CN106313055A - Control method of robot - Google Patents

Abstract

The invention discloses a method for controlling a robot. The robot includes a left wheel, a body, a right wheel, a left motor, and a right motor, and includes a front pressure sensor, a balance device, and a rear pressure sensor. The front end of the balance device is placed on the front pressure sensor Above, the rear end of the balance device is placed on the front baroreceptor. The control method of the robot includes the following steps: S1: judge whether there is a signal input within a certain period of time, and if so, start its walking mechanism; Power standby state; S2: Judging whether there is an infrared remote control signal input, if so, control the robot to move, otherwise execute S3; S3: judge whether there is a voice control signal, if so, control the robot to move, otherwise execute S4; S4: Judgment distance measurement Whether the signal is less than a certain value, if so, judge and rotate, otherwise execute S5; S5: judge whether there is a ground reflection signal, if so, brake immediately.

Description

A method of controlling a robot

technical field

The invention belongs to the technical field of the Internet, and in particular relates to a robot control method.

Background technique

At present, with the rapid development of science and technology, the functions of robots are becoming more and more perfect, and robot technology has been widely used in the field of human social life. In addition to toys for entertainment, robots can also be used in various aspects of industry, medical care and social services. In fact, they can complete some difficult actions that humans cannot achieve, or work that humans cannot complete in a specific environment. Therefore, robots are closely related to human life and production.

At present, there is a remote-controlled robot, which may be controlled by infrared remote control to perform actions such as walking. When encountering obstacles, it needs the operator to change the walking direction by remote control. In addition, its walking speed also needs to be controlled by the operator. . This kind of robot completely needs to be controlled by the operator. Therefore, in the walking mode, it may fall or fail to avoid obstacles, which will affect its performance.

Therefore, a new robot control method is needed to overcome the defects in the above-mentioned technologies.

Contents of the invention

Aiming at the deficiencies of the prior art, the object of the present invention is to provide a robot control method, which can sense the tilting direction of the robot and make corresponding actions to keep the robot of the present invention in an upright state.

A control method for a robot, the robot includes a right wheel, a left motor, a left wheel, a fuselage, a right motor, a rear baroreceptor, a front end baroreceptor, and a balance device, the front end of the balance device is placed on the front end baroreceptor, and the balance The rear end of the device is placed on the front baroreceptor, and the control method of the robot includes the following steps:

S1: Determine whether there is a signal input within a certain period of time, and if so, start its walking mechanism, otherwise the robot is in a power-saving standby state;

S2: Determine whether there is an infrared remote control signal input, if so, control the robot to move, otherwise execute S3;

S3: Determine whether there is a voice control signal, if so, control the robot to move, otherwise execute S4;

S4: Judging whether the ranging signal is less than a certain value, if so, judge and rotate, otherwise execute S5;

S5: Judging whether there is a signal reflected from the ground, if so, brake immediately.

Preferably, when the biped upright walking robot of the robot tilts forward, the pressure sensed by the front baroreceptor is greater than that of the rear end baroreceptor, the control system adjusts the left wheel speed through the left motor, and the right motor adjusts the right wheel speed, so that the biped of the robot can walk upright The robot moves forward until the pressure sensed by the front baroreceptors and the back baroreceptors is equal.

Preferably, when the robot biped upright walking robot tilts forward, the pressure sensed by the front baroreceptor is greater than the rear end baroreceptor, the control system adjusts the left wheel speed through the left motor, and the right motor adjusts the right wheel speed, so that the biped upright walking robot of the robot Move forward until the pressure sensed by the anterior baroreceptors and posterior baroreceptors is equal.

Preferably, when the biped upright walking robot of the robot is tilted backward, the pressure sensed by the front baroreceptor is less than that of the rear end baroreceptor, the control system adjusts the left wheel speed through the left motor, and the right motor adjusts the right wheel speed, so that the biped of the robot can walk upright The robot moves backwards until the pressure sensed by the front baroreceptors and the back baroreceptors is equal.

The technical solution of the present invention has the following beneficial effects:

The control method of a robot provided by the present invention can achieve the function of the robot automatically avoiding and turning. The robot itself can judge whether its walking speed is normal and can adjust its walking speed, so as not to fall due to excessive speed, and can prevent falling. At the same time, the voice recognition module can receive external voice signals to achieve the voice control function, thereby improving the performance of the robot.

detailed description

In order to clearly understand the technical solution of the present invention, its detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the invention is not limited to specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, and there may be other implementations besides those described in detail.

The present invention will be described in further detail below in conjunction with the examples.

A control method for a robot, the robot includes a right wheel, a left motor, a left wheel, a fuselage, a right motor, a rear baroreceptor, a front end baroreceptor, and a balance device, the front end of the balance device is placed on the front end baroreceptor, and the balance The rear end of the device is placed on the front baroreceptor, and the control method of the robot includes the following steps:

S1: Determine whether there is a signal input within a certain period of time, and if so, start its walking mechanism, otherwise the robot is in a power-saving standby state;

S2: Determine whether there is an infrared remote control signal input, if so, control the robot to move, otherwise execute S3;

S3: Determine whether there is a voice control signal, if so, control the robot to move, otherwise execute S4;

S4: Judging whether the ranging signal is less than a certain value, if so, judge and rotate, otherwise execute S5;

S5: Judging whether there is a signal reflected from the ground, if so, brake immediately.

When the biped upright walking robot of the robot tilts forward, the pressure sensed by the front baroreceptor is greater than that of the rear baroreceptor, the control system adjusts the left wheel speed through the left motor, and the right motor adjusts the right wheel speed, so that the biped upright walking robot of the robot moves forward. Move until the pressure sensed by the anterior baroreceptors and posterior baroreceptors is equal.

When the robot walks upright on two feet, the robot leans forward, and the pressure sensed by the front baroreceptor is greater than the pressure on the back baroreceptor. The control system adjusts the left wheel speed through the left motor, and the right motor adjusts the right wheel speed, so that the biped upright walking robot of the robot moves forward. , until the pressure sensed by the front baroreceptors and the back baroreceptors is equal.

When the biped upright walking robot of the robot tilts backward, the pressure sensed by the front baroreceptor is smaller than that of the rear baroreceptor, the control system adjusts the left wheel speed through the left motor, and the right motor adjusts the right wheel speed, so that the biped upright walking robot of the robot moves backward. Move until the pressure sensed by the anterior baroreceptors and posterior baroreceptors is equal.

The control method of a robot provided by the present invention can achieve the function of the robot automatically avoiding and turning. The robot itself can judge whether its walking speed is normal and can adjust its walking speed, so as not to fall due to excessive speed, and can prevent falling. At the same time, the voice recognition module can receive external voice signals to achieve the voice control function, thereby improving the performance of the robot

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still implement the present invention Any modification or equivalent replacement that does not deviate from the spirit and scope of the present invention is within the protection scope of the pending claims.

Claims (4)

1. a control method for robot, described robot comprises right wheel, left motor, revolver, fuselage, right motor, after comprising End pressure sensor, forefront pressure sensor, bascule, bascule front end is placed on forefront pressure sensor, balance Device rear end is placed on forefront pressure sensor, it is characterised in that the control method of described robot comprises the following steps:

S1: determine whether that signal inputs within a certain period of time, if having, starting its walking mechanism, otherwise making robot be in province Electricity holding state；

S2: determine whether that infrared remote control signal inputs, if having, controlling robot and moving, otherwise performing S3；

S3: determine whether audio controls, if having, controlling robot and moving, otherwise performing S4；

S4: judge that distance measuring signal, whether less than certain value, if then judging and rotating, otherwise performs S5；

S5: determine whether background return, if braking the most immediately.

2. the control method of follow-up robot described in claim 1, it is characterised in that when the biped of robot walks upright machine Device people turn forward, and the pressure of forefront pressure sensor perception is more than rear end pressure receptor, and control system is adjusted by left motor Joint revolver rotating speed, right motor regulation right wheel rotating speed, make the biped of the robot robot that walks upright travel forward, until front side pressure Ergoreceptor, rear end pressure receptor perception pressure equal.

The control method of robot the most according to claim 1, it is characterised in that when robot biped walks upright machine People turns forward, and the pressure of forefront pressure sensor perception is more than rear end pressure receptor, and control system is regulated by left motor Revolver rotating speed, right motor regulation right wheel rotating speed, makes the biped of the robot robot that walks upright travel forward, until forefront pressure Sensor, rear end pressure receptor perception pressure equal.

The control method of robot the most according to claim 1, it is characterised in that when the biped of robot walks upright machine Device people tilt backwards, and the pressure of forefront pressure sensor perception is less than rear end pressure receptor, and control system is adjusted by left motor Joint revolver rotating speed, right motor regulation right wheel rotating speed, make the biped of robot walk upright robot rearward movement, until front side pressure Ergoreceptor, rear end pressure receptor perception pressure equal.