CN109048900B - Robot, robot control system, method and device - Google Patents
Robot, robot control system, method and device Download PDFInfo
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- CN109048900B CN109048900B CN201810928748.6A CN201810928748A CN109048900B CN 109048900 B CN109048900 B CN 109048900B CN 201810928748 A CN201810928748 A CN 201810928748A CN 109048900 B CN109048900 B CN 109048900B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1656—Program controls characterised by programming, planning systems for manipulators
- B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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Abstract
The application provides a robot, a robot control method, a device and a system; wherein, the robot control method comprises: receiving and identifying at least one preset wireless radio frequency control signal according to a preset sequence; analyzing at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal; and controlling the motion path of the robot according to at least one motion control command signal. By the robot control method, the walking path of the robot can be controlled more stably.
Description
Technical Field
The application relates to the field of robot control, in particular to a robot, a robot control system, a robot control method and a robot control device.
Background
Most of the path control methods of intelligent robots in the current market adopt a video recognition path control method, that is, a camera on the robot is used for analyzing and processing images captured by the robot, and the path control of the robot is controlled through an instruction obtained through analysis. However, the method for controlling the path of the robot has high cost and relatively complex modules, and when the camera cannot correctly capture the image of the object due to problems such as the placement angle of the object, the robot cannot correctly recognize the information in the image, so that the robot cannot walk along the correct path, and the stability of the path control is reduced.
Disclosure of Invention
The application provides a robot, a robot control system, a robot control method, a robot control device and a radio frequency signal transmitting device, which are used for solving the problem that the robot in the existing robot path control method is unstable in walking.
According to an aspect of the present application, there is provided a robot control method including: receiving and identifying at least one preset wireless radio frequency control signal according to a preset sequence; analyzing at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal; and controlling the motion path of the robot according to at least one motion control command signal.
In some embodiments, controlling the motion path of the robot according to at least one of the motion control command signals further comprises: and timing the motion time of the robot within a preset time, and controlling the motion state of the robot according to the preset time.
In some embodiments, controlling the motion state of the robot according to the predetermined time includes: and when the timing result of timing the movement time of the robot in the preset time is equal to the preset time, controlling the robot to stop moving.
In some embodiments, controlling the motion state of the robot according to the predetermined time includes: and when one of the at least one preset radio frequency control signal is received within the preset time, clearing the timing result for timing the movement time of the robot within the preset time, and controlling the robot to continue moving according to the current movement control instruction.
In some embodiments, the recording is performed each time the timing result clears.
In some embodiments, the timing is restarted each time the recording is completed.
In some embodiments, each time the timing is restarted, the robot is controlled to search for the next preset radio frequency control signal according to the current motion control command signal.
In some embodiments, the motion control command signal is a motion direction control command signal.
According to another aspect of the present application, there is provided a robot control method including: presetting at least one wireless radio frequency control signal according to a preset sequence; and sending at least one preset wireless radio frequency control signal to the robot according to the preset sequence, receiving, identifying and analyzing the at least one preset wireless radio frequency control signal by the robot, obtaining at least one motion control instruction signal, and controlling a motion path of the robot according to the at least one motion instruction signal.
According to another aspect of the present application, there is provided a robot control apparatus including: the receiving module is used for receiving and identifying at least one preset wireless radio frequency control signal according to a preset sequence; the analysis module is used for analyzing at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal; and the control module is used for controlling the motion path of the robot according to at least one motion control instruction signal.
In some embodiments, the control module is further configured to: and timing the motion time of the robot within a preset time, and controlling the motion state of the robot according to the preset time.
In some embodiments, the control module controls the motion state of the robot according to the predetermined time, including: and when the timing result of timing the movement time of the robot in the preset time is equal to the preset time, the control module controls the robot to stop moving.
In some embodiments, the control module controls the motion state of the robot according to the predetermined time, including: and when one of the at least one preset radio frequency control signal is received within the preset time, clearing the timing result for timing the movement time of the robot within the preset time, and controlling the robot to continue moving according to the current movement control instruction.
In some embodiments, the control module is further configured to: every time the timing result is cleared, recording is performed.
In some embodiments, the control module is further configured to: every time the recording is completed, the timing is restarted.
In some embodiments, the control module is further configured to: and after timing is restarted, the control module controls the robot to search the next preset wireless radio frequency control signal according to the current motion control instruction signal.
In some embodiments, the motion control command signal is a motion direction control command signal.
According to another aspect of the present application, a wireless radio frequency signal transmitting apparatus is provided, which includes: the device comprises a setting module, a control module and a control module, wherein the setting module is used for presetting at least one wireless radio frequency control signal according to a preset sequence; and the sending module is used for sending at least one preset wireless radio frequency control signal to the robot according to the preset sequence, wherein the robot receives, identifies and analyzes at least one preset wireless radio frequency control signal to obtain at least one motion control instruction signal, and controls a motion path of the robot according to the at least one motion instruction signal.
According to another aspect of the present application, there is provided a robot control system including: at least one wireless radio frequency signal transmitting device and a robot control device; wherein, at least one wireless radio frequency signal transmitting device comprises: the device comprises a setting module, a control module and a control module, wherein the setting module is used for presetting at least one wireless radio frequency control signal according to a preset sequence; the sending module is used for sending at least one preset wireless radio frequency control signal to the robot according to the preset sequence, wherein the robot receives, identifies and analyzes at least one preset wireless radio frequency control signal to obtain at least one motion control instruction signal, and controls a motion path of the robot according to the at least one motion instruction signal; the robot control device includes: the receiving module is used for receiving and identifying at least one preset wireless radio frequency control signal according to the preset sequence; the analysis module is used for analyzing at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal; and the control module is used for controlling the motion path of the robot according to at least one motion control instruction signal.
According to another aspect of the present application, there is provided a robot including a body and a robot control device, the robot control device including: the receiving module is configured to receive and identify at least one preset wireless radio frequency control signal according to a preset sequence; the analysis module is configured to analyze at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal; and the control module is configured to control the motion path of the robot according to at least one motion control command signal.
According to the robot, the robot control system, the robot control method, the robot control device and the radio frequency signal transmitting device, the radio frequency identification technology is adopted for the control path of the robot, and compared with a path control scheme of video identification, the implementation scheme of the path control is lower in cost, simpler in module and more stable in path control.
Reference is made in detail to the following description and accompanying drawings that form a part hereof, and in which is shown by way of illustration specific embodiments in which the principles of the subject application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations represent like elements and in which:
fig. 1 is an overall flowchart of a robot control method according to the present application;
FIG. 2 is a schematic diagram of a customs map layout for controlling a robot by using the robot control method of the present application according to an embodiment of the present application;
FIG. 3 is an overall flow diagram of another robot control method according to the present application;
fig. 4 is an overall structural schematic diagram of a robot control device according to the present application;
fig. 5 is a schematic diagram of the overall structure of a wireless radio frequency signal transmitting device according to the present application;
fig. 6 is an overall structural schematic diagram of a robot control system according to the present application;
fig. 7 is a perspective view of a robot according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be embodied as a system, apparatus, device, method, or computer program product. Thus, the present application may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
The principles and spirit of the present application are explained in detail below with reference to several representative embodiments of the present application.
The route of the customs map can be displayed in the corresponding APP of the portable electronic equipment, a user can put a motion instruction card in reality according to the route of the customs map displayed in the APP, so that the route formed by the motion instruction card is consistent with the route of the customs map displayed on the mobile phone, after the robot receives a Bluetooth control instruction or a voice control instruction, for example, the Bluetooth control instruction can be that when the user presses a 'start' button in the APP interface of the portable electronic equipment, and the voice control instruction can be that the user sends a 'start' voice signal to the robot, the robot can walk on the map according to the motion instruction on the card, if the user is correctly put, the robot can smoothly reach a destination according to the route formed by the motion instruction card, the route of the robot is consistent with the customs route on the APP of the portable electronic equipment, and customs passes successfully, the portable electronic device includes, but is not limited to, a mobile phone, a computer, a tablet computer, and the like. Because the robot receives and identifies the corresponding control signal in the card through the radio frequency identification technology, and analyzes the corresponding control signal into a motion control instruction signal so as to finally control the motion path of the robot, compared with a path control scheme of video identification, the implementation scheme of the path control has the advantages of lower cost, simpler module and more stable path control.
The robot control method according to the present invention will be described in detail below with reference to fig. 1, 2, and 3. Fig. 1 is an overall flowchart of a robot control method according to the present application; as shown in step S11 of fig. 1, at least one preset radio frequency control signal is received and recognized according to a predetermined sequence, fig. 2 is a schematic diagram of a customs map layout for controlling a robot by using the robot control method of the present application according to an embodiment of the present application, and as shown in fig. 2, the predetermined sequence in step S11 is "forward-right turn-forward-destination", that is, the predetermined sequence in the present embodiment is the customs map layout sequence. The customs order of the map is only schematic, and a user can design different customs maps according to actual conditions so as to design different preset orders. The wireless radio frequency control signal is sent from the transponder embedded into each customs instruction card, wherein the wireless radio frequency control signal is preset in the transponder in each customs instruction card, and a user only needs to find out the corresponding instruction card to place according to the corresponding text prompt on the card. In this embodiment, the number of the customs movement instruction cards is six, that is, the reader in the robot needs to receive and recognize six preset radio frequency control signals according to a predetermined sequence. As shown in fig. 2, each gray point represents a transponder in one map card, and a complete walking path is composed of a plurality of map cards, and in the embodiment shown in fig. 2, six map cards are required, namely "forward-right turn-forward-destination", respectively, wherein the motion command corresponding to the "destination" is stop. In other embodiments of the present application, at least one preset radio frequency control signal may be received according to different customs map designs, and the number of the received preset radio frequency control signals is not limited in the present application.
After the step S11 is completed, the step S12 is executed to analyze at least one of the preset rf control signals according to a predetermined sequence to obtain at least one motion control command signal. After a user sends a Bluetooth control instruction or a voice control instruction to the robot, the robot starts to move forwards, and due to the fact that a low-frequency passive radio frequency identification technology is adopted, the frequency of a radio frequency control signal sent by a transponder in each map card is low, a magnetic field area descends quickly, relatively uniform read-write areas can be generated, and a reader of the robot moves right above each map card to receive a movement instruction sent by the transponder in the corresponding map card. The predetermined sequence of step S12 is the predetermined sequence of step S11 and is also the passing sequence of the map, after the reader in the robot receives and recognizes a preset radio frequency control signal, the reader sends the received preset radio frequency control signal to a Micro Control Unit (MCU) in the robot, and since the motion command of the transponder in each card is pre-written with a unique command code by the radio frequency read-write device, different motion commands on each card in the map have their own command codes, for example, the command code corresponding to the "forward" command may be 000001, the command code corresponding to the "right turn" command may be 000002, the command code corresponding to the "left turn" command may be 000003, and the command code corresponding to the "destination" command code may be the stopped command code, and may be "000004". The setting of the command codes of the movement instructions in this embodiment is only schematic, and a designer can design different command codes for the movement instructions according to actual conditions, and the command codes corresponding to different movement instructions are different.
When the robot moves to the position near the upper part of each card, the reader inside the robot receives and identifies the radio frequency control signals sent by the transponder in the card, then the reader further identifies command codes corresponding to the motion instructions on the card, then the reader transmits the command codes to the MCU inside the robot for analysis processing, and the MCU analyzes the command codes into motion instruction signals and transmits the motion instruction signals to the motor for controlling the robot to move.
After the step S12 is completed, the step S13 is executed to control the motion path of the robot according to at least one motion control command signal. The MCU analyzes the command code into a motion instruction signal and transmits the motion instruction signal to a motor for controlling the robot to move, and the motor controls the robot to complete a corresponding motion path according to the motion instruction on each card.
FIG. 3 is an overall flow diagram of another robot control method according to the present application; the robot control method in fig. 3 corresponds to the control method performed by the transponder in each card in the above-described embodiment. As shown in fig. 3, step S21 is executed first, that is, at least one radio frequency control signal is preset according to a predetermined sequence, where the predetermined sequence is the predetermined sequence in step S11 or S12, that is, the passing sequence of the map, and as described in the above embodiments, the motion command of the transponder in each card is written in advance into a unique command code by the radio frequency read/write device. After the step S21 is completed, step S22 is executed, that is, at least one preset rf control signal is sent to the robot according to the predetermined sequence, the robot receives, identifies and analyzes the at least one preset rf control signal, and obtains at least one motion control command signal, and the motion path of the robot is controlled according to the at least one motion command signal. Step S22 has already been described in detail in the above embodiments, and is not described herein again.
According to the robot control method, the control path of the robot adopts the radio frequency identification technology, and compared with a path control scheme of video identification, the implementation scheme of the path control is lower in cost, simpler in module and more stable in path control.
In some embodiments, step S13 further includes: and timing the motion time of the robot within a preset time, and controlling the motion state of the robot according to the preset time.
In some embodiments, controlling the motion state of the robot according to the predetermined time includes: and when the timing result of timing the movement time of the robot in the preset time is equal to the preset time, controlling the robot to stop moving.
In some embodiments, controlling the motion state of the robot according to the predetermined time includes: and when one of the at least one preset radio frequency control signal is received within the preset time, clearing the timing result for timing the movement time of the robot within the preset time, and controlling the robot to continue moving according to the current movement control instruction.
The user can carry out the setting of a predetermined time to the robot before giving bluetooth control command or voice control command to the robot to prevent the robot from deviating from the motion path track of customs map by accident. Specifically, when the robot starts to move after receiving a bluetooth control instruction or a voice control instruction each time, the clock located inside the robot starts to time, and each time the robot moves to a position near the upper part of the transponder of the next card according to a preset route and receives a radio frequency control signal sent by the card transponder within a preset time, the MCU controls the timer to clear the current time to be counted, and the motor inside the robot controls the robot to continue to move according to the currently received motion control instruction. For example, as shown in fig. 2, the robot starts to move from a starting point, at this time, the clock starts to time, when the robot moves to a position above the vicinity of the transponder of the first "forward" card after a certain time, for example, 10s, the reader of the robot receives the preset radio frequency control signal of this transponder, that is, when the preset radio frequency control signal is received within a predetermined time, the MCU controls the timer to clear the current time to be counted, and the robot continues to move according to the current motion control instruction, that is, the robot continues to move forward and is ready to receive the motion instruction of the next card transponder. It should be noted here that, since the time taken by the robot from the start point to the first card transponder is 10s, therefore, the current timing time is 10s, the moving time of the robot between the two cards is less than the preset time set for the robot by the user before the voice or Bluetooth control command is reached, the user therefore sets the predetermined time according to the distance between the transponders of the two cards, for example, in this embodiment, the predetermined time may be set to 20s, that is, if the robot receives the radio frequency control signal from the next transponder within 20s after receiving the radio frequency control signal from one transponder, the MCU controls the timer to clear the current timing time, and the distance between the two transponders is controlled within the range of 20s of the movement of the robot.
If the robot has an accident in the moving process, for example, the robot deviates from the moving track, and the robot does not reach the position near the upper part of the transponder of the next card within the preset time due to the deviation from the moving track, the clock of the robot can continuously time, when the time is equal to the preset time, for example, when the time is equal to the preset time for 20s, the MCU sends a stop signal to the motor, and the motor controls the robot to stop moving, so that the robot can be effectively prevented from being damaged due to the accident of the robot, such as wall collision and the like, caused by the deviation from the moving track, and the use safety of the robot is improved. When the robot stops moving due to deviation from the track, the interface of the portable electronic device may display "clearance failure". Similarly, the user also needs to limit the size of the real map within a certain range according to different scenes, so as to prevent the situation that the clock reaches the preset time due to the fact that the placing distance between the two cards is too large.
In some embodiments, the recording is performed each time the timing result clears. Every time the recording is completed, the timing is restarted. And controlling the robot to search the next preset radio frequency control signal according to the current motion control instruction signal after timing is restarted.
When the robot walks over the transponder of a card, the clock clears the timing result, and the reader at the bottom of the robot sends the received information to the MCU in a window communication mode, so that the MCU inside the robot will record each transponder, as illustrated in the embodiment of fig. 2, as shown in fig. 2, when the robot moves to the position near the responder of the first 'forward' card, the clock clears the current timing result, the MCU records the responder, when the recording is finished, the clock restarts timing, the robot continues to search the next preset wireless radio frequency control signal according to the current forward motion instruction, in the embodiment shown in fig. 2, the next predetermined rf control signal is the rf control signal sent by the transponder of the "right turn" card. Therefore, in the movement path of the whole map, since the robot passes through six transponders, the MCU performs six recordings in total, and the clock is cleared six times accordingly. The MCU will compare the recorded number of times with the number of steps of customs clearance set by the map, and if the number of times the robot reaches the transponder passed by the destination is not the same as the number of steps set by the customs clearance, the interface of the portable electronic device will display "customs clearance failed".
If the motion instruction on a certain card in the physical map does not accord with the corresponding instruction displayed in the APP level in the portable electronic equipment, the interface of the portable electronic equipment displays 'passing failure'. Therefore, the situation that the times recorded by the transponder of the physical map are consistent with the steps of the customs set by the map, but the placing sequence of the actual card motion instruction is not consistent with the customs route displayed on the interface of the portable electronic equipment is prevented. Taking the embodiment in fig. 2 as an illustration, as shown in fig. 2, the correct route of the customs clearance is: go-right turn-go-stop, the transponder records 6 times in total, however if the user puts the card: go-right turn-go-left turn-stop, the robot can also reach the destination similarly, and the transponders are also recorded 6 times in total, but obviously this is different from the correct placement shown in the portable electronic device.
In some embodiments, the motion control command signal is a motion direction control command signal. That is, the reader of the robot receives and recognizes at the transponder of each card a radio frequency control signal that controls the direction of movement of the robot.
Having described the method of the exemplary embodiment of the present application, the robot control device of the exemplary embodiment of the present application will be described next with reference to fig. 4 and 5. The implementation of the device can be referred to the implementation of the robot control method, and repeated details are not repeated. The terms "module" and "unit", as used below, may be software and/or hardware that implements a predetermined function. While the modules described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
Fig. 4 is an overall configuration diagram of a robot control device according to the present application. As shown in fig. 4, in the present embodiment, the robot controller 100 includes: a receiving module 101, configured to receive and identify at least one preset radio frequency control signal according to a predetermined sequence; the analysis module 102 is configured to analyze at least one preset radio frequency control signal according to the predetermined sequence to obtain at least one motion control instruction signal; and the control module 103 is used for controlling the motion path of the robot according to at least one motion control command signal.
In some embodiments, the control module 103 is further configured to: and timing the motion time of the robot within a preset time, and controlling the motion state of the robot according to the preset time.
In some embodiments, the control module 103 controls the motion state of the robot according to a predetermined time, including: and when the timing result of timing the movement time of the robot in the preset time is equal to the preset time, the control module controls the robot to stop moving.
In some embodiments, the control module 103 controls the motion state of the robot according to a predetermined time, including: and when one of at least one preset radio frequency control signal is received in preset time, clearing the timing result for timing the movement time of the robot in the preset time, and controlling the robot to continue moving according to the current movement control instruction.
In some embodiments, the control module 103 is further configured to: and recording every time when the timing result is cleared.
In some embodiments, the control module 103 is further configured to: every time the recording is completed, the timing is restarted.
In some embodiments, the control module 103 is further configured to: every time the timing is restarted, the control module 103 controls the robot to search for the next preset radio frequency control signal according to the current motion control instruction signal.
In some embodiments, the motion control command signal is a motion direction control command signal.
In a preferred embodiment of the present application, the receiving module 101 may be a reader installed at the bottom of the robot for receiving a wireless radio frequency control signal; the analysis module 102 may be an MCU installed inside the robot; the control module 103 may contain motors that control the two-wheel motion of the robot and a clock located inside or outside the robot. The functions performed by the receiving module 101, the analyzing module 102 and the control module 103 included in the robot controller 100 have been described in detail in the above method embodiments, and are not described again here.
Fig. 5 is a schematic diagram of the overall structure of the wireless rf signal transmitting apparatus according to the present application. As shown in fig. 5, the wireless rf signal transmitting apparatus 200 includes: a setting module 201, configured to preset at least one radio frequency control signal according to a predetermined sequence; the sending module 202 is configured to send at least one preset radio frequency control signal to the robot according to a predetermined sequence, where the robot receives, identifies, and analyzes the at least one preset radio frequency control signal, obtains at least one motion control instruction signal, and controls a motion path of the robot according to the at least one motion instruction signal.
In a preferred embodiment of the present application, the sending module 202 may be a transponder disposed inside each card that passes through the map path. The functions performed by the setting module 201 and the sending module 202 have been described in detail in the above method embodiments, and are not described herein again.
According to the robot control device disclosed by the application, the control path of the robot adopts the radio frequency identification technology, and compared with the path control scheme of video identification, the implementation scheme of the path control has the advantages of lower cost, simpler module and more stable path control.
A robot control system according to an exemplary embodiment of the present application will be described with reference to fig. 6. The implementation of the robot control system can be referred to the implementation of the robot control method and the robot control device, and repeated details are not repeated. The terms "module" and "unit", as used below, may be software and/or hardware that implements a predetermined function. While the modules described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
Fig. 6 is an overall structural schematic diagram of a robot control system according to the present application; as shown in fig. 6, in this embodiment, the robot control system 300 includes: at least one wireless radio frequency signal transmitting device 200 and a robot control device 100; wherein, the at least one wireless radio frequency signal transmitting device 200 comprises: a setting module 201, configured to preset at least one radio frequency control signal according to a predetermined sequence; a sending module 202, configured to send at least one preset radio frequency control signal to the robot according to a predetermined sequence, where the robot receives, identifies, and analyzes the at least one preset radio frequency control signal, obtains at least one motion control instruction signal, and controls a motion path of the robot according to the at least one motion instruction signal; the robot controller 100 includes: a receiving module 101, configured to receive and identify at least one preset radio frequency control signal according to a predetermined sequence; the analysis module 102 is configured to analyze at least one preset radio frequency control signal according to a predetermined sequence to obtain at least one motion control instruction signal; and the control module 103 is used for controlling the motion path of the robot according to at least one motion control instruction signal.
In a preferred embodiment of the present application, the receiving module 101 may be a reader installed at the bottom of the robot for receiving a wireless radio frequency control signal; the analysis module 102 may be an MCU installed inside the robot; the control module 103 may contain motors that control the two-wheel motion of the robot and a clock located inside or outside the robot. The functions performed by the receiving module 101, the analyzing module 102 and the control module 103 included in the robot controller 100 have been described in detail in the above method embodiments, and are not described again here.
In a preferred embodiment of the present application, the sending module 202 may be a transponder disposed inside each card passing through the path. The functions performed by the setting module 201 and the sending module 202 have been described in detail in the above method embodiments, and are not described herein again.
The robot control system disclosed by the application has the advantages that the control path of the robot adopts the radio frequency identification technology, and compared with the path control scheme of video identification, the realization scheme of the path control has lower cost, simpler modules and more stable path control.
A robot according to an exemplary embodiment of the present application will be described with reference to fig. 7. The implementation of the robot can be referred to the above and the implementation of the robot control method and the robot control device, and repeated details are not repeated. The terms "module" and "unit", as used below, may be software and/or hardware that implements a predetermined function. While the modules described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
FIG. 7 is a perspective schematic view of a robot according to the present application; as shown in fig. 7, in this embodiment, the robot 400 includes a body and the robot controller 100, and the robot controller 100 includes: a receiving module 101 configured to receive and recognize at least one preset radio frequency control signal according to a predetermined sequence; the analysis module 102 is configured to analyze at least one preset radio frequency control signal according to a predetermined sequence to obtain at least one motion control instruction signal; a control module 103 configured to control a motion path of the robot according to the at least one motion control command signal.
In a preferred embodiment of the present application, the receiving module 101 may be a reader installed at the bottom of the robot 400 for receiving a wireless rf control signal; the parsing module 102 may be an MCU installed inside the robot 400; the control module 103 may contain motors that control the two-wheel motion of the robot 400 and a clock located inside or outside the robot 400. The functions performed by the receiving module 101, the analyzing module 102 and the control module 103 included in the robot controller 100 have been described in detail in the above method embodiments, and are not described again here.
According to the robot disclosed by the application, the control path of the robot adopts the radio frequency identification technology, and compared with a path control scheme of video identification, the implementation scheme of the path control has the advantages of lower cost, simpler module and more stable path control.
Those skilled in the art will appreciate that embodiments of the present application may be provided as a method, apparatus, or robot. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and robots according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are further described in detail for the purpose of illustrating the invention, and it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not to be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A robot control method, characterized by comprising:
receiving and identifying at least one preset wireless radio frequency control signal according to a preset sequence;
analyzing at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal; and
controlling the motion path of the robot according to at least one motion control command signal;
wherein, according to at least one motion control command signal control the motion path of robot, still include:
timing the movement time of the robot within a preset time, and controlling the movement state of the robot according to the preset time;
wherein controlling the motion state of the robot according to the predetermined time includes:
when one of at least one preset radio frequency control signal is received in the preset time, clearing a timing result for timing the movement time of the robot in the preset time, and controlling the robot to continue moving according to a current movement control instruction signal;
recording when the timing result is cleared;
restarting timing every time the recording is completed;
comparing the total recording times with the total number of the preset radio frequency control signals after the robot reaches the destination;
determining a path control result of the robot based on the comparison result.
2. The robot control method according to claim 1, wherein controlling the motion state of the robot according to the predetermined time includes:
and when the timing result of timing the movement time of the robot in the preset time is equal to the preset time, controlling the robot to stop moving.
3. The robot control method of claim 1, wherein the robot is controlled to search for the next preset radio frequency control signal according to the current motion control command signal each time the timing is restarted.
4. A robot control method according to any of claims 1-3, characterized in that the motion control command signal is a motion direction control command signal.
5. A robot control method, characterized by comprising:
presetting at least one wireless radio frequency control signal according to a preset sequence;
sending at least one preset wireless radio frequency control signal to the robot according to the preset sequence, receiving, identifying and analyzing the at least one preset wireless radio frequency control signal by the robot to obtain at least one motion control instruction signal, and controlling a motion path of the robot according to the at least one motion control instruction signal;
wherein, according to at least one motion control command signal control the motion path of robot, still include:
timing the movement time of the robot within a preset time, and controlling the movement state of the robot according to the preset time;
wherein controlling the motion state of the robot according to the predetermined time includes:
when one of at least one preset radio frequency control signal is received in the preset time, clearing a timing result for timing the movement time of the robot in the preset time, and controlling the robot to continue moving according to a current movement control instruction signal;
recording when the timing result is cleared;
restarting timing every time the recording is completed;
comparing the total recording times with the total number of the preset radio frequency control signals after the robot reaches the destination;
determining a path control result of the robot based on the comparison result.
6. A robot control apparatus, characterized by comprising:
the receiving module is used for receiving and identifying at least one preset wireless radio frequency control signal according to a preset sequence;
the analysis module is used for analyzing at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal;
the control module is used for controlling the motion path of the robot according to at least one motion control instruction signal;
wherein the control module is further configured to:
timing the movement time of the robot within a preset time, and controlling the movement state of the robot according to the preset time;
wherein controlling the motion state of the robot according to the predetermined time includes:
when one of at least one preset radio frequency control signal is received in the preset time, clearing a timing result for timing the movement time of the robot in the preset time, and controlling the robot to continue moving according to a current movement control instruction signal;
wherein the control module is further configured to:
recording when the timing result is cleared;
restarting timing every time the recording is completed;
comparing the total recording times with the total number of the preset radio frequency control signals after the robot reaches the destination;
determining a path control result of the robot based on the comparison result.
7. The robot controller according to claim 6, wherein the control module controls the motion state of the robot according to the predetermined time, including:
and when the timing result of timing the movement time of the robot in the preset time is equal to the preset time, the control module controls the robot to stop moving.
8. The robot control apparatus of claim 6, wherein the control module is further configured to:
and after timing is restarted, the control module controls the robot to search the next preset wireless radio frequency control signal according to the current motion control instruction signal.
9. The robot controller according to any one of claims 6 to 8, wherein the motion control command signal is a motion direction control command signal.
10. A wireless radio frequency signal transmitting apparatus, comprising:
the device comprises a setting module, a control module and a control module, wherein the setting module is used for presetting at least one wireless radio frequency control signal according to a preset sequence;
the sending module is used for sending at least one preset wireless radio frequency control signal to the robot according to the preset sequence, wherein the robot receives, identifies and analyzes the at least one preset wireless radio frequency control signal to obtain at least one motion control instruction signal, and controls a motion path of the robot according to the at least one motion control instruction signal;
wherein controlling the motion path of the robot according to at least one of the motion control command signals comprises:
timing the movement time of the robot within a preset time, and controlling the movement state of the robot according to the preset time;
wherein controlling the motion state of the robot according to the predetermined time includes:
when one of at least one preset radio frequency control signal is received in the preset time, clearing a timing result for timing the movement time of the robot in the preset time, and controlling the robot to continue moving according to a current movement control instruction signal;
recording when the timing result is cleared;
restarting timing every time the recording is completed;
comparing the total recording times with the total number of the preset radio frequency control signals after the robot reaches the destination;
determining a path control result of the robot based on the comparison result.
11. A robot control system, characterized in that the robot control system comprises:
at least one wireless radio frequency signal transmitting device and a robot control device; wherein at least one of the wireless radio frequency signal transmitting devices comprises:
the device comprises a setting module, a control module and a control module, wherein the setting module is used for presetting at least one wireless radio frequency control signal according to a preset sequence;
the sending module is used for sending at least one preset wireless radio frequency control signal to the robot according to the preset sequence, wherein the robot receives, identifies and analyzes the at least one preset wireless radio frequency control signal to obtain at least one motion control instruction signal, and controls a motion path of the robot according to the at least one motion control instruction signal; the robot control device includes:
the receiving module is used for receiving and identifying at least one preset wireless radio frequency control signal according to the preset sequence;
the analysis module is used for analyzing at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal;
the control module is used for controlling the motion path of the robot according to at least one motion control instruction signal;
wherein the control module is further configured to:
timing the movement time of the robot within a preset time, and controlling the movement state of the robot according to the preset time;
wherein controlling the motion state of the robot according to the predetermined time includes:
when one of at least one preset radio frequency control signal is received in the preset time, clearing a timing result for timing the movement time of the robot in the preset time, and controlling the robot to continue moving according to a current movement control instruction signal;
wherein the control module is further configured to:
recording when the timing result is cleared;
restarting timing every time the recording is completed;
comparing the total recording times with the total number of the preset radio frequency control signals after the robot reaches the destination;
determining a path control result of the robot based on the comparison result.
12. A robot, comprising a body and a robot control device, the robot control device comprising:
the receiving module is configured to receive and identify at least one preset wireless radio frequency control signal according to a preset sequence;
the analysis module is configured to analyze at least one preset wireless radio frequency control signal according to the preset sequence to obtain at least one motion control instruction signal;
the control module is configured to control the motion path of the robot according to at least one motion control instruction signal, time the motion time of the robot within a preset time and control the motion state of the robot according to the preset time;
wherein controlling the motion state of the robot according to the predetermined time includes:
when one of at least one preset radio frequency control signal is received in the preset time, clearing a timing result for timing the movement time of the robot in the preset time, and controlling the robot to continue moving according to a current movement control instruction signal;
wherein the control module is further configured to:
recording when the timing result is cleared;
restarting timing every time the recording is completed;
comparing the total recording times with the total number of the preset radio frequency control signals after the robot reaches the destination;
determining a path control result of the robot based on the comparison result.
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