, wherein

Detecting the behavior of the target user and generating a first control command corresponding to the behavior of the target user includes: detecting a voice sent by the target user and generating a voice control command corresponding to the voice sent by the target user,

Determining, according to the first control command, the first operation that the smart robot needs to perform includes: determining, according to the voice control command, a first operation that the smart robot needs to perform, and performing the first operation command in response to the first control command The first operation includes: performing the first operation in response to the voice control command.

[Claim 6] The method according to claim 5, wherein determining, according to the voice control command, the first operation that the smart robot needs to perform comprises:

Obtaining an image collection command in the voice control command;

Collecting a target image according to the image acquisition command;

Performing processing on the target image according to an image processing algorithm to obtain a processing result; and determining a first operation that the smart robot needs to perform according to the processing result.

[Claim 7] The method according to claim 5, wherein the voice control command is responsive to

Performing the first operation includes:

Selecting an audio file to be played according to the voice control command;

Playback is performed on the audio file.

[Claim 8] The method according to claim 1, wherein after performing the first operation in response to the first control command, the method further comprises: detecting behavior of the target user and Generating a second control command corresponding to the behavior of the target user, where the second control command is a command for controlling the smart robot to perform a second operation;

Determining whether there is a change between the second control command and the first control command; if it is determined that there is a change between the second control command and the first control command, according to the first control command and the second control Commanding the first operation to obtain a second operation, in response to the second control command, performing the second operation; If it is determined that there is no change between the second control command and the first control command, the first operation is performed in response to the second control command.

A control device for an intelligent robot, comprising:

a detecting unit, configured to detect a behavior of the target user and generate a first control command corresponding to the behavior of the target user, where the first control command is a command for controlling an intelligent robot to perform a first operation, the target The user is an object that interacts with the intelligent robot;

a determining unit, configured to determine, according to the first control command, a first operation that the smart robot needs to perform;

And an execution unit, configured to perform the first operation in response to the first control command. The device according to claim 9, wherein

The detecting unit is configured to detect an action of the target user and generate an action control command corresponding to the action of the target user,

The determining unit is configured to determine, according to the action control command, a first operation that the smart robot needs to perform,

The execution unit is configured to switch a current state of the smart robot according to the action control command, and execute the first operation in response to the action control command.

The device according to claim 10, characterized in that

The detecting unit is configured to detect a pressure signal generated by the target user on the intelligent robot, and obtain pressure data.

The determining unit is configured to determine, according to the pressure data, a first operation that the intelligent robot needs to perform.

The device according to claim 9, wherein

The detecting unit is further configured to: before determining the first operation that the smart robot needs to perform according to the first control command, detecting a distance signal generated between the intelligent robot and a surrounding object to obtain distance data,

The determining unit is further configured to determine, according to the distance data, a first operation that the smart robot needs to perform. [Claim 13] The apparatus according to claim 9, wherein

The detecting unit is configured to detect a voice sent by the target user and generate a voice control command corresponding to the voice sent by the target user,

The determining unit is configured to determine, according to the voice control command, a first operation that the smart robot needs to perform,

The execution unit is configured to perform the first operation in response to the voice control command.

The device according to claim 13, wherein the determining unit comprises: an acquiring module, configured to acquire an image capturing command in the voice control command; and an acquiring module, configured to use the image according to the image The acquisition command collects the target image;

a processing module, configured to perform processing on the target image according to an image processing algorithm, to obtain a processing result;

And a determining module, configured to determine, according to the processing result, a first operation that the intelligent robot needs to perform.

The device according to claim 13, wherein the execution unit comprises: a selection module, configured to select an audio file to be played according to the voice control command; and a playing module, configured to The audio file is played to play.

[Claim 16] A robot comprising the control device for an intelligent robot according to any one of claims 9 to 15.