WO2018032900A1 - Robot and control method and device thereof - Google Patents

Robot and control method and device thereof Download PDF

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Publication number
WO2018032900A1
WO2018032900A1 PCT/CN2017/091973 CN2017091973W WO2018032900A1 WO 2018032900 A1 WO2018032900 A1 WO 2018032900A1 CN 2017091973 W CN2017091973 W CN 2017091973W WO 2018032900 A1 WO2018032900 A1 WO 2018032900A1
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WIPO (PCT)
Prior art keywords
limb
trunk
robot
members
control
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PCT/CN2017/091973
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French (fr)
Chinese (zh)
Inventor
刘若鹏
阮志锋
Original Assignee
深圳光启合众科技有限公司
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Priority to CN201610674538.XA priority Critical patent/CN107756390B/en
Priority to CN201610674538.X priority
Application filed by 深圳光启合众科技有限公司 filed Critical 深圳光启合众科技有限公司
Publication of WO2018032900A1 publication Critical patent/WO2018032900A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic

Abstract

Provided are a robot and a control method and device thereof. The method comprises: determining whether any of multiple limb members (100) is separated from a torso portion (200) and falls to a location beyond a preset distance from the torso portion; if so, determining a location relationship between the torso portion and the separated limb member, wherein the separated limb member is one of the multiple limb members which is separated from the torso portion and falls to the location beyond the preset distance from the torso portion; controlling, according to the location relationship between the torso portion and the separated limb member, the robot to walk to the location of the separated limb member; and controlling the torso portion to control, by means of a magnetic force, the separated limb member to move within the preset distance from the torso portion. Also provided are a control device implementing the control method and a robot. The method and device solve a problem in which when a limb member is separated from a robot, the robot is unable to automatically reattach the separated limb member.

Description

机器人及其控制方法和装置  Robot and control method and device thereof
技术领域  Technical field
[0001] 本发明涉及机器人领域, 具体而言, 涉及一种机器人及其控制方法和装置。  [0001] The present invention relates to the field of robots, and in particular to a robot and a control method and apparatus therefor.
背景技术  Background technique
[0002] 机器人是一种可以实现自动控制的设备, 可以按照预先编排的程序自动执行预 设的动作, 或者听从指令执行相应的动作。 机器人可以应用在军事、 科研、 工 业、 家庭等各个领域, 根据不同领域的需求制作不同用途的机器人, 例如, 智 能探索类机器人, 智能家居, 宠物机器人, 军用侦査型机器人等。 机器人的外 形多种多样, 常见的一种机器人的外形包括肢体部件和躯干, 通过肢体部件的 动作带动机器人完成站立、 行走、 跳跃等动作。 现有技术中存在一种利用磁铁 的磁力连接头部和躯干的机器人, 但是, 在机器人完成各种动作吋, 可能会发 生碰撞使得肢体部件克服了与躯干之间的磁力的吸引导致机器人的肢体部件脱 落, 当发生这种情况吋, 目前并没有有效的解决办法使机器人自动寻找并拼装 脱落的肢体部件。 技术问题  [0002] A robot is a device that can realize automatic control. It can automatically execute a preset action according to a pre-programmed program, or listen to an instruction to perform a corresponding action. Robots can be used in military, scientific research, industrial, home and other fields to create robots for different purposes, such as intelligent exploration robots, smart homes, pet robots, military reconnaissance robots, etc., depending on the needs of different fields. The shape of the robot is various. The shape of a common robot includes the limb parts and the torso. The movement of the limb parts drives the robot to perform standing, walking, jumping and the like. In the prior art, there is a robot that uses a magnetic force of a magnet to connect the head and the torso. However, after the robot completes various actions, a collision may occur such that the limb member overcomes the attraction of the magnetic force with the torso and causes the limb of the robot. Parts fall off, when this happens, there is currently no effective solution for the robot to automatically find and assemble the fallen limb parts. technical problem
[0003] 针对相关技术中机器人有肢体部件脱落之后无法自动拼装脱落的肢体部件的问 题, 目前尚未提出有效的解决方案。  [0003] In view of the related art, there is no effective solution for the problem that the robot can not automatically assemble and detach the limb component after the limb component is detached.
问题的解决方案  Problem solution
技术解决方案  Technical solution
[0004] 本发明的主要目的在于提供一种机器人及其控制方法和装置, 以解决相关技术 中机器人有肢体部件脱落之后无法自动拼装脱落的肢体部件的问题。  [0004] A main object of the present invention is to provide a robot and a control method and apparatus therefor, which solve the problem of the related art that a robot member cannot be automatically assembled and detached after the limb member is detached.
[0005] 为了实现上述目的, 根据本发明的一个方面, 提供了一种机器人控制方法。 机 器人包括躯干部和多个肢体部件, 所述躯干部通过磁力控制所述多个肢体部件 在所述躯干部的预设距离范围之内运动, 所述方法包括: 判断所述多个肢体部 件中是否有肢体部件脱落在所述躯干部的预设距离范围之外; 若是, 确定所述 躯干部与脱落肢体部件之间的位置关系, 其中, 所述脱落肢体部件为所述多个 肢体部件中脱落在所述躯干部的预设距离范围之外的肢体部件, 根据所述躯干 部与脱落肢体部件之间的位置关系控制所述机器人行走至所述脱落肢体部件的 位置, 控制所述躯干部通过磁力控制所述脱落肢体部件在所述躯干部的预设距 离范围之内运动; 若否, 控制所述躯干部通过磁力控制所述脱落肢体部件在所 述躯干部的预设距离范围之内运动。 In order to achieve the above object, according to an aspect of the present invention, a robot control method is provided. The robot includes a torso portion and a plurality of limb members, wherein the torso portion controls the movement of the plurality of limb members within a predetermined distance range of the torso portion by magnetic force, the method comprising: determining the plurality of limb members Whether there is a limb member falling out of a predetermined distance range of the trunk portion; if so, determining a positional relationship between the trunk portion and the falling limb member, wherein the falling limb member is the plurality of a limb member that falls out of a predetermined distance range of the trunk portion of the limb member, and controls a position at which the robot walks to the disengaged limb member according to a positional relationship between the trunk portion and the disengaged limb member, and the control device The trunk portion is controlled by magnetic force to move the falling limb member within a preset distance range of the trunk portion; if not, controlling the trunk portion to control a preset distance of the falling limb member at the trunk portion by magnetic force Exercise within range.
[0006] 进一步地, 所述多个肢体部件分别设置有感应装置, 用于感应所述感应装置对 应的肢体部件与所述躯干部之间的物理参数, 判断所述多个肢体部件中是否有 肢体部件脱落在所述躯干部的预设距离范围之外包括: 判断所述多个肢体部件 中各个肢体部件的感应装置感应到的物理参数是否在预设阈值范围之外, 若是 , 则判断出所述多个肢体部件中有肢体部件脱落在所述躯干部的预设距离范围 之外, 若否, 则判断出所述多个肢体部件中没有肢体部件脱落在所述躯干部的 预设距离范围之外。  [0006] Further, the plurality of limb members are respectively provided with sensing means for sensing physical parameters between the limb member and the trunk portion of the sensing device, and determining whether the plurality of limb members are Determining the limb component outside the predetermined distance range of the trunk portion includes: determining whether a physical parameter sensed by the sensing device of each of the plurality of limb components is outside a preset threshold range, and if so, determining Among the plurality of limb members, the limb member is detached from the range of the preset distance of the trunk portion, and if not, it is determined that none of the plurality of limb members falls off the preset distance of the trunk portion Outside the scope.
[0007] 进一步地, 所述躯干部表面设置有感光传感器, 所述多个肢体部件表面分别设 置有指示灯, 用于在所述指示灯对应的肢体部件脱落在所述躯干部的预设距离 范围之外吋发出光信号, 确定所述躯干部与脱落肢体部件之间的位置关系包括 : 判断所述感光传感器是否接收到所述指示灯发出的光信号; 若是, 根据接收 到的光信号确定所述感光传感器与所述指示灯之间的相对方向和相对距离以确 定所述躯干部与所述脱落肢体部件之间的相对方向和相对距离; 若否, 控制所 述感光传感器搜索所述指示灯发出的光信号。  [0007] Further, the surface of the trunk portion is provided with a photosensitive sensor, and the surface of the plurality of limb members is respectively provided with an indicator light for a predetermined distance at which the limb member corresponding to the indicator light falls off at the trunk portion Determining the light signal outside the range, determining the positional relationship between the trunk portion and the falling limb member includes: determining whether the light sensor receives the light signal emitted by the indicator light; if yes, determining according to the received light signal a relative direction and a relative distance between the photosensitive sensor and the indicator light to determine a relative direction and a relative distance between the trunk portion and the falling limb member; if not, controlling the photosensitive sensor to search for the indication The light signal from the lamp.
[0008] 进一步地, 所述躯干部表面设置有摄像头, 确定所述躯干部与脱落肢体部件之 间的位置关系包括: 控制所述躯干部绕竖直方向转动以控制所述摄像头绕竖直 方向转动, 其中, 在所述躯干部转动吋, 控制所述摄像头拍摄图像; 通过预设 图像处理算法在所述摄像头拍摄的图像中识别所述脱落肢体部件的形状以搜索 所述脱落肢体部件, 其中, 在所述摄像头拍摄的图像中搜索到所述脱落肢体部 件之后, 控制所述躯干部停止转动, 并确定所述躯干部与脱落肢体部件之间的 位置关系。  [0008] Further, a surface of the trunk portion is provided with a camera, and determining a positional relationship between the trunk portion and the falling limb member includes: controlling the trunk portion to rotate in a vertical direction to control the vertical direction of the camera Rotating, wherein: rotating the torso portion to control the camera to capture an image; identifying a shape of the disengaged limb member in an image captured by the camera by a preset image processing algorithm to search for the disengaged limb member, wherein After searching for the detached limb member in the image captured by the camera, controlling the trunk portion to stop rotating, and determining a positional relationship between the trunk portion and the detached limb member.
[0009] 进一步地, 在确定所述躯干部与脱落肢体部件之间的位置关系之后, 所述方法 还包括: 确定所述机器人行走至所述脱落肢体部件的位置的行走路线, 根据所 述脱落肢体部件与所述躯干部之间的位置关系控制所述机器人行走至所述脱落 肢体部件的位置包括: 控制所述机器人按照所述行走路线行走至所述脱落肢体 部件的位置。 [0009] Further, after determining the positional relationship between the trunk portion and the falling limb member, the method further includes: determining a walking route of the robot walking to a position of the falling limb member, according to the The positional relationship between the detached limb member and the trunk portion controls the position at which the robot walks to the detached limb member includes: controlling the robot to travel to the position of the detached limb member in accordance with the walking route.
[0010] 进一步地, 机器人包括躯干部和多个肢体部件, 所述躯干部通过磁力控制所述 多个肢体部件在所述躯干部的预设距离范围之内运动, 所述装置包括: 判断单 元, 用于判断所述多个肢体部件中是否有肢体部件脱落在所述躯干部的预设距 离范围之外; 确定单元, 用于在判断出所述多个肢体部件中有肢体部件脱落在 所述躯干部的预设距离范围之外之后确定所述躯干部与脱落肢体部件之间的位 置关系, 其中, 所述脱落肢体部件为所述多个肢体部件中脱落在所述躯干部的 预设距离范围之外的肢体部件; 第一控制单元, 用于根据所述躯干部与脱落肢 体部件之间的位置关系控制所述机器人行走至所述脱落肢体部件的位置; 第二 控制单元, 用于在所述机器人行走至所述脱落肢体部件的位置或判断出所述多 个肢体部件中有肢体部件脱落在所述躯干部的预设距离范围之外之后控制所述 躯干部通过磁力控制所述脱落肢体部件在所述躯干部的预设距离范围之内运动  [0010] Further, the robot includes a trunk portion and a plurality of limb members, wherein the trunk portion controls the movement of the plurality of limb members within a preset distance range of the trunk portion by magnetic force, and the device comprises: a judging unit And determining, in the plurality of limb components, whether the limb component falls off a predetermined distance range of the trunk portion; and determining unit, configured to determine that the limb component is detached from the plurality of limb components Determining a positional relationship between the trunk portion and the falling limb member after the preset distance range of the trunk portion, wherein the falling limb member is a preset of the plurality of limb members falling off the trunk portion a limb component outside the distance range; a first control unit configured to control a position of the robot walking to the disengaged limb component according to a positional relationship between the trunk portion and the disengaged limb component; a second control unit, configured to: Positioning the robot to the position of the falling limb member or determining that the limb member is detached from the body in the plurality of limb members Preset distance range outside the control unit after the fall of the torso member by the magnetic force controlling movement of the limb within a predetermined distance range of the torso section
[0011] 进一步地, 在控制躯干部通过磁力控制脱落肢体部件在躯干部的预设距离范围 之内运动之前, 该方法还包括: 确定脱落肢体部件的活动区域, 其中, 活动区 域为在躯干部上的区域; 以及控制躯干部将活动区域朝向脱落肢体部件。 [0011] Further, before controlling the trunk portion to magnetically control the movement of the falling limb member within a preset distance range of the trunk portion, the method further comprises: determining an active region of the falling limb member, wherein the active region is in the trunk portion The upper area; and the control trunk portion directs the active area toward the detached limb member.
[0012] 为了实现上述目的, 根据本发明的一个方面, 提供了一种机器人。 所述机器人 包括本发明提供的所述机器人控制装置。  [0012] In order to achieve the above object, according to an aspect of the present invention, a robot is provided. The robot includes the robot control device provided by the present invention.
[0013] 为了实现上述目的, 根据本发明的一个方面, 提供了一种机器人。 所述机器人 包括: 多个肢体部件; 躯干部, 用于通过磁力控制所述多个肢体部件在所述躯 干部的预设距离范围之内运动, 其中, 所述躯干部包括机器人控制装置, 所述 机器人控制装置包括: 控制器, 用于判断所述多个肢体部件中是否有肢体部件 脱落在所述躯干部的预设距离范围之外, 在判断出所述多个肢体部件中没有肢 体部件脱落在所述躯干部的预设距离范围之外之后, 控制所述躯干部通过磁力 控制所述脱落肢体部件在所述躯干部的预设距离范围之内运动, 在判断出所述 多个肢体部件中有肢体部件脱落在所述躯干部的预设距离范围之外之后, 确定 所述躯干部与脱落肢体部件之间的位置关系, 其中, 所述脱落肢体部件为所述 多个肢体部件中脱落在所述躯干部的预设距离范围之外的肢体部件, 根据所述 脱落肢体部件与所述躯干部之间的位置关系控制所述机器人行走至所述脱落肢 体部件的位置, 并控制所述躯干部通过磁力控制所述脱落肢体部件在所述躯干 部的预设距离范围之内运动。 [0013] In order to achieve the above object, according to an aspect of the present invention, a robot is provided. The robot includes: a plurality of limb members; a trunk portion for controlling, by magnetic force, the plurality of limb members to move within a preset distance range of the trunk portion, wherein the trunk portion includes a robot control device The robot control device includes: a controller, configured to determine whether a limb component of the plurality of limb components falls off a preset distance range of the trunk portion, and determines that there is no limb component in the plurality of limb components After falling off the preset distance range of the trunk portion, controlling the trunk portion to control the movement of the falling limb member within a predetermined distance range of the trunk portion by magnetic force, and determining the plurality of limbs After the limb component is detached from the component within a predetermined distance range of the trunk, it is determined a positional relationship between the trunk portion and the detached limb member, wherein the detached limb member is a limb member of the plurality of limb members that falls outside a predetermined distance range of the trunk portion, according to the detachment a positional relationship between the limb member and the trunk portion controls a position at which the robot walks to the disengaged limb member, and controls the trunk portion to control a preset distance range of the disengaged limb member at the torso portion by magnetic force Exercise within.
[0014] 进一步地, 所述多个肢体部件包括第一肢体部件, 所述第一肢体部件包括: 感 应装置, 设置在所述第一肢体部件上, 用于感应所述第一肢体部件与所述躯干 部之间的物理参数, 中央处理器, 与所述感应装置相连接, 用于判断所述多个 肢体部件中各个肢体部件的感应装置感应到的物理参数是否在预设阈值范围之 外以判断所述多个肢体部件中是否有肢体部件脱落在所述躯干部的预设距离范 围之外。 [0014] Further, the plurality of limb components include a first limb component, and the first limb component includes: an inductive device disposed on the first limb component for sensing the first limb component and the a physical parameter between the trunks, the central processor, connected to the sensing device, configured to determine whether a physical parameter sensed by the sensing device of each of the plurality of limb components is outside a preset threshold range A determination is made as to whether any of the plurality of limb members is out of the preset distance range of the torso portion.
[0015] 进一步地, 所述感应装置为力传感器。  [0015] Further, the sensing device is a force sensor.
[0016] 进一步地, 所述第一肢体部件还包括: 指示灯, 设置在所述第一肢体部件表面 , 与所述中央处理器相连接, 用于在所述感应装置感应到的物理参数在所述预 设阈值范围之外吋发出光信号, 所述躯干部还包括: 感光传感器, 设置在所述 躯干部表面, 与所述控制器相连接, 用于接收所述指示灯发出的光信号。  [0016] Further, the first limb component further includes: an indicator light disposed on a surface of the first limb component and connected to the central processor, wherein the physical parameter sensed by the sensing device is The light emitting signal is emitted outside the preset threshold range, and the torso portion further includes: a photosensitive sensor disposed on the surface of the trunk portion and connected to the controller for receiving an optical signal emitted by the indicator light .
[0017] 进一步地, 所述躯干部还包括: 摄像头, 设置在所述躯干部的表面, 用于拍摄 图像; 驱动机构, 与所述控制器通讯, 用于接收所述控制器的控制驱动所述躯 干部绕竖直方向转动以带动所述摄像头绕竖直方向转动, 其中, 所述摄像头用 于在绕竖直方向转动吋拍摄图像, 所述控制器还用于通过预设图像处理算法在 所述摄像头拍摄的图像中识别所述脱落肢体部件的形状以搜索所述脱落肢体部 件, 在搜索到所述脱落肢体部件之后控制所述躯干部停止转动并确定所述躯干 部与所述脱落肢体部件之间的位置关系。  [0017] Further, the trunk portion further includes: a camera disposed on a surface of the trunk portion for capturing an image; and a driving mechanism communicating with the controller for receiving a control driving station of the controller The trunk rotates in a vertical direction to drive the camera to rotate in a vertical direction, wherein the camera is used to rotate an image in a vertical direction, and the controller is further configured to use a preset image processing algorithm. Identifying the shape of the detached limb member in the image captured by the camera to search for the detached limb member, controlling the trunk portion to stop rotating after searching for the detached limb member, and determining the trunk portion and the detached limb member The positional relationship between the components.
[0018] 进一步地, 所述躯干部的外壳为空心球体, 所述驱动机构包括: 第一磁环, 设 置在所述躯干部的外壳的内部, 与所述躯干部的外壳相距第一预设距离, 所述 第一磁环的圆心与所述躯干部的外壳的球心重合; 第二磁环, 设置在所述躯干 部的外壳的内部, 与所述躯干部的外壳相距第二预设距离, 所述第二磁环的圆 心与所述躯干部的外壳的球心重合; 驱动器, 与所述控制器通讯, 与所述第一 磁环和所述第二磁环相连接, 用于驱动所述第一磁环和 /或所述第二磁环围绕所 述躯干部的外壳的球心转动, 并控制所述第一磁环的环面和所述第二磁环的环 面之间呈预设角度。 [0018] Further, the outer casing of the torso portion is a hollow sphere, and the driving mechanism comprises: a first magnetic ring disposed inside the outer casing of the torso portion, and a first preset from the outer casing of the torso portion a distance, a center of the first magnetic ring coincides with a center of the outer casing of the torso portion; a second magnetic ring disposed inside the outer casing of the torso portion and spaced apart from the outer casing of the torso portion by a second preset a distance, a center of the second magnetic ring coincides with a center of the outer casing of the torso portion; a driver, communicating with the controller, and the first a magnetic ring coupled to the second magnetic ring for driving the first magnetic ring and/or the second magnetic ring to rotate around a center of a casing of the torso and controlling the first magnetic ring A predetermined angle is formed between the torus and the toroid of the second magnetic ring.
[0019] 进一步地, 所述第一磁环和 /或所述第二磁环为环形导线绕组, 所述驱动器还 用于控制所述环形导线绕组上的线圈的电压以控制所述环形导线绕组的磁力。  [0019] Further, the first magnetic ring and/or the second magnetic ring are annular wire windings, and the driver is further configured to control a voltage of a coil on the winding of the annular wire to control the winding of the annular wire Magnetic force.
[0020] 进一步地, 所述多个肢体部件包括第一肢体部件, 所述第一肢体部件包括顶端 和末端, 所述第一肢体部件的顶端靠近所述躯干部的表面, 所述第一肢体部件 包括: 第一磁铁, 设置在所述第一肢体部件的顶端, 所述第一磁铁用于受所述 第一磁环和 /或所述第二磁环的磁力的吸引以控制所述第一肢体部件在所述躯干 部的预设距离范围之内运动; 第二磁铁, 设置在所述第一肢体部件的末端, 所 述第二磁铁为各向同性磁铁。  [0020] Further, the plurality of limb members include a first limb member, the first limb member includes a top end and an end, and a top end of the first limb member is adjacent to a surface of the trunk portion, the first limb member The component includes: a first magnet disposed at a top end of the first limb member, the first magnet being configured to be attracted by a magnetic force of the first magnetic ring and/or the second magnetic ring to control the first A limb member moves within a predetermined distance range of the trunk portion; a second magnet is disposed at an end of the first limb member, and the second magnet is an isotropic magnet.
[0021] 进一步地, 所述多个肢体部件中的各个肢体部件包括顶端和末端, 所述多个肢 体部件中各个肢体部件的末端分别设置有所述第二磁铁, 所述多个肢体部件中 各个肢体部件的第二磁铁的磁性相同。  [0021] Further, each of the plurality of limb members includes a top end and an end, and the end of each of the plurality of limb members is respectively provided with the second magnet, wherein the plurality of limb members are The magnets of the respective limb members have the same magnetic properties.
[0022] 进一步地, 所述第一肢体部件的末端设置有减震装置, 其中, 所述减震装置产 生的磁力小于预设阈值。  [0022] Further, the end of the first limb component is provided with a damping device, wherein the magnetic force generated by the damping device is less than a preset threshold.
[0023] 进一步地, 所述多个肢体部件包括头部, 所述头部为半球体, 所述头部包括: 第三磁铁, 设置在所述头部的半球体的底面, 所述第三磁铁用于受所述第一磁 环和 /或所述第二磁环的磁力的吸引以控制所述头部在所述躯干部的预设距离范 围之内运动。  [0023] Further, the plurality of limb members include a head, the head is a hemisphere, and the head includes: a third magnet disposed on a bottom surface of the hemisphere of the head, the third A magnet is used to be attracted by the magnetic force of the first magnetic ring and/or the second magnetic ring to control movement of the head within a predetermined distance range of the torso.
[0024] 进一步地, 所述躯干部还包括: 语音接收器, 设置于所述躯干部表面, 用于接 收语音指令, 其中, 所述控制器包括: 语音识别模块, 与所述语音接收器相连 接, 用于识别所述语音指令并将所述语音指令的格式转换为所述控制器的指令 格式。  [0024] Further, the trunk portion further includes: a voice receiver disposed on the surface of the trunk portion for receiving a voice command, wherein the controller includes: a voice recognition module, and the voice receiver And a connection, configured to identify the voice instruction and convert the format of the voice instruction into an instruction format of the controller.
[0025] 进一步地, 所述躯干部还包括: 重力传感器, 与所述控制器相连接, 用于感应 重力电信号, 所述控制器用于根据所述重力电信号确定重力方向, 并根据所述 重力方向控制所述机器人的动作。  [0025] Further, the trunk portion further includes: a gravity sensor connected to the controller, configured to sense a gravity electric signal, the controller configured to determine a gravity direction according to the gravity electric signal, and according to the The direction of gravity controls the motion of the robot.
[0026] 进一步地, 所述躯干部还包括: 平衡机构, 与所述控制器相连接, 用于接受所 述控制器的控制调节所述机器人的重心位置。 [0026] Further, the torso portion further includes: a balancing mechanism connected to the controller for receiving The control of the controller adjusts the position of the center of gravity of the robot.
[0027] 进一步地, 所述平衡机构包括: 配重件; 机电结构, 与所述控制器相连接, 用 于接收所述控制器的控制调节所述配重件的位置以调节所述机器人的重心位置 [0027] Further, the balancing mechanism includes: a weight member; an electromechanical structure, connected to the controller, configured to receive a control of the controller to adjust a position of the weight member to adjust the robot Center of gravity
[0028] 进一步地, 所述多个肢体部件至少包括三个肢体部件, 所述机器人通过控制所 述多个肢体部件中的任意两个肢体部件行走。 [0028] Further, the plurality of limb members include at least three limb members, and the robot walks by controlling any two of the plurality of limb members.
[0029] 进一步地, 所述躯干部还包括: 显示屏, 用于显示所述机器人的输出信息。 [0029] Further, the torso portion further includes: a display screen for displaying output information of the robot.
[0030] 进一步地, 所述躯干部还包括: 通讯模块, 用于执行与控制终端的交互通讯。 [0030] Further, the torso portion further includes: a communication module, configured to perform interaction communication with the control terminal.
发明的有益效果  Advantageous effects of the invention
有益效果  Beneficial effect
[0031] 本发明通过判断多个肢体部件中是否有肢体部件脱落在躯干部的预设距离范围 之外, 在判断出多个肢体部件中有肢体部件脱落在躯干部的预设距离范围之外 吋确定躯干部与脱落肢体部件之间的位置关系, 并根据躯干部与脱落肢体部件 之间的位置关系控制机器人行走至脱落肢体部件的位置, 控制躯干部通过磁力 控制脱落肢体部件在躯干部的预设距离范围之内运动, 解决了相关技术中机器 人有肢体部件脱落之后无法自动拼装脱落的肢体部件的问题, 进而达到了实现 机器人自动拼装脱落的肢体部件的效果。  [0031] The present invention determines whether a plurality of limb members are out of the preset distance range of the trunk portion, and determines that a plurality of limb members are out of the preset distance range of the trunk portion.吋 determining the positional relationship between the trunk portion and the detached limb member, and controlling the position of the robot to move to the detached limb member according to the positional relationship between the trunk portion and the detached limb member, and controlling the trunk portion to magnetically control the detachment of the limb member at the trunk portion The movement within the preset distance range solves the problem that the robot can not automatically assemble and disengage the limb component after the limb component is detached in the related art, thereby achieving the effect of realizing the robot component that the robot automatically assembles and falls off.
对附图的简要说明  Brief description of the drawing
附图说明  DRAWINGS
[0032] 构成本申请的一部分的附图用来提供对本发明的进一步理解, 本发明的示意性 实施例及其说明用于解释本发明, 并不构成对本发明的不当限定。 在附图中: [0033] 图 1是根据本发明实施例的机器人控制方法的流程图;  The accompanying drawings, which are incorporated in the claims of the claims In the drawings: [0033] FIG. 1 is a flow chart of a robot control method according to an embodiment of the present invention;
[0034] 图 2是根据本发明第一实施例的机器人控制装置的示意图; 2 is a schematic diagram of a robot control apparatus according to a first embodiment of the present invention;
[0035] 图 3是根据本发明第二实施例的机器人控制装置的示意图; 3 is a schematic diagram of a robot control apparatus according to a second embodiment of the present invention;
[0036] 图 4是根据本发明第一实施例的机器人的示意图; 4 is a schematic view of a robot according to a first embodiment of the present invention;
[0037] 图 5是根据本发明第二实施例的机器人的示意图。 本发明的实施方式 5 is a schematic diagram of a robot in accordance with a second embodiment of the present invention. Embodiments of the invention
[0038] 需要说明的是, 在不冲突的情况下, 本申请中的实施例及实施例中的特征可以 相互组合。 下面将参考附图并结合实施例来详细说明本发明。  [0038] 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.
[0039] 为了使本技术领域的人员更好地理解本申请方案, 下面将结合本申请实施例中 的附图, 对本申请实施例中的技术方案进行清楚、 完整地描述, 显然, 所描述 的实施例仅仅是本申请一部分的实施例, 而不是全部的实施例。 基于本申请中 的实施例, 本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其 他实施例, 都应当属于本申请保护的范围。  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. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of the present application.
[0040] 需要说明的是, 本申请的说明书和权利要求书及上述附图中的术语"第一"、 " 第二"等是用于区别类似的对象, 而不必用于描述特定的顺序或先后次序。 应该 理解这样使用的数据在适当情况下可以互换, 以便这里描述的本申请的实施例 。 此外, 术语"包括"和"具有"他们的任何变形, 意图在于覆盖不排他的包含, 例 如, 包含了一系列步骤或单元的过程、 方法、 系统、 产品或设备不必限于清楚 地列出的那些步骤或单元, 而是可包括没有清楚地列出的或对于这些过程、 方 法、 产品或设备固有的其它步骤或单元。  [0040] 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 in order to facilitate the embodiments of the present application described herein. In addition, the terms "comprising" and "having" are intended to cover any non-exclusive of the invention, and 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 that are clearly listed Steps or units, but may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.
[0041] 本发明的实施例提供了一种机器人。  [0041] Embodiments of the present invention provide a robot.
[0042] 图 1是根据本发明第一实施例的机器人的示意图。 如图 1所示, 该机器人包括多 个肢体部件 100和躯干部 200。 其中, 躯干部 200包括机器人控制装置 201。  1 is a schematic view of a robot according to a first embodiment of the present invention. As shown in Fig. 1, the robot includes a plurality of limb members 100 and a trunk portion 200. Among them, the trunk portion 200 includes a robot control device 201.
[0043] 在本发明中, 肢体部件是指机器人除了躯干部 200以外的肢体部件, 包括四肢 和头部。 该实施例的机器人包括多个肢体部件 100, 多个肢体部件 100可以是不 同的种类, 例如, 头部、 胳膊、 腿等肢体部件。  [0043] In the present invention, the limb member refers to a limb member of the robot other than the trunk portion 200, including the limbs and the head. The robot of this embodiment includes a plurality of limb members 100, and the plurality of limb members 100 may be of different types, for example, limb members such as a head, an arm, and a leg.
[0044] 躯干部 200是机器人的躯体, 该实施例的机器人通过磁力控制多个肢体部件 100 在躯干部 200的预设距离范围之内运动。 具体而言, 躯干部 200的内部可以包含 有产生磁力的生磁装置, 多个肢体部件 100的一端可以设置有磁性材料, 躯干部 200通过生磁装置产生磁力吸引多个肢体部件 100靠近躯干部 200, 并可以通过驱 动机构驱动该生磁装置在躯干部 200的内部变化位置以驱动多个肢体部件 100在 躯干部 200的预设距离范围之内运动。  [0044] The trunk portion 200 is the body of the robot, and the robot of this embodiment controls the movement of the plurality of limb members 100 within a predetermined distance range of the trunk portion 200 by magnetic force. Specifically, the inside of the trunk portion 200 may include a magnetic generating device that generates a magnetic force. One end of the plurality of limb members 100 may be provided with a magnetic material, and the trunk portion 200 generates a magnetic force by the magnetic generating device to attract the plurality of limb members 100 to the trunk portion. 200, and the driving mechanism can drive the internal magnetic device to change position inside the trunk portion 200 to drive the plurality of limb members 100 to move within a preset distance range of the trunk portion 200.
[0045] 该实施例的机器人的躯干部 200包括机器人控制装置 201, 该机器人控制装置 20 1包括控制器 202, 控制器 202用于控制机器人行动, 可以判断多个肢体部件 100 中是否有肢体部件脱落在躯干部 200的预设距离范围之外, 判断方式可以是通过 在各个肢体部件上分别设置一套报警系统, 报警系统可以包括感应装置、 中央 处理器和报警器。 各个肢体部件上的报警系统在判断出该肢体部件脱落到躯干 部 200的预设距离范围之外吋, 发出报警以提示躯干部 200。 [0045] The trunk portion 200 of the robot of this embodiment includes a robot control device 201, and the robot control device 20 1 includes a controller 202 for controlling robot actions, and determining whether a plurality of limb members 100 are out of the preset distance range of the trunk portion 200, and the manner of determining may be by using the limb members. A set of alarm systems is respectively provided, and the alarm system may include an inductive device, a central processing unit and an alarm device. The alarm system on each of the limb members issues an alarm to alert the torso 200 after determining that the limb member has fallen outside the preset distance range of the trunk portion 200.
[0046] 各个肢体部件上设置的感应装置可以用于感应该肢体部件是否脱落, 具体地, 感应装置可以是感应该感应装置对应的肢体部件与躯干部 200之间的物理参数, 中央处理器与感应装置相连接, 用于判断多个肢体部件 100中各个肢体部件的感 应装置感应到的物理参数是否在预设阈值范围之外, 其中, 如果判断出多个肢 体部件 100中有肢体部件的感应装置感应到的物理参数在预设阈值范围之外, 则 判断出多个肢体部件 100中有肢体部件脱落在躯干部 200的预设距离范围之外。  [0046] The sensing device disposed on each of the limb members can be used to sense whether the limb member is detached. Specifically, the sensing device can sense physical parameters between the limb member and the trunk portion 200 corresponding to the sensing device, and the central processing unit The sensing device is connected to determine whether the physical parameter sensed by the sensing device of each limb component of the plurality of limb components 100 is outside a preset threshold range, wherein if the sensing of the limb component is determined in the plurality of limb components 100 If the physical parameter sensed by the device is outside the preset threshold range, it is determined that the limb member of the plurality of limb members 100 falls off the preset distance range of the trunk portion 200.
[0047] 例如, 在肢体部件上设置力传感器, 用于感应肢体部件受到的磁力参数的大小 , 中央处理器判断是否磁力大小是否在预设阈值范围之外, 或者, 也可以设置 重力加速度传感器, 在感应出重力加速度大于预设加速度阈值吋, 中央处理器 判断出肢体部件自由落体, 也即, 肢体部件接受到的躯干部 200的磁吸引力不足 以吸引肢体部件受到的其它外力而与躯干部 200脱离, 脱落到躯干部 200的预设 距离范围之外。  [0047] For example, a force sensor is disposed on the limb member for sensing the magnitude of the magnetic parameter received by the limb member, and the central processor determines whether the magnitude of the magnetic force is outside a preset threshold range, or a gravity acceleration sensor may be disposed. After inducing that the gravitational acceleration is greater than the preset acceleration threshold, the central processor determines that the limb component is free to fall, that is, the magnetic attraction of the torso portion 200 received by the limb component is insufficient to attract other external forces received by the limb component and the torso portion The 200 is detached and falls off the preset distance range of the trunk portion 200.
[0048] 报警器可以与中央处理器相连接, 用于接收中央处理器的控制在感应装置感应 出该肢体部件脱落到躯干部 200的预设距离范围之外吋发出报警提示。 报警器发 出的报警信号的形式可以是声、 光等形式, 躯干部 200可以设置有接收报警信号 的装置。 例如, 报警器可以是指示灯, 指示灯与中央处理器相连接, 用于在感 应装置感应到的物理参数在预设阈值范围之外吋发出光信号。  [0048] The alarm may be coupled to the central processor, and the control for receiving the central processor issues an alarm prompt outside the predetermined range of distances at which the sensing device senses that the limb member has fallen off the torso 200. The alarm signal generated by the alarm may be in the form of sound, light, etc., and the trunk 200 may be provided with means for receiving an alarm signal. For example, the alarm can be an indicator light that is coupled to the central processor for emitting an optical signal outside of a predetermined threshold range of physical parameters sensed by the sensing device.
[0049] 躯干部 200可以通过感光传感器接收指示灯发出的光信号。 躯干部 200上的感光 传感器与控制器 202相连接, 用于接收到指示灯发出的光信号。 感光传感器在接 收到指示灯发出的光信号吋, 判断出有肢体部件脱落在躯干部 200的预设距离范 围之外。 指示灯可以设置在肢体部件的表面, 具体而言, 指示灯可以绕肢体表 面一圈设置, 以避免肢体部件脱落吋指示灯朝向地面而使感光传感器无法检测 到。 躯干部 200的感光传感器可以设置在机器人的表面。 [0050] 控制器 202在判断出多个肢体部件 100中没有肢体部件脱落在躯干部 200的预设 距离范围之外之后, 控制器 202控制躯干部 200通过磁力控制脱落肢体部件在躯 干部的预设距离范围之内运动。 [0049] The trunk portion 200 can receive an optical signal emitted by the indicator light through the photosensitive sensor. A light sensor on the torso portion 200 is coupled to the controller 202 for receiving an optical signal from the indicator light. When the light sensor receives the light signal from the indicator light, it is determined that the limb member is out of the preset distance range of the trunk portion 200. The indicator light can be placed on the surface of the limb component. Specifically, the indicator light can be placed around the surface of the limb to prevent the limb component from falling off. The indicator light is facing the ground and the photosensitive sensor cannot detect it. The photosensitive sensor of the trunk portion 200 may be disposed on the surface of the robot. [0050] After the controller 202 determines that there is no limb component in the plurality of limb components 100 falling out of the preset distance range of the trunk portion 200, the controller 202 controls the trunk portion 200 to magnetically control the pre-prevention of the limb component at the trunk portion. Set the movement within the distance range.
[0051] 控制器 202在判断出多个肢体部件 100中有肢体部件脱落在躯干部 200的预设距 离范围之外之后, 确定躯干部 200与脱落肢体部件之间的位置关系, 其中, 脱落 肢体部件为多个肢体部件 100中脱落在躯干部 200的预设距离范围之外的肢体部 件。 确定躯干部 200与脱落肢体部件之间的位置关系可以是根据感光传感器接收 到的光信号来判断躯干部 200与脱落肢体部件的相对方向与相对距离。  [0051] After determining that a plurality of limb members 100 have fallen out of the preset distance range of the trunk portion 200, the controller 202 determines a positional relationship between the trunk portion 200 and the detached limb member, wherein the limb member is detached The component is a limb component of the plurality of limb components 100 that falls off a predetermined distance range of the trunk portion 200. The positional relationship between the trunk portion 200 and the detached limb member may be determined based on the light signal received by the sensitized sensor to determine the relative direction and relative distance between the trunk portion 200 and the detached limb member.
[0052] 控制器 202在确定躯干部 200与脱落肢体部件之间的位置关系之后, 根据脱落肢 体部件与躯干部 200之间的位置关系控制机器人行走至脱落肢体部件的位置, 并 在机器人行走至脱落肢体部件的位置之后控制躯干部 200通过磁力控制脱落肢体 部件在躯干部 200的预设距离范围之内运动。 具体地, 控制器 202可以通过与脱 落肢体部件之间的位置关系计算躯干部 200行走到脱落肢体部件的行走路线, 控 制躯干部 200沿行走路线行走。  [0052] After determining the positional relationship between the trunk portion 200 and the detached limb member, the controller 202 controls the position of the robot to move to the detached limb member according to the positional relationship between the detached limb member and the trunk portion 200, and the robot walks to After the position of the limb member is detached, the control trunk portion 200 is moved by the magnetic force to control the detached limb member to move within the preset distance range of the trunk portion 200. Specifically, the controller 202 can calculate the walking route of the trunk portion 200 to the falling limb member by the positional relationship with the falling limb member, and control the trunk portion 200 to travel along the walking route.
[0053] 躯干部 200可以是球体, 机器人的行走方式可以是通过在躯干部 200的体内设置 平衡机电机构, 接受控制器 202的控制调节机器人的重心位置, 使躯干部 200滚 动。 控制器 202可以根据行走路线的方向调节重心位置, 使得机器人朝向重心方 向滚动, 沿行走路线行走。  [0053] The trunk portion 200 may be a ball. The robot may be operated by providing a balance electromechanical mechanism in the body of the trunk portion 200, and receiving the control of the controller 202 to adjust the position of the center of gravity of the robot to cause the trunk portion 200 to roll. The controller 202 can adjust the position of the center of gravity according to the direction of the walking route so that the robot rolls toward the center of gravity and travels along the walking route.
[0054] 机器人的行走方式还可以是通过控制除脱落肢体部件以外的其它肢体部件来支 撑躯干部 200, 并完成行走动作, 例如, 在肢体部件的底部设置滚轮, 通过滚轮 的滑动实现机器人的行走动作。  [0054] The walking mode of the robot may further support the trunk portion 200 by controlling other limb members other than the limb member, and complete the walking motion. For example, a roller is disposed at the bottom of the limb member, and the robot is driven by the sliding of the roller. action.
[0055] 作为本发明实施例的一个优选实施例, 机器人的行走方式是通过多个肢体部件 100中的任意两个肢体部件行走, 例如, 机器人包括两条胳膊和两条腿, 可以使 用任意一只胳膊和一只腿, 或者, 两只胳膊, 或者, 两条腿, 支撑躯干部 200, 完成行走动作, 行走动作可以是两个肢体部件交替向预设方向移动。 该行走方 式下, 机器人至少包括三个肢体部件, 以使机器人在脱落一个肢体部件之后, 可以使用剩余的两个肢体部件完成行走动作。  [0055] As a preferred embodiment of the embodiment of the present invention, the walking mode of the robot is to walk through any two of the plurality of limb members 100. For example, the robot includes two arms and two legs, and any one of them can be used. Only one arm and one leg, or two arms, or two legs, support the trunk portion 200 to complete the walking action, and the walking action may be that the two limb members alternately move in a predetermined direction. In the walking mode, the robot includes at least three limb components, so that after the robot is detached from one limb component, the remaining two limb components can be used to complete the walking motion.
[0056] 优选地, 躯干部 200还可以包括摄像头, 摄像头可以设置在躯干部 200的表面, 用于拍摄图像。 躯干部 200还可以设置有驱动机构, 驱动机构与控制器 202通讯 , 用于接受控制器 202的控制驱动躯干部 200绕竖直方向转动以带动摄像头绕竖 直方向转动。 摄像头在绕竖直方向转动吋可以拍摄图像。 控制器 202可以通过预 设图像处理算法在摄像头拍摄的图像中识别脱落肢体部件的形状以搜索脱落肢 体部件, 在搜索到脱落肢体部件之后控制躯干部 200停止转动并确定躯干部 200 与脱落肢体部件之间的位置关系。 [0056] Preferably, the trunk portion 200 may further include a camera, and the camera may be disposed on the surface of the trunk portion 200. Used to take images. The trunk portion 200 can also be provided with a driving mechanism that communicates with the controller 202 for accepting the control of the controller 202 to drive the trunk portion 200 to rotate in a vertical direction to drive the camera to rotate in a vertical direction. The camera can take images by turning it in the vertical direction. The controller 202 can identify the shape of the falling limb component in the image captured by the camera by the preset image processing algorithm to search for the falling limb component, and after the search for the falling limb component, control the trunk 200 to stop rotating and determine the trunk portion 200 and the falling limb component. The positional relationship between.
[0057] 优选地, 躯干部 200的外壳为空心球体, 驱动机构包括第一磁环、 第二磁环和 驱动器。 第一磁环设置在躯干部 200的外壳的内部, 与躯干部 200的外壳相距第 一预设距离, 第一磁环的圆心与躯干部 200的外壳的球心重合。 第二磁环设置在 躯干部 200的外壳的内部, 与躯干部 200的外壳相距第二预设距离, 第二磁环的 圆心与躯干部 200的外壳的球心重合。 驱动器与控制器 202通讯, 与第一磁环和 第二磁环相连接, 用于驱动第一磁环和 /或第二磁环围绕躯干部 200的外壳的球心 转动, 并控制第一磁环的环面和第二磁环的环面之间呈预设角度。 优选地, 第 一磁环和 /或第二磁环为环形导线绕组, 驱动器还用于控制环形导线绕组上的线 圈的电压以控制环形导线绕组的磁力。 控制器 202可以通过程序控制驱动器以使 两个磁环旋转, 以磁力吸引肢体部件在躯干部 200的预设距离范围之内运动。  [0057] Preferably, the outer casing of the trunk portion 200 is a hollow sphere, and the driving mechanism includes a first magnetic ring, a second magnetic ring and a driver. The first magnetic ring is disposed inside the outer casing of the trunk portion 200 at a first predetermined distance from the outer casing of the trunk portion 200, and the center of the first magnetic ring coincides with the center of the outer casing of the trunk portion 200. The second magnetic ring is disposed inside the outer casing of the trunk portion 200 at a second predetermined distance from the outer casing of the trunk portion 200, and the center of the second magnetic ring coincides with the center of the outer casing of the trunk portion 200. The driver is in communication with the controller 202, and is coupled to the first magnetic ring and the second magnetic ring for driving the first magnetic ring and/or the second magnetic ring to rotate around the center of the outer casing of the torso 200, and controlling the first magnetic A predetermined angle is between the toroid of the ring and the annulus of the second magnetic ring. Preferably, the first magnetic ring and/or the second magnetic ring are annular wire windings, and the driver is also used to control the voltage of the coil on the winding of the annular wire to control the magnetic force of the winding of the annular wire. The controller 202 can control the drive to rotate the two magnetic rings to magnetically attract the limb members to move within a predetermined distance of the torso 200.
[0058] 优选地, 多个肢体部件 100包括第一肢体部件, 第一肢体部件可以是多个肢体 部件 100的任意一个肢体部件, 多个肢体部件 100中至少包括一个肢体部件是第 一肢体部件。 第一肢体部件包括顶端和末端, 第一肢体部件的顶端靠近躯干部 2 00的表面, 第一肢体部件包括: 第一磁铁, 设置在第一肢体部件的顶端, 第一 磁铁用于受第一磁环和 /或第二磁环的磁力的吸引以控制第一肢体部件在躯干部 2 00的预设距离范围之内运动; 第二磁铁, 设置在第一肢体部件的末端, 第二磁 铁为各向同性磁铁。  [0058] Preferably, the plurality of limb members 100 include a first limb member, and the first limb member may be any one of the plurality of limb members 100, and at least one of the plurality of limb members 100 is the first limb member. . The first limb member includes a top end and a distal end, and a top end of the first limb member is adjacent to a surface of the trunk portion 200. The first limb member includes: a first magnet disposed at a top end of the first limb member, the first magnet being used for the first The magnetic force of the magnetic ring and/or the second magnetic ring is attracted to control the first limb member to move within a predetermined distance range of the trunk portion 200; the second magnet is disposed at the end of the first limb member, and the second magnet is Isotropic magnet.
[0059] 例如, 第一肢体部件是胳膊, 胳膊的顶端与躯干部 200通过磁力连接, 顶端设 置有第一磁铁, 第一磁铁可以设置在第一肢体部件的外部或内部, 第一磁铁的 磁性与第一磁环和 /或第二磁环的磁性相异, 可以受第一磁环和 /或第二磁环的磁 力吸引在躯干部 200的预设距离范围之内运动。 第二磁铁可以设置在第一肢体部 件的外部或内部, 第二磁铁为各向同性磁铁, 多个肢体部件 100中的各个肢体部 件的末端可以分别设置有第二磁铁, 多个肢体部件 100中各个肢体部件的第二磁 铁的磁性相同, 以避免在机器人动作吋各个肢体部件的末端互相吸引。 [0059] For example, the first limb member is an arm, the top end of the arm is connected to the trunk portion 200 by magnetic force, and the top end is provided with a first magnet, and the first magnet may be disposed outside or inside the first limb member, and the magnetic force of the first magnet Different from the magnetic properties of the first magnetic ring and/or the second magnetic ring, the magnetic force of the first magnetic ring and/or the second magnetic ring may be moved within a preset distance range of the trunk portion 200. The second magnet may be disposed outside or inside the first limb member, and the second magnet is an isotropic magnet, and each limb portion of the plurality of limb members 100 The ends of the pieces may be respectively provided with second magnets, and the second magnets of the respective limb members of the plurality of limb members 100 are magnetically identical to avoid mutual attraction of the ends of the respective limb members during the robot operation.
[0060] 优选地, 第一肢体部件的末端设置有减震装置, 其中, 减震装置产生的磁力小 于预设阈值。 减震装置可以弹簧、 橡胶等。  [0060] Preferably, the end of the first limb member is provided with a damping device, wherein the damping device generates a magnetic force that is less than a predetermined threshold. The damping device can be spring, rubber or the like.
[0061] 第一磁铁和第二磁铁可以是环形导线绕组, 第一肢体部件还可以设置有中央处 理器, 用于控制第一肢体部件内的第一磁铁和第二磁铁上电下电以产生或不产 生磁性。 [0061] The first magnet and the second magnet may be annular wire windings, and the first limb component may further be provided with a central processor for controlling the first magnet and the second magnet in the first limb component to be powered down to generate Or does not produce magnetism.
[0062] 优选地, 多个肢体部件 100可以包括头部, 头部可以是半球体, 头部包括第三 磁铁, 设置在头部的半球体的底面, 可以在头部的内部或外部, 第三磁铁用于 受第一磁环和 /或第二磁环的磁力的吸引以控制头部在躯干部 200的预设距离范围 之内运动。  [0062] Preferably, the plurality of limb members 100 may include a head, the head may be a hemisphere, and the head includes a third magnet disposed on a bottom surface of the hemisphere of the head, which may be inside or outside the head, The three magnets are used to attract the magnetic force of the first magnetic ring and/or the second magnetic ring to control the movement of the head within a predetermined distance range of the torso portion 200.
[0063] 优选地, 躯干部 200还可以包括语音接收器, 设置于躯干部 200表面, 用于接收 语音指令, 其中, 躯干部 200的控制器 202包括语音识别模块, 与语音接收器相 连接, 用于识别语音指令并将语音指令的格式转换为控制器 202的指令格式。 该 优选的实施例的机器人可以按照语音指令踢腿、 转圈、 行走或者停止, 语音识 别模块可以将录入的声音转化为文字, 再将文字加以理解和分类, 反馈成为硬 件可以识别的指令输入到控制器 202, 控制器 202启动某种动作的程序, 控制机 器人相应的部件动作。  Preferably, the trunk portion 200 may further include a voice receiver disposed on the surface of the trunk portion 200 for receiving voice commands, wherein the controller 202 of the trunk portion 200 includes a voice recognition module coupled to the voice receiver. It is used to recognize a voice command and convert the format of the voice command into an instruction format of the controller 202. The robot of the preferred embodiment can kick, circulate, walk or stop according to the voice command, and the voice recognition module can convert the recorded voice into text, then understand and classify the text, and the feedback becomes a hardware identifiable command input to the control. The controller 202 initiates a program of certain actions to control the corresponding component actions of the robot.
[0064] 优选地, 躯干部 200还可以包括重力传感器, 与控制器 202相连接, 用于感应重 力电信号, 控制器 202用于根据重力电信号确定重力方向, 并根据重力方向控制 机器人的动作。 该优选实施例的机器人的多个肢体部件 100至少包括三个肢体部 件, 机器人可以通过控制多个肢体部件 100中的任意两个肢体部件行走。 该优选 的实施例的机器人可在跳起之后, 可以以任意两个肢体部件落地, 实现站立和 走动。 各个肢体部件的末端的表面可以设置有减震的橡胶垫, 与主体的连接处 也可以设置有有减震的弹簧, 弹簧与各磁铁、 磁环之间产生的引力需要小于躯 干部 200与各个肢体部件之间的引力。  [0064] Preferably, the trunk portion 200 may further include a gravity sensor connected to the controller 202 for sensing a gravity electric signal, the controller 202 for determining a gravity direction according to the gravity electric signal, and controlling the movement of the robot according to the gravity direction. . The plurality of limb members 100 of the robot of the preferred embodiment includes at least three limb members, and the robot can walk by controlling any two of the plurality of limb members 100. The robot of the preferred embodiment can be landed with any two limb members to achieve standing and walking after jumping. The surface of the end of each limb member may be provided with a rubber cushion for damping, and the joint with the main body may also be provided with a shock-absorbing spring, and the attraction force generated between the spring and each magnet and the magnetic ring needs to be smaller than that of the trunk portion 200 and each Gravity between limb parts.
[0065] 躯干部 200还可以包括平衡机构, 与控制器 202相连接, 用于接受控制器 202的 控制调节机器人的重心位置。 机器人在跳起之后, 控制器 202可以通过程序计算 后控制最靠近地面的两个肢体部件调整位置使其朝向地面, 准备落地。 优选地 , 平衡机构可以包括配重件和机电机构。 机电结构与控制器相连接, 用于接受 控制器的控制调节配重件的位置以调节机器人的重心位置。 [0065] The trunk 200 may further include a balancing mechanism coupled to the controller 202 for accepting the control of the controller 202 to adjust the position of the center of gravity of the robot. After the robot jumps, the controller 202 can calculate by the program. The two limb parts closest to the ground are then adjusted to position them towards the ground, ready to land. Preferably, the balancing mechanism can include a weight member and an electromechanical mechanism. The electromechanical structure is coupled to the controller for accepting control of the controller to adjust the position of the weight member to adjust the center of gravity of the robot.
[0066] 优选地, 所述躯干部 200还可以包括显示屏, 显示屏可以显示所述机器人的输 出信息。 优选地, 所述躯干部 200还可以包括通讯模块, 通讯模块可以执行与控 制终端的交互通讯。  [0066] Preferably, the torso portion 200 may further include a display screen, and the display screen may display output information of the robot. Preferably, the torso portion 200 may further include a communication module, and the communication module may perform interactive communication with the control terminal.
[0067] 可选地, 多个肢体部件 100在机器人的躯干部 200的预设距离范围之内活动吋, 可以是每个肢体部件各自对应一个活动区域, 例如, 具有六个肢体部件且躯干 部为长方体的机器人, 多个肢体部件 100在机器人的躯干部 200的预设距离范围 之内活动的方式是各个肢体部件分别对应躯干部的一个矩形面, 每个肢体部件 只在对应的矩形面的预设距离范围之内活动。  [0067] Optionally, the plurality of limb members 100 are movable within a preset distance range of the trunk portion 200 of the robot, and each of the limb members may correspond to one active region, for example, having six limb members and a trunk portion. For a rectangular parallelepiped robot, the plurality of limb members 100 are moved within a predetermined distance range of the trunk portion 200 of the robot such that each limb member corresponds to a rectangular face of the trunk portion, and each limb member is only on the corresponding rectangular face. Activities within the preset distance range.
[0068] 在上述实施例中, 机器人在行走至脱落肢体部件的位置之后, 为了控制脱落肢 体部件能够在该脱落肢体部件的对应区域内活动, 可以通过机器人的传感器识 别脱落肢体部件, 例如, 通过机器人躯干部上设置的摄像头识别脱落肢体部件 上设置的标签或发出的光信号, 通过声音传感器接收脱落肢体部件发出的声音 信号等方式识别脱落肢体部件, 在控制器识别出脱落肢体部件之后, 确定脱落 肢体部件所对应的活动区域, 通过控制机器人的重力传感器、 平衡机构等装置 来控制机器人将躯干部上与脱落肢体部件对应的活动区域朝向脱落肢体部件所 在的脱落位置, 最后通过磁力将该脱落肢体部件吸附回机器人躯干部的预设距 离范围之内。 [0068] In the above embodiment, after the robot moves to the position where the limb member is detached, in order to control the detachment of the limb member to be movable in the corresponding region of the detached limb member, the robot member can recognize the detached limb member, for example, The camera provided on the trunk portion of the robot recognizes the label or the light signal emitted from the limb member, and recognizes the limb member by receiving the sound signal from the limb member through the sound sensor. After the controller recognizes the limb member, it determines The movable area corresponding to the limb component is controlled by the gravity sensor and the balance mechanism of the robot to control the robot to move the movable area corresponding to the falling limb part on the trunk part toward the falling position where the limb part is detached, and finally the magnetic body is detached. The limb component is attracted back to the preset distance of the robot's torso.
[0069] 图 2是根据本发明第二实施例的机器人的示意图。 如图 2所示, 该机器人包括躯 干部 200, 头部 101, 胳膊 102, 胳膊 103, 腿 104和腿 105。 躯干部 200的外壳为球 体, 内部包括第一磁环 203和第二磁环 204。 躯干部 200的外壳固定设置有摄像机 205。  2 is a schematic view of a robot in accordance with a second embodiment of the present invention. As shown in Fig. 2, the robot includes a torso cadre 200, a head 101, an arm 102, an arm 103, a leg 104 and a leg 105. The outer casing of the trunk portion 200 is a sphere, and the interior includes a first magnetic ring 203 and a second magnetic ring 204. A camera 205 is fixedly provided to the outer casing of the trunk portion 200.
[0070] 该实施例提供的机器人由一个球体形状的躯干部 200和多个肢体部件组成。 多 个肢体部件包括头部 101, 胳膊 102, 胳膊 103, 腿 104和腿 105, 头部 101为半球 体。 头部 101, 胳膊 102, 胳膊 103, 腿 104和腿 105的表面上分别设置有指示灯 10 10、 指示灯 1020、 指示灯 1030、 指示灯 1040、 指示灯 1050。 [0071] 躯干部 200的内部的第一磁环 203和第二磁环 204与躯干部 200的外壳的内表面保 持预设距离, 第一磁环 203和第二磁环 204的圆心与躯干部 200的外壳的球心重合 , 第一磁环 203和第二磁环 204可以围绕球心旋转, 使得头部 101, 胳膊 102, 胳 膊 103, 腿 104和腿 105可以在躯干部 200表面外受第一磁环 203和第二磁环 204的 磁力吸引运动。 第一磁环 203和第二磁环 204不一定保持垂直的相对位置, 可以 形成任意角度, 角度可以受躯干部 200内部设置的驱动器的控制而变化。 [0070] The robot provided by this embodiment is composed of a spherical body portion 200 and a plurality of limb members. The plurality of limb members include a head 101, an arm 102, an arm 103, a leg 104 and a leg 105, and the head 101 is a hemisphere. The indicator head 10 10, the indicator light 1020, the indicator light 1030, the indicator light 1040, and the indicator light 1050 are respectively disposed on the surfaces of the head 101, the arm 102, the arm 103, the leg 104, and the leg 105. [0071] The first magnetic ring 203 and the second magnetic ring 204 inside the trunk portion 200 are kept at a predetermined distance from the inner surface of the outer casing of the trunk portion 200, and the center and the trunk of the first magnetic ring 203 and the second magnetic ring 204 The center of the outer casing of 200 overlaps, and the first magnetic ring 203 and the second magnetic ring 204 are rotatable about the center of the ball such that the head 101, the arm 102, the arm 103, the leg 104 and the leg 105 can be subjected to the outer surface of the trunk portion 200. The magnetic attraction of one magnetic ring 203 and the second magnetic ring 204 attracts motion. The first magnetic ring 203 and the second magnetic ring 204 do not necessarily maintain a vertical relative position, and may form an arbitrary angle which may be controlled by the control of the driver provided inside the trunk portion 200.
[0072] 本发明的实施例提供了一种机器人控制方法。 本发明实施例提供的机器人控制 方法可以由本发明实施例提供的机器人来执行。  [0072] Embodiments of the present invention provide a robot control method. The robot control method provided by the embodiment of the present invention can be executed by the robot provided by the embodiment of the present invention.
[0073] 图 3是根据本发明实施例的机器人控制方法的流程图。 如图 3所示, 该方法包括 以下步骤:  3 is a flow chart of a robot control method according to an embodiment of the present invention. As shown in Figure 3, the method includes the following steps:
[0074] 步骤 S101, 判断多个肢体部件中是否有肢体部件脱落在躯干部的预设距离范围 之外。  [0074] Step S101, determining whether any of the plurality of limb members falls off the preset distance range of the trunk portion.
[0075] 肢体部件脱落是指肢体部件在躯干部的预设距离范围之外。 该实施例提供的机 器人的躯干部是通过磁力控制多个肢体部件在躯干部的预设距离范围之内活动 的, 如果肢体部件脱落, 则躯干部磁力的大小可能无法将脱落的肢体部件吸引 回躯干部的预设距离范围之内。  [0075] The detachment of the limb member means that the limb member is outside the preset distance range of the trunk portion. The trunk portion of the robot provided by the embodiment is controlled by magnetically controlling a plurality of limb members within a predetermined distance range of the trunk portion. If the limb member is detached, the magnitude of the magnetic force of the trunk portion may not attract the dropped limb member back. The preset distance of the trunk is within the range.
[0076] 判断的结果有两种情况, 第一种情况是多个肢体部件中有肢体部件脱落在躯干 部的预设距离范围之外, 第二种情况是多个肢体部件中没有肢体部件脱落在躯 干部的预设距离范围之外。  [0076] There are two cases of the result of the judgment. In the first case, the limb members of the plurality of limb members fall off the preset distance range of the trunk portion, and the second case is that none of the plurality of limb members falls off. Outside the preset distance of the torso.
[0077] 步骤 S102, 若是, 确定躯干部与脱落肢体部件之间的位置关系。  [0077] Step S102, if yes, determining a positional relationship between the trunk portion and the falling limb member.
[0078] 在步骤 S101之后, 如果判断出多个肢体部件中有肢体部件脱落在躯干部的预设 距离范围之外, 确定躯干部与脱落肢体部件之间的位置关系, 其中, 脱落肢体 部件为多个肢体部件中脱落在躯干部的预设距离范围之外的肢体部件。  [0078] After step S101, if it is determined that a plurality of limb members are out of the preset distance range of the trunk portion, determining a positional relationship between the trunk portion and the falling limb member, wherein the falling limb member is A limb component that falls off a predetermined distance of the torso portion of the plurality of limb members.
[0079] 步骤 S103, 根据躯干部与脱落肢体部件之间的位置关系控制机器人行走至脱落 肢体部件的位置, 并控制躯干部通过磁力控制脱落肢体部件在躯干部的预设距 离范围之内运动。  [0079] Step S103, controlling the robot to walk to the position of the falling limb member according to the positional relationship between the trunk portion and the falling limb member, and controlling the trunk portion to move by the magnetic force to control the falling limb member to move within the preset distance range of the trunk portion.
[0080] 步骤 S104, 若否, 控制躯干部通过磁力控制脱落肢体部件在躯干部的预设距离 范围之内运动。 [0081] 在步骤 S101之后, 如果判断出多个肢体部件中没有肢体部件脱落在躯干部的预 设距离范围之外, 控制躯干部通过磁力控制脱落肢体部件在躯干部的预设距离 范围之内运动。 [0080] Step S104, if not, controlling the trunk portion to move by the magnetic force to control the falling limb member to move within a preset distance range of the trunk portion. [0081] After step S101, if it is determined that none of the plurality of limb members is out of the preset distance range of the trunk portion, the control trunk portion is controlled by the magnetic force to be within the preset distance range of the trunk portion of the limb member. motion.
[0082] 该实施例提供的机器人控制方法, 通过判断多个肢体部件中是否有肢体部件脱 落在躯干部的预设距离范围之外, 在判断出多个肢体部件中有肢体部件脱落在 躯干部的预设距离范围之外吋确定躯干部与脱落肢体部件之间的位置关系, 并 根据躯干部与脱落肢体部件之间的位置关系控制机器人行走至脱落肢体部件的 位置, 控制躯干部通过磁力控制脱落肢体部件在躯干部的预设距离范围之内运 动, 解决了相关技术中机器人有肢体部件脱落之后无法自动拼装脱落的肢体部 件的问题, 进而达到了实现机器人自动拼装脱落的肢体部件的效果。  [0082] The robot control method provided by the embodiment determines that any of the plurality of limb components is out of the preset distance range of the trunk portion, and determines that the limb components are detached from the trunk portion of the plurality of limb components. Outside the preset distance range, determine the positional relationship between the trunk part and the falling limb part, and control the position of the robot walking to the falling limb part according to the positional relationship between the trunk part and the falling part part, and control the trunk part to be controlled by magnetic force The detached limb member moves within a preset distance range of the trunk portion, and solves the problem that the robot component that cannot be automatically assembled and detached after the limb member is detached in the related art, thereby achieving the effect of realizing the robot component that the robot automatically assembles and detaches.
[0083] 执行该实施例的机器人控制方法的机器人可以包括躯干部和多个肢体部件, 躯 干部通过磁力控制多个肢体部件在躯干部的预设距离范围之内运动。 判断多个 肢体部件中是否有肢体部件脱落在躯干部的预设距离范围之外的方式可以是通 过在多个肢体部件上分别设置感应装置, 感应该感应装置对应的肢体部件与躯 干部之间的物理参数。  The robot that executes the robot control method of the embodiment may include a torso portion and a plurality of limb members that are controlled by magnetic force to move the plurality of limb members within a predetermined distance range of the trunk portion. Determining whether a plurality of limb members are out of the preset distance range of the trunk portion may be provided by respectively providing sensing means on the plurality of limb members to sense the corresponding limb member and the trunk portion of the sensing device Physical parameters.
[0084] 如果有肢体部件的感应装置感应到的物理参数在预设阈值范围之外, 则判断出 多个肢体部件中有肢体部件脱落在躯干部的预设距离范围之外, 若否, 如果所 有肢体部件的感应装置感应到的物理参数均在预设阈值范围之内, 则判断出多 个肢体部件中没有肢体部件脱落在躯干部的预设距离范围之外。  [0084] if the physical parameter sensed by the sensing device of the limb component is outside the preset threshold range, it is determined that the limb component of the plurality of limb components falls off the preset distance range of the trunk, if not, if When the physical parameters sensed by the sensing devices of all the limb components are within a preset threshold range, it is determined that no limb components of the plurality of limb components fall off the preset distance range of the trunk.
[0085] 当某个肢体部件的感应装置感应到的物理参数在预设阈值范围之外吋, 该肢体 部件判断出脱落在躯干部的预设距离范围之外。 在感应到物理参数在预设阈值 范围之外吋, 发出报警信号, 例如, 声音信号、 光信号等, 以提示躯干部。 躯 干部可以设置有能够接受报警信号的接收装置。  [0085] When the physical parameter sensed by the sensing means of a certain limb component is outside the preset threshold range, the limb component determines that it is out of the preset distance range of the trunk. When the physical parameter is sensed outside the preset threshold range, an alarm signal, such as a sound signal, an optical signal, or the like, is issued to prompt the torso. The cadre can be provided with a receiving device that can receive an alarm signal.
[0086] 可选地, 躯干部表面可以设置有感光传感器, 多个肢体部件表面分别设置有指 示灯, 用于在指示灯对应的肢体部件脱落在躯干部的预设距离范围之外吋发出 光信号。 确定躯干部与脱落肢体部件之间的位置关系的具体方法可以是判断感 光传感器是否接收到指示灯发出的光信号; 如果判断出感光传感器接收到指示 灯发出的光信号, 根据接收到的光信号确定感光传感器与指示灯之间的相对方 向和相对距离以确定躯干部与脱落肢体部件之间的相对方向和相对距离, 若否 , 控制感光传感器继续搜索指示灯发出的光信号。 [0086] Optionally, the surface of the trunk portion may be provided with a photosensitive sensor, and the surface of each of the plurality of limb components is respectively provided with an indicator light for emitting light outside a preset distance range in which the limb component corresponding to the indicator light falls off the torso portion signal. The specific method for determining the positional relationship between the trunk portion and the falling limb member may be determining whether the photosensitive sensor receives the light signal emitted by the indicator light; if it is determined that the light sensor receives the light signal from the indicator light, according to the received light signal Determine the opposite of the sensor and indicator The relative distance and the relative distance between the torso and the disengaged limb components are determined, and if not, the photosensitive sensor is controlled to continue searching for the optical signal emitted by the indicator light.
[0087] 可选地, 躯干部表面可以设置有摄像头。 具体地, 摄像头可以是固定在躯干部 表面的。 确定躯干部与脱落肢体部件之间的位置关系的方法可以是: 控制躯干 部绕竖直方向转动以控制摄像头绕竖直方向转动, 其中, 在躯干部转动吋, 控 制摄像头拍摄图像; 通过预设图像处理算法在摄像头拍摄的图像中识别脱落肢 体部件的形状以搜索脱落肢体部件, 其中, 在摄像头拍摄的图像中搜索到脱落 肢体部件之后, 控制躯干部停止转动, 在控制躯干部停止转动之后, 确定躯干 部与脱落肢体部件之间的位置关系。  [0087] Alternatively, the body surface may be provided with a camera. Specifically, the camera may be fixed to the surface of the trunk. The method for determining the positional relationship between the trunk portion and the falling limb member may be: controlling the rotation of the trunk portion in the vertical direction to control the rotation of the camera in the vertical direction, wherein, after rotating the torso portion, controlling the camera to take an image; The image processing algorithm identifies the shape of the detached limb component in the image captured by the camera to search for the detached limb component, wherein after searching for the detached limb component in the image captured by the camera, the control trunk stops rotating, and after controlling the trunk to stop rotating, Determine the positional relationship between the trunk and the dropped limb components.
[0088] 优选地, 作为该实施例的一个优选实施例, 可以在确定躯干部与脱落肢体部件 之间的位置关系之后, 确定机器人行走至脱落肢体部件的位置的行走路线, 根 据脱落肢体部件与躯干部之间的位置关系控制机器人行走至脱落肢体部件的位 置可以是控制机器人按照行走路线行走至脱落肢体部件的位置。  [0088] Preferably, as a preferred embodiment of the embodiment, after determining the positional relationship between the trunk portion and the detached limb member, the walking route of the robot to the position of the detached limb member may be determined, according to the detached limb member and The positional relationship between the trunk portions controls the position at which the robot walks to the detached limb member may be a position at which the robot is controlled to travel to the detached limb member in accordance with the walking route.
[0089] 多个肢体部件在机器人的躯干部 200的预设距离范围之内活动吋, 可以是每个 肢体部件各自对应一个活动区域, 例如, 具有六个肢体部件且躯干部为长方体 的机器人, 多个肢体部件 100在机器人的躯干部 200的预设距离范围之内活动的 方式是各个肢体部件分别对应躯干部的一个矩形面, 每个肢体部件只在对应的 矩形面的预设距离范围之内活动。 优选地, 在控制躯干部通过磁力控制脱落肢 体部件在躯干部的预设距离范围之内运动之前, 可以先确定脱落肢体部件的活 动区域, 其中, 活动区域为在躯干部上的区域, 然后控制躯干部将活动区域朝 向脱落肢体部件。  [0089] The plurality of limb members are movable within a preset distance range of the trunk portion 200 of the robot, and each of the limb members may correspond to one active region, for example, a robot having six limb members and a trunk portion being a rectangular parallelepiped. The manner in which the plurality of limb members 100 move within a predetermined distance range of the trunk portion 200 of the robot is that each of the limb members respectively corresponds to a rectangular surface of the trunk portion, and each of the limb members only has a predetermined distance range corresponding to the corresponding rectangular surface. In-house activities. Preferably, before the control trunk portion is moved by magnetic force to move the falling limb member within a preset distance range of the trunk portion, the active region of the falling limb member may be determined, wherein the active region is the region on the trunk portion, and then controlled The trunk portion faces the active area toward the limb member.
[0090] 需要说明的是, 在附图的流程图示出的步骤可以在诸如一组计算机可执行指令 的计算机系统中执行, 并且, 虽然在流程图中示出了逻辑顺序, 但是在某些情 况下, 可以以不同于此处的顺序执行所示出或描述的步骤。  [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] 本发明的实施例还提供了一种机器人控制装置。 本发明实施例的机器人控制装 置可以用于执行本发明实施例的机器人控制方法, 本发明实施例的机器人控制 装置可以用于控制本发明实施例提供的机器人。  [0091] Embodiments of the present invention also provide a robot control device. The robot control device of the embodiment of the present invention can be used to execute the robot control method according to the embodiment of the present invention. The robot control device of the embodiment of the present invention can be used to control the robot provided by the embodiment of the present invention.
[0092] 图 4是根据本发明第一实施例的机器人控制装置的示意图。 如图 4所示, 该装置 包括判断单元 10, 确定单元 20, 第一控制单元 30和第二控制单元 40。 4 is a schematic diagram of a robot control apparatus according to a first embodiment of the present invention. As shown in Figure 4, the device The determination unit 10, the determination unit 20, the first control unit 30 and the second control unit 40 are included.
[0093] 该实施例的机器人控制装置控制的机器人包括躯干部和多个肢体部件, 躯干部 通过磁力控制多个肢体部件在躯干部的预设距离范围之内运动。 The robot controlled by the robot control device of this embodiment includes a trunk portion and a plurality of limb members, and the trunk portion is controlled by magnetic force to move the plurality of limb members within a predetermined distance range of the trunk portion.
[0094] 判断单元 10用于判断多个肢体部件中是否有肢体部件脱落在躯干部的预设距离 范围之外。 [0094] The judging unit 10 is configured to judge whether or not a plurality of limb members are out of the range of the preset distance of the trunk portion.
[0095] 确定单元 20用于如果判断出多个肢体部件中有肢体部件脱落在躯干部的预设距 离范围之外, 确定躯干部与脱落肢体部件之间的位置关系, 其中, 脱落肢体部 件为多个肢体部件中脱落在躯干部的预设距离范围之外的肢体部件。  [0095] the determining unit 20 is configured to determine a positional relationship between the trunk portion and the falling limb member if it is determined that the limb member of the plurality of limb members is out of the preset distance range of the trunk portion, wherein the falling limb member is A limb component that falls off a predetermined distance of the torso portion of the plurality of limb members.
[0096] 第一控制单元 30用于根据躯干部与脱落肢体部件之间的位置关系控制机器人行 走至脱落肢体部件的位置。  [0096] The first control unit 30 is configured to control the position of the robot to walk to the detached limb member according to the positional relationship between the trunk portion and the detached limb member.
[0097] 第二控制单元 40用于在机器人行走至脱落肢体部件的位置或判断出多个肢体部 件中有肢体部件脱落在躯干部的预设距离范围之外之后控制躯干部通过磁力控 制脱落肢体部件在躯干部的预设距离范围之内运动。  [0097] The second control unit 40 is configured to control the trunk portion to magnetically control the falling limb after the robot walks to the position of the falling limb member or determines that the limb member falls out of the preset distance range of the trunk portion of the plurality of limb members. The component moves within a preset distance range of the torso.
[0098] 图 5是根据本发明第二实施例的机器人控制装置的示意图。  5 is a schematic diagram of a robot control apparatus according to a second embodiment of the present invention.
[0099] 该实施例的机器人控制装置控制的机器人包括躯干部和多个肢体部件, 躯干部 通过磁力控制多个肢体部件在躯干部的预设距离范围之内运动。 如图 5所示, 该 实施例的机器人控制装置包括控制器 202, 控制器 202可以包括判断单元, 确定 单元, 第一控制单元和第二控制单元。 判断单元用于判断多个肢体部件中是否 有肢体部件脱落在躯干部的预设距离范围之外。 确定单元用于如果判断出多个 肢体部件中有肢体部件脱落在躯干部的预设距离范围之外, 确定躯干部与脱落 肢体部件之间的位置关系, 其中, 脱落肢体部件为多个肢体部件中脱落在躯干 部的预设距离范围之外的肢体部件。 第一控制单元用于根据躯干部与脱落肢体 部件之间的位置关系控制机器人行走至脱落肢体部件的位置。 第二控制单元用 于控制躯干部通过磁力控制脱落肢体部件在躯干部的预设距离范围之内运动。  [0099] The robot controlled by the robot control device of this embodiment includes a trunk portion and a plurality of limb members, and the trunk portion is controlled by magnetic force to move the plurality of limb members within a predetermined distance range of the trunk portion. As shown in Fig. 5, the robot control apparatus of this embodiment includes a controller 202, and the controller 202 may include a judging unit, a determining unit, a first control unit, and a second control unit. The judging unit is configured to judge whether or not the plurality of limb members are out of the preset distance range of the trunk portion. The determining unit is configured to determine a positional relationship between the trunk portion and the falling limb member if it is determined that a plurality of limb members are out of the preset distance range of the trunk portion, wherein the falling limb member is a plurality of limb members A limb component that falls off a predetermined distance from the torso. The first control unit is configured to control the position at which the robot walks to the detached limb member based on the positional relationship between the trunk portion and the detached limb member. The second control unit is configured to control the trunk portion to move by the magnetic force to control the falling of the limb member within a predetermined distance range of the trunk portion.
[0100] 该实施例的机器人控制装置还可以包括语音接收器 206, 可以设置在机器人的 躯干部的表面, 语音接收器 206可以是话筒。 机器人通过语音接收器 206接收语 音信号, 通过和语音接收器 206相连接的语音识别模块判断语音信号是否为语音 指令, 具体地, 语音识别模块可以是语音语义识别系统, 用于识别语音信号的 含义, 判断语音信号是否包含有控制机器人执行动作的信息。 如果该语音信号 是语音指令, 则通过指令解析模块解析该指令为控制器 202可以执行的指令, 语 音识别模块可以与指令解析模块相连接, 控制器 202包括语音识别模块和指令解 析模块, 控制器 202可以执行解析后的指令, 控制机器人执行指令所指示的动作 [0100] The robot control apparatus of this embodiment may further include a voice receiver 206 that may be disposed on a surface of a torso portion of the robot, and the voice receiver 206 may be a microphone. The robot receives the voice signal through the voice receiver 206, and determines whether the voice signal is a voice command through the voice recognition module connected to the voice receiver 206. Specifically, the voice recognition module may be a voice semantic recognition system for recognizing the voice signal. Meaning, whether the voice signal contains information that controls the execution of the robot. If the voice signal is a voice command, the command parsing module parses the command as an instruction that the controller 202 can execute, and the voice recognition module can be connected to the command parsing module. The controller 202 includes a voice recognition module and an instruction parsing module, and the controller 202 can execute the parsed instruction to control the action indicated by the robot execution instruction
[0101] 该实施例的机器人控制装置还包括驱动器 208, 驱动器 208与控制器 202相连接[0101] The robot control apparatus of this embodiment further includes a driver 208, and the driver 208 is connected to the controller 202.
, 可以设置在躯干部的内部, 用于执行机器人控制器 202发出的指令, 驱动机器 人的多个肢体部件执行指令所指示的动作。 It may be disposed inside the trunk portion for executing an instruction issued by the robot controller 202 to drive a plurality of limb members of the robot to perform an action indicated by the instruction.
[0102] 例如, 寻找脱落肢体部件, 并自动靠近脱落肢体部件; 驱动各个肢体部件在躯 干部预设距离范围之内运动, 变换位置, 复原各个肢体部件的位置至初始位置 , 通过驱动各个肢体部件的位置变换以切换机器人实现行走、 站立等动作所采 用的肢体部件, 机器人可以控制任意两个肢体部件作为支撑机器人完成行走、 站立等动作的肢体部件, 并可以根据控制器 202的指令控制机器人变换行走所使 用的肢体部件; 机器人可以通过控制器 202控制驱动器 208, 以驱动机器人最接 近地面的两个肢体部件进行站立和行走, 控制器 202可以根据与控制器 202相连 接的平衡机电机构 209确定的重力的参数确定重力方向, 以确定最接近地面的两 个肢体部件; 机器人还可以执行躲避障碍物等行为。 机器人执行的动作可以是 受语音指令控制的, 也可以是通过控制器 202根据其它单元反馈的参数确定动作 指令以控制机器人自动动作。  [0102] For example, finding a falling limb member and automatically approaching the falling limb member; driving each limb member to move within a preset distance range of the trunk portion, changing the position, restoring the position of each limb member to the initial position, and driving each limb member by driving each limb member The position change is to switch the limb components used by the robot to perform walking, standing, etc., and the robot can control any two limb members as limb members that support the robot to perform walking, standing, etc., and can control the robot transformation according to the instruction of the controller 202. The limb component used for walking; the robot can control the driver 208 through the controller 202 to drive the two limb components of the robot closest to the ground for standing and walking, and the controller 202 can be determined according to the balancing electromechanical mechanism 209 connected to the controller 202. The gravity parameter determines the direction of gravity to determine the two limb components that are closest to the ground; the robot can also perform actions such as avoiding obstacles. The actions performed by the robot may be controlled by voice commands, or may be determined by the controller 202 according to parameters fed back by other units to control the automatic actions of the robot.
[0103] 该实施例的机器人控制装置还可以包括摄像头 205, 摄像头 205可以固定设置在 机器人的躯干部的表面, 用于拍摄图像。 具体地, 控制器 202在判断出机器人有 脱落的肢体部件之后, 可以控制躯干部绕竖直方向旋转, 摄像头 205固定在躯干 部表面, 跟随躯干部绕竖直方向旋转, 同吋拍摄图像, 控制器 202可以包括图像 处理单元, 用于根据预设的图像处理算法来识别图像中是否有肢体部件的形状 , 并计算脱落肢体部件与躯干部之间的位置关系, 确定行走路线。  [0103] The robot control apparatus of this embodiment may further include a camera 205 which may be fixedly disposed on the surface of the trunk portion of the robot for taking an image. Specifically, after determining that the robot has the limb component that has fallen off, the controller 202 can control the trunk to rotate in the vertical direction, the camera 205 is fixed on the surface of the trunk, rotates along the trunk in the vertical direction, and simultaneously captures an image, and controls The device 202 may include an image processing unit for identifying whether there is a shape of the limb member in the image according to a preset image processing algorithm, and calculating a positional relationship between the dropped limb member and the trunk portion to determine a walking route.
[0104] 机器人的各个肢体部件上可以设置有指示灯和感应装置, 肢体部件在通过感应 装置感应到肢体部件脱落后控制指示灯发出光信号。 机器人控制装置还可以包 括感光传感器 207, 感光传感器 207可以设置在机器人的躯干部的表面, 具体地 , 感光传感器 207可以固定设置, 可以根据感光传感器 207能够覆盖的范围在躯 干部表面的不同位置设置多个感光传感器 207, 以使感光传感器 207能够感应的 范围覆盖躯干部四周的区域, 感应躯干部四周是否有光信号, 或者, 感光传感 器 207也可以固定设置在躯干部表面, 通过躯干部的运动来搜寻四周的光信号, 通过控制器 202计算感光传感器 207与光信号之间的相对方位和相对距离来确定 躯干部与脱落肢体部件之间的相对位置关系, 以确定机器人自动靠近脱落肢体 部件的行走路线。 [0104] Each of the limb members of the robot may be provided with an indicator light and an inductive device, and the limb member controls the indicator light to emit an optical signal after the limb member is sensed by the sensing device. The robot control device may further include a photosensitive sensor 207, and the photosensitive sensor 207 may be disposed on a surface of the trunk portion of the robot, specifically The photosensitive sensor 207 can be fixedly disposed. The plurality of photosensitive sensors 207 can be disposed at different positions on the surface of the trunk portion according to the range that the photosensitive sensor 207 can cover, so that the range that the photosensitive sensor 207 can sense covers the area around the trunk portion, and the body portion is sensed. Whether there is a light signal around, or the photosensitive sensor 207 can also be fixedly disposed on the surface of the trunk portion, and the surrounding light signal is searched for by the movement of the trunk portion, and the relative orientation and relative between the photosensitive sensor 207 and the light signal are calculated by the controller 202. The distance is used to determine the relative positional relationship between the torso and the disengaged limb components to determine the path of the robot to automatically approach the disengaged limb component.
[0105] 显然, 本领域的技术人员应该明白, 上述的本发明的各模块或各步骤可以用通 用的计算装置来实现, 它们可以集中在单个的计算装置上, 或者分布在多个计 算装置所组成的网络上, 可选地, 它们可以用计算装置可执行的程序代码来实 现, 从而, 可以将它们存储在存储装置中由计算装置来执行, 或者将它们分别 制作成各个集成电路模块, 或者将它们中的多个模块或步骤制作成单个集成电 路模块来实现。 这样, 本发明不限制于任何特定的硬件和软件结合。  [0105] 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.
[0106] 以上所述仅为本发明的优选实施例而已, 并不用于限制本发明, 对于本领域的 技术人员来说, 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内 , 所作的任何修改、 等同替换、 改进等, 均应包含在本发明的保护范围之内。  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 to the present invention. 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

权利要求书 Claim
[权利要求 1] 一种机器人控制方法, 其特征在于, 机器人包括躯干部和多个肢体部 件, 所述躯干部通过磁力控制所述多个肢体部件在所述躯干部的预设 距离范围之内运动, 所述方法包括:  [Claim 1] A robot control method, comprising: a trunk portion and a plurality of limb members, wherein the trunk portion controls a plurality of limb members within a preset distance range of the trunk portion by magnetic force Movement, the method includes:
判断所述多个肢体部件中是否有肢体部件脱落在所述躯干部的预设距 离范围之外;  Determining whether any of the plurality of limb members is detached from a predetermined distance of the trunk portion;
若是, 确定所述躯干部与脱落肢体部件之间的位置关系, 其中, 所述 脱落肢体部件为所述多个肢体部件中脱落在所述躯干部的预设距离范 围之外的肢体部件,  If so, determining a positional relationship between the trunk portion and the falling limb member, wherein the falling limb member is a limb member of the plurality of limb members that falls off a predetermined distance range of the trunk portion,
根据所述躯干部与脱落肢体部件之间的位置关系控制所述机器人行走 至所述脱落肢体部件的位置, 并控制所述躯干部通过磁力控制所述脱 落肢体部件在所述躯干部的预设距离范围之内运动;  Controlling, according to a positional relationship between the trunk portion and the falling limb member, a position at which the robot walks to the falling limb member, and controlling the trunk portion to magnetically control the preset of the falling limb member at the trunk portion Movement within the distance;
若否, 控制所述躯干部通过磁力控制所述脱落肢体部件在所述躯干部 的预设距离范围之内运动。  If not, controlling the trunk portion to control the movement of the disengaged limb member within a predetermined distance range of the torso portion by magnetic force.
[权利要求 2] 根据权利要求 1所述的方法, 其特征在于, 所述多个肢体部件分别设 置有感应装置, 用于感应所述感应装置对应的肢体部件与所述躯干部 之间的物理参数, 判断所述多个肢体部件中是否有肢体部件脱落在所 述躯干部的预设距离范围之外包括:  [Claim 2] The method according to claim 1, wherein the plurality of limb members are respectively provided with sensing means for sensing a physics between the limb member and the trunk portion of the sensing device And determining, by the plurality of limb components, whether the limb component falls off the preset distance range of the trunk portion, including:
判断所述多个肢体部件中各个肢体部件的感应装置感应到的物理参数 是否在预设阈值范围之外,  Determining whether a physical parameter sensed by a sensing device of each of the plurality of limb components is outside a preset threshold range,
若是, 则判断出所述多个肢体部件中有肢体部件脱落在所述躯干部的 预设距离范围之外, 若否, 则判断出所述多个肢体部件中没有肢体部 件脱落在所述躯干部的预设距离范围之外。  If yes, it is determined that none of the plurality of limb members falls out of a predetermined distance range of the trunk portion, and if not, it is determined that none of the plurality of limb members falls off the torso The part of the preset distance is outside the range.
[权利要求 3] 根据权利要求 2所述的方法, 其特征在于, 所述躯干部表面设置有感 光传感器, 所述多个肢体部件表面分别设置有指示灯, 用于在所述指 示灯对应的肢体部件脱落在所述躯干部的预设距离范围之外吋发出光 信号, 确定所述躯干部与脱落肢体部件之间的位置关系包括: 判断所述感光传感器是否接收到所述指示灯发出的光信号; 若是, 根据接收到的光信号确定所述感光传感器与所述指示灯之间的 相对方向和相对距离以确定所述躯干部与所述脱落肢体部件之间的相 对方向和相对距离; [Claim 3] The method according to claim 2, wherein the surface of the trunk portion is provided with a photosensitive sensor, and the surfaces of the plurality of limb members are respectively provided with indicator lights for corresponding to the indicator lights The limb component is detached from the preset distance of the trunk portion to emit an optical signal, and determining the positional relationship between the trunk portion and the detached limb member includes: determining whether the photosensitive sensor receives the indicator light Optical signal If yes, determining a relative direction and a relative distance between the photosensitive sensor and the indicator light according to the received optical signal to determine a relative direction and a relative distance between the torso portion and the falling limb member;
若否, 控制所述感光传感器搜索所述指示灯发出的光信号。  If not, the photosensitive sensor is controlled to search for an optical signal emitted by the indicator.
[权利要求 4] 根据权利要求 1所述的方法, 其特征在于, 所述躯干部表面设置有摄 像头, 确定所述躯干部与脱落肢体部件之间的位置关系包括: 控制所述躯干部绕竖直方向转动以控制所述摄像头绕竖直方向转动, 其中, 在所述躯干部转动吋, 控制所述摄像头拍摄图像; [Claim 4] The method according to claim 1, wherein a surface of the trunk portion is provided with a camera, and determining a positional relationship between the trunk portion and the falling limb member comprises: controlling the trunk portion to be vertical Rotating in a straight direction to control the camera to rotate in a vertical direction, wherein, after the trunk portion is rotated, the camera is controlled to capture an image;
通过预设图像处理算法在所述摄像头拍摄的图像中识别所述脱落肢体 部件的形状以搜索所述脱落肢体部件,  Identifying the shape of the detached limb member in an image captured by the camera by a preset image processing algorithm to search for the detached limb member,
其中, 在所述摄像头拍摄的图像中搜索到所述脱落肢体部件之后, 控 制所述躯干部停止转动, 并确定所述躯干部与脱落肢体部件之间的位 置关系。  After searching for the detached limb member in the image captured by the camera, the trunk portion is controlled to stop rotating, and the positional relationship between the trunk portion and the detached limb member is determined.
[权利要求 5] 根据权利要求 1所述的方法, 其特征在于,  [Claim 5] The method according to claim 1, wherein
在确定所述躯干部与脱落肢体部件之间的位置关系之后, 所述方法还 包括: 确定所述机器人行走至所述脱落肢体部件的位置的行走路线, 根据所述脱落肢体部件与所述躯干部之间的位置关系控制所述机器人 行走至所述脱落肢体部件的位置包括: 控制所述机器人按照所述行走 路线行走至所述脱落肢体部件的位置。  After determining the positional relationship between the trunk portion and the detached limb member, the method further includes: determining a walking route of the robot walking to a position of the detached limb member, according to the detaching limb member and the torso The positional relationship between the portions controls the position at which the robot walks to the detached limb member includes: controlling the robot to travel to the position of the detached limb member in accordance with the walking route.
[权利要求 6] 根据权利要求 1所述的方法, 其特征在于, 在控制所述躯干部通过磁 力控制所述脱落肢体部件在所述躯干部的预设距离范围之内运动之前 , 所述方法还包括:  [Claim 6] The method according to claim 1, wherein the method is controlled before the trunk portion is controlled to magnetically control the falling limb member to move within a predetermined distance range of the trunk portion Also includes:
确定所述脱落肢体部件的活动区域, 其中, 所述活动区域为在所述躯 干部上的区域; 以及  Determining an active area of the detached limb component, wherein the active area is an area on the torso cadre;
控制所述躯干部将所述活动区域朝向所述脱落肢体部件。  Controlling the torso portion to direct the active area toward the detached limb member.
[权利要求 7] —种机器人控制装置, 其特征在于, 机器人包括躯干部和多个肢体部 件, 所述躯干部通过磁力控制所述多个肢体部件在所述躯干部的预设 距离范围之内运动, 所述装置包括: 判断单元, 用于判断所述多个肢体部件中是否有肢体部件脱落在所述 躯干部的预设距离范围之外; [Claim 7] A robot control device, comprising: a trunk portion and a plurality of limb members, wherein the trunk portion controls a plurality of limb members within a preset distance range of the trunk portion by magnetic force Movement, the device comprises: a determining unit, configured to determine whether a limb component of the plurality of limb components falls off a preset distance range of the trunk portion;
确定单元, 用于在判断出所述多个肢体部件中有肢体部件脱落在所述 躯干部的预设距离范围之外之后确定所述躯干部与脱落肢体部件之间 的位置关系, 其中, 所述脱落肢体部件为所述多个肢体部件中脱落在 所述躯干部的预设距离范围之外的肢体部件;  a determining unit, configured to determine a positional relationship between the trunk portion and the falling limb member after determining that a limb member is detached from a predetermined distance range of the trunk portion of the plurality of limb members, wherein The detached limb member is a limb member of the plurality of limb members that falls outside a predetermined distance range of the trunk portion;
第一控制单元, 用于根据所述躯干部与脱落肢体部件之间的位置关系 控制所述机器人行走至所述脱落肢体部件的位置; 第二控制单元, 用于在所述机器人行走至所述脱落肢体部件的位置或 判断出所述多个肢体部件中有肢体部件脱落在所述躯干部的预设距离 范围之外之后控制所述躯干部通过磁力控制所述脱落肢体部件在所述 躯干部的预设距离范围之内运动。  a first control unit, configured to control, according to a positional relationship between the trunk portion and the falling limb member, a position at which the robot walks to the falling limb member; a second control unit, configured to walk to the robot Controlling the trunk portion by magnetically controlling the detached limb member at the trunk portion after the position of the limb member is detached or the limb member is judged to be out of the preset distance range of the trunk portion Movement within the preset distance range.
[权利要求 8] —种机器人, 其特征在于, 包括权利要求 7所述的机器人控制装置。  [Claim 8] A robot comprising the robot control device according to claim 7.
[权利要求 9] 一种机器人, 其特征在于, 包括:  [Claim 9] A robot, comprising:
多个肢体部件;  Multiple limb components;
躯干部, 用于通过磁力控制所述多个肢体部件在所述躯干部的预设距 离范围之内运动,  a trunk portion for controlling, by magnetic force, the plurality of limb members to move within a preset distance range of the trunk portion,
其中, 所述躯干部包括机器人控制装置, 所述机器人控制装置包括: 控制器, 用于判断所述多个肢体部件中是否有肢体部件脱落在所述躯 干部的预设距离范围之外, 在判断出所述多个肢体部件中没有肢体部 件脱落在所述躯干部的预设距离范围之外之后, 控制所述躯干部通过 磁力控制所述脱落肢体部件在所述躯干部的预设距离范围之内运动, 在判断出所述多个肢体部件中有肢体部件脱落在所述躯干部的预设距 离范围之外之后, 确定所述躯干部与脱落肢体部件之间的位置关系, 其中, 所述脱落肢体部件为所述多个肢体部件中脱落在所述躯干部的 预设距离范围之外的肢体部件, 根据所述脱落肢体部件与所述躯干部 之间的位置关系控制所述机器人行走至所述脱落肢体部件的位置, 并 控制所述躯干部通过磁力控制所述脱落肢体部件在所述躯干部的预设 距离范围之内运动。 The trunk portion includes a robot control device, and the robot control device includes: a controller, configured to determine whether a limb component of the plurality of limb components falls off a preset distance range of the trunk portion, After determining that none of the plurality of limb components falls out of a predetermined distance range of the trunk portion, controlling the trunk portion to control a preset distance range of the absent limb member at the trunk portion by magnetic force In the movement, after determining that the limb member is out of the preset distance range of the trunk portion of the plurality of limb members, determining a positional relationship between the trunk portion and the falling limb member, wherein The detached limb member is a limb member of the plurality of limb members that falls outside a predetermined distance range of the trunk portion, and controls the robot to walk according to a positional relationship between the detached limb member and the trunk portion a position to the detached limb member, and controlling the trunk portion to magnetically control the presupposition of the detached limb member at the trunk portion Exercise within range.
[权利要求 10] 根据权利要求 9所述的机器人, 其特征在于, 所述多个肢体部件包括 第一肢体部件, 所述第一肢体部件包括:  [Claim 10] The robot according to claim 9, wherein the plurality of limb members include a first limb member, and the first limb member includes:
感应装置, 设置在所述第一肢体部件上, 用于感应所述第一肢体部件 与所述躯干部之间的物理参数,  An inductive device disposed on the first limb member for sensing a physical parameter between the first limb member and the torso portion,
中央处理器, 与所述感应装置相连接, 用于判断所述多个肢体部件中 各个肢体部件的感应装置感应到的物理参数是否在预设阈值范围之外 以判断所述多个肢体部件中是否有肢体部件脱落在所述躯干部的预设 距离范围之外。  a central processor, connected to the sensing device, configured to determine whether a physical parameter sensed by a sensing device of each of the plurality of limb components is outside a preset threshold range to determine the plurality of limb components Whether or not the limb member falls off the preset distance range of the trunk portion.
[权利要求 11] 根据权利要求 10所述的机器人, 其特征在于, 所述感应装置为力传感 器。  [Claim 11] The robot according to claim 10, wherein the sensing device is a force sensor.
[权利要求 12] 根据权利要求 10所述的机器人, 其特征在于,  [Claim 12] The robot according to claim 10, characterized in that
所述第一肢体部件还包括: 指示灯, 设置在所述第一肢体部件表面, 与所述中央处理器相连接, 用于在所述感应装置感应到的物理参数在 所述预设阈值范围之外吋发出光信号,  The first limb component further includes: an indicator light disposed on a surface of the first limb component and coupled to the central processor, wherein a physical parameter sensed by the sensing device is within the preset threshold range Outside the 吋 emits an optical signal,
所述躯干部还包括: 感光传感器, 设置在所述躯干部表面, 与所述控 制器相连接, 用于接收所述指示灯发出的光信号。  The torso portion further includes: a photosensitive sensor disposed on a surface of the torso portion and connected to the controller for receiving an optical signal emitted by the indicator light.
[权利要求 13] 根据权利要求 9所述的机器人, 其特征在于, 所述躯干部还包括: 摄像头, 设置在所述躯干部的表面, 用于拍摄图像; [Claim 13] The robot according to claim 9, wherein the trunk portion further includes: a camera disposed on a surface of the trunk portion for capturing an image;
驱动机构, 与所述控制器通讯, 用于接收所述控制器的控制驱动所述 躯干部绕竖直方向转动以带动所述摄像头绕竖直方向转动, 其中, 所述摄像头用于在绕竖直方向转动吋拍摄图像, 所述控制器还 用于通过预设图像处理算法在所述摄像头拍摄的图像中识别所述脱落 肢体部件的形状以搜索所述脱落肢体部件, 在搜索到所述脱落肢体部 件之后控制所述躯干部停止转动并确定所述躯干部与所述脱落肢体部 件之间的位置关系。  a driving mechanism, in communication with the controller, for receiving control of the controller, driving the trunk to rotate in a vertical direction to drive the camera to rotate in a vertical direction, wherein the camera is used for Rotating the image in a straight direction, the controller is further configured to identify the shape of the falling limb component in the image captured by the camera by a preset image processing algorithm to search for the falling limb component, and search for the falling off The limb member then controls the torso to stop rotating and determines a positional relationship between the torso portion and the disengaged limb member.
[权利要求 14] 根据权利要求 13所述的机器人, 其特征在于, 所述躯干部的外壳为空 心球体, 所述驱动机构包括: 第一磁环, 设置在所述躯干部的外壳的内部, 与所述躯干部的外壳相 距第一预设距离, 所述第一磁环的圆心与所述躯干部的外壳的球心重 合. [Claim 14] The robot according to claim 13, wherein the outer casing of the trunk portion is a hollow sphere, and the driving mechanism comprises: a first magnetic ring disposed inside the outer casing of the torso portion, at a first predetermined distance from the outer casing of the torso portion, the center of the first magnetic ring coincides with the center of the outer casing of the torso portion.
第二磁环, 设置在所述躯干部的外壳的内部, 与所述躯干部的外壳相 距第二预设距离, 所述第二磁环的圆心与所述躯干部的外壳的球心重 合. a second magnetic ring disposed inside the outer casing of the torso portion, at a second predetermined distance from the outer casing of the torso portion, the center of the second magnetic ring coincides with the center of the outer casing of the torso portion.
驱动器, 与所述控制器通讯, 与所述第一磁环和所述第二磁环相连接 , 用于驱动所述第一磁环和 /或所述第二磁环围绕所述躯干部的外壳 的球心转动, 并控制所述第一磁环的环面和所述第二磁环的环面之间 呈预设角度。 a driver, in communication with the controller, coupled to the first magnetic ring and the second magnetic ring, for driving the first magnetic ring and/or the second magnetic ring around the trunk The center of the outer casing rotates and controls a predetermined angle between the toroid of the first magnetic ring and the annulus of the second magnetic ring.
根据权利要求 14所述的机器人, 其特征在于, 所述第一磁环和 /或所 述第二磁环为环形导线绕组, 所述驱动器还用于控制所述环形导线绕 组上的线圈的电压以控制所述环形导线绕组的磁力。 The robot according to claim 14, wherein the first magnetic ring and/or the second magnetic ring are annular wire windings, and the driver is further configured to control a voltage of a coil on the winding of the annular wire To control the magnetic force of the loop wire winding.
根据权利要求 14所述的机器人, 其特征在于, 所述多个肢体部件包括 第一肢体部件, 所述第一肢体部件包括顶端和末端, 所述第一肢体部 件的顶端靠近所述躯干部的表面, 所述第一肢体部件包括: 第一磁铁, 设置在所述第一肢体部件的顶端, 所述第一磁铁用于受所 述第一磁环和 /或所述第二磁环的磁力的吸引以控制所述第一肢体部 件在所述躯干部的预设距离范围之内运动; The robot according to claim 14, wherein the plurality of limb members include a first limb member, the first limb member includes a top end and an end, and a top end of the first limb member is adjacent to the trunk portion a first limb member comprising: a first magnet disposed at a top end of the first limb member, the first magnet being adapted to receive a magnetic force of the first magnetic ring and/or the second magnetic ring Attracting to control movement of the first limb component within a predetermined distance range of the torso portion;
第二磁铁, 设置在所述第一肢体部件的末端, 所述第二磁铁为各向同 性磁铁。 A second magnet is disposed at an end of the first limb member, and the second magnet is an isotropic magnet.
根据权利要求 16所述的机器人, 其特征在于, 所述多个肢体部件中的 各个肢体部件包括顶端和末端, 所述多个肢体部件中各个肢体部件的 末端分别设置有所述第二磁铁, 所述多个肢体部件中各个肢体部件的 第二磁铁的磁性相同。 The robot according to claim 16, wherein each of the plurality of limb members includes a top end and an end, and the end of each of the plurality of limb members is respectively provided with the second magnet, The second magnets of the respective limb members of the plurality of limb members have the same magnetic properties.
根据权利要求 16所述的机器人, 其特征在于, 所述第一肢体部件的末 端设置有减震装置, 其中, 所述减震装置产生的磁力小于预设阈值。 根据权利要求 14所述的机器人, 其特征在于, 所述多个肢体部件包括 头部, 所述头部为半球体, 所述头部包括: The robot according to claim 16, wherein the end of the first limb member is provided with a damping device, wherein the magnetic force generated by the damping device is less than a preset threshold. The robot according to claim 14, wherein said plurality of limb members comprise a head, the head is a hemisphere, and the head includes:
第三磁铁, 设置在所述头部的半球体的底面, 所述第三磁铁用于受所 述第一磁环和 /或所述第二磁环的磁力的吸引以控制所述头部在所述 躯干部的预设距离范围之内运动。  a third magnet disposed on a bottom surface of the hemisphere of the head, the third magnet being adapted to be attracted by a magnetic force of the first magnetic ring and/or the second magnetic ring to control the head The torso moves within a predetermined distance range.
[权利要求 20] 根据权利要求 9所述的机器人, 其特征在于,  [Claim 20] The robot according to claim 9, wherein
所述躯干部还包括: 语音接收器, 设置于所述躯干部表面, 用于接收 语音指令,  The trunk portion further includes: a voice receiver disposed on a surface of the trunk portion for receiving a voice command,
其中, 所述控制器包括: 语音识别模块, 与所述语音接收器相连接, 用于识别所述语音指令并将所述语音指令的格式转换为所述控制器的 指令格式。  The controller includes: a voice recognition module, coupled to the voice receiver, configured to identify the voice command and convert a format of the voice command into an instruction format of the controller.
[权利要求 21] 根据权利要求 9所述的机器人, 其特征在于, 所述躯干部还包括: 重力传感器, 与所述控制器相连接, 用于感应重力电信号, 所述控制 器用于根据所述重力电信号确定重力方向, 并根据所述重力方向控制 所述机器人的动作。  [Claim 21] The robot according to claim 9, wherein the trunk portion further comprises: a gravity sensor connected to the controller for sensing a gravity electric signal, wherein the controller is configured to The gravity electrical signal determines the direction of gravity and controls the motion of the robot based on the direction of gravity.
[权利要求 22] 根据权利要求 21所述的机器人, 其特征在于, 所述躯干部还包括: 平衡机构, 与所述控制器相连接, 用于接受所述控制器的控制调节所 述机器人的重心位置。  [Claim 22] The robot according to claim 21, wherein the torso portion further comprises: a balancing mechanism connected to the controller for accepting control of the controller to adjust the robot Center of gravity.
[权利要求 23] 根据权利要求 22所述的机器人, 其特征在于, 所述平衡机构包括: 配重件;  [Claim 23] The robot according to claim 22, wherein the balancing mechanism comprises: a weight member;
机电结构, 与所述控制器相连接, 用于接收所述控制器的控制调节所 述配重件的位置以调节所述机器人的重心位置。  An electromechanical structure coupled to the controller for receiving control of the controller to adjust a position of the weight member to adjust a position of a center of gravity of the robot.
[权利要求 24] 根据权利要求 9所述的机器人, 其特征在于, 所述多个肢体部件至少 包括三个肢体部件, 所述机器人通过控制所述多个肢体部件中的任意 两个肢体部件行走。 [Claim 24] The robot according to claim 9, wherein the plurality of limb members include at least three limb members, and the robot walks by controlling any two of the plurality of limb members .
[权利要求 25] 根据权利要求 9所述的机器人, 其特征在于, 所述躯干部还包括: 显示屏, 用于显示所述机器人的输出信息。  [Claim 25] The robot according to claim 9, wherein the trunk portion further comprises: a display screen for displaying output information of the robot.
[权利要求 26] 根据权利要求 9所述的机器人, 其特征在于, 所述躯干部还包括: 通讯模块, 用于执行与控制终端的交互通讯。 [Claim 26] The robot according to claim 9, wherein the trunk portion further comprises: a communication module, configured to perform interaction communication with the control terminal.
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