CN107203211A - A kind of method of robot interactive motion - Google Patents
A kind of method of robot interactive motion Download PDFInfo
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- CN107203211A CN107203211A CN201710464102.2A CN201710464102A CN107203211A CN 107203211 A CN107203211 A CN 107203211A CN 201710464102 A CN201710464102 A CN 201710464102A CN 107203211 A CN107203211 A CN 107203211A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is characterised by, comprised the following steps to be related to a kind of method of robot interactive motion：A) system starts, system initialization；B) command information is obtained by vision sensor；And send the command information to message processing module；C) described information processing module is understood to the command information, and the command information after deciphering is sent into path planning module；D) path planning module is according to the action path of the command information planning robot after the deciphering, and the command sequence formed；E) motion of robot is moved according to the command sequence.Beneficial effect：There is automatic pathfinding, automatic obstacle-avoiding and intellectuality.
Description
Technical field
The present invention relates to field of artificial intelligence, a kind of method moved more particularly, to robot interactive.
Background technology
The appearance and development of robot drastically increase the efficiency of industrial or agricultural, profoundly change the life of the mankind
Looks.The progress and application of robotics are to automatically control most convictive achievement 20th century, are in contemporary highest meaning
Automation.Last century the fifties have been born First robot in the world in the U.S., and people has really been come into from this robot
Life.With correlation techniques such as computer technology, super large-scale integration, control theory, artificial intelligence, sensors
A brand-new stage is also stepped into development, the research to robotics.From programmable, the teaching playback industrial machine of early stage
People is to the robot with certain sensing and adaptability, then to being equipped with a variety of advanced sensors, the robot with intelligence, machine
The research that device people learns experienced from simple to complexity, and function is single to vdiverse in function, expands to military affairs from industry manufacture field and detects
Examine, nuclear industry, Aero-Space, service trade, medicine equipment, genetic engineering, community service, the process in the field such as amusement.
Mobile robot is a kind of most representational robot.It has concentrated sensor technology, mechanical engineering, electronics work
The multi-disciplinary achievement in research such as journey, automation control engineering, view synthesis, computer vision and artificial intelligence, is represented
The highest achievement of electromechanical integration.Mobile robot wants to move towards practicality must to possess competent kinematic system, reliably lead
Boat system, accurate perception and with not only safety but also the with open arms ability that is worked together with people, in addition mobile robot
Intelligent is also the key factor for determining its application prospect.In general, intelligent robot should possess perception, thinking and dexterity and move
Make three interaction basic functions, evaluate a mobile robot degree of intelligence index include independence, adaptability and
The conditions such as interactivity.Independence refer to robot can according to task and ambient environmental conditions, oneself determine job step and
Working method；Adaptability refers to that robot has the ability (mainly by study) for adapting to complex work environment, can not only recognize
With the object around measurement, go back Rational Solutions surrounding environment and to be performed the ability of task, and make and correctly judge and operate
With the ability such as mobile；Interactivity be intelligence produce basis, interaction include machine human and environment, machine person to person and robot it
Between three kinds, relate generally to information acquisition, processing and understand.
There are interactive voice, remote control interaction, touch screen interaction, control end and control with the several ways of robot interactive at present
Device is interacted, camera identification interaction etc..Current robot interactive mode is all direct interactive interaction.The interactive mode is main
Feature is, with excessively various interaction techniques, directly triggers and call pre-designed robot program, and prior art requirement is advance
Better program is designed, corresponding program is then triggered by interaction technique, it is clear that, the interactive mode has deficiency, nothing
Method realizes intelligent and complex environment versatility.
Therefore, the present invention proposes a kind of method of robot interactive motion.
The content of the invention
The present invention provides a kind of method of robot interactive motion, to solve that automatic seeking can not have been realized in the prior art
The problems such as road, automatic obstacle-avoiding and intellectuality etc..
Technical problem solved by the invention is realized using following technical scheme：
A kind of method of robot interactive motion, comprises the following steps：
A) system starts, system initialization；
B) command information is obtained by vision sensor；And send the command information to message processing module；
C) described information processing module is understood to the command information, and the command information after deciphering is sent into road
Footpath planning module；
D) path planning module is according to the action path of the command information planning robot after the deciphering, and is formed
Command sequence；
E) motion of robot is moved according to the command sequence.
As preferred technical scheme, the robot is run one by one according to the command sequence.
As preferred technical scheme, the command information includes word, image, the one or more of voice.
As preferred technical scheme, the path planning module in step d is according to the command information after the deciphering
The method of the action path of planning robot includes：
Step 1：The positional information of robot is obtained according to locating module；
Step 2：The positional information of destination is obtained according to the command information；
Step 3：Simulation action path, and the simulation action path formation command sequence are formed on storing map.
As preferred technical scheme, the motion of the robot in step e is moved according to the command sequence
Detailed process also include：Evade the barrier on path.
As preferred technical scheme, the method for the barrier evaded on path comprises the following steps：
Step 1：Surrounding enviroment information is obtained by the vision sensor, and the environmental information is sent to information
Manage module；
Step 2：Judge whether to arrive at, if it is, terminating path planning, if it is not, then performing step 3；
Step 3：Barrier is determined whether, if it is, carrying out obstacle recognition, avoiding obstacles；If it is not, pressing
According to the command sequence persistent movement.
As preferred technical scheme, the barrier includes obstacle, turned.
The invention has the advantages that：1st, automatic pathfinding：The automatic pathfinding robot of the present invention can be by built-in
The automatic path planning systems organization action path of oneself；Need not manually it be operated, with regard to that self can run and carry out pathfinding.
2nd, automatic obstacle-avoiding：The automatic pathfinding robot of the present invention can avoid advancing by built-in improved obstacle avoidance algorithm
During barrier, automatic pathfinding algorithm.
3rd, intelligence degree is high：The automatic pathfinding robot automatic sensing environmental data of the present invention, enters line number automatically
It is automatic to carry out the function such as path planning and avoidance according to fusion.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present invention, for those of ordinary skill in the art, is not paying the premise of creative labor
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the present invention：A kind of principle schematic of the method for robot interactive motion；
Fig. 2 is the present invention：A kind of simulation schematic diagram of the method for robot interactive motion；
Fig. 3 is the present invention：A kind of Command Resolution schematic diagram of the method for robot interactive motion.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Shown in reference picture 1-3, a kind of method of robot interactive motion comprises the following steps：
A) system starts, system initialization；
B) command information is obtained by vision sensor；And send the command information to message processing module；
C) described information processing module is understood to the command information, and the command information after deciphering is sent into road
Footpath planning module；
D) path planning module is according to the action path of the command information planning robot after the deciphering, and is formed
Command sequence；
E) motion of robot is moved according to the command sequence；Wherein, the command sequence in the present invention has
Multigroup sequence composition, the robot is run one by one according to the command sequence.
The command information in the present invention includes word, image, the one or more of voice.Such as the finger in the present embodiment
It is word to make information.After robot obtains text information, message processing module is understood to text information and obtains purpose
Ground information, is completed the planning in path by path planning module afterwards.
The path planning module in step d in the present invention is according to the command information planning robot after the deciphering
The method of action path include：
Step 1：The positional information of robot is obtained according to locating module；
Step 2：The positional information of destination is obtained according to the command information；
Step 3：Simulation action path, and the simulation action path formation command sequence are formed on storing map.
The detailed process that the motion of the robot in step e in the present invention is moved according to the command sequence
Also include：Evade the barrier on path.Wherein, the method for the barrier evaded on path comprises the following steps：
Step 1：Surrounding enviroment information is obtained by the vision sensor, and the environmental information is sent to information
Manage module；
Step 2：Judge whether to arrive at, if it is, terminating path planning, if it is not, then performing step 3；
Step 3：Barrier is determined whether, if it is, carrying out obstacle recognition, avoiding obstacles；If it is not, pressing
According to the command sequence persistent movement.
Heretofore described barrier includes obstacle, turned.
Specific embodiment is illustrated below：Such as Fig. 3, user initiates a command information, such as write on cardboard
Enter that " go to bank " literal order, first, robot identify order to go to bank (go to bank)；Then, according to
Cartographic information path planning, is decomposed into several height by order and acts, such as road, bridge, forest, bank；Then, each
Son action is all corresponded to the action command of robot, zygote action and robot motion information, goes the order of bank to be compiled
Command sequence is translated into, as long as robot performs task sequence and can just complete task one by one.
In the process of implementation, if robot needs turning or obstacle, robot can believe automatically according to surrounding enviroment
Breath carries out the planning again in path.
The invention has the advantages that：1st, automatic pathfinding：The automatic pathfinding robot of the present invention can be by built-in
The automatic path planning systems organization action path of oneself；Need not manually it be operated, with regard to that self can run and carry out pathfinding.
2nd, automatic obstacle-avoiding：The automatic pathfinding robot of the present invention can avoid advancing by built-in improved obstacle avoidance algorithm
During barrier, automatic pathfinding algorithm.
3rd, intelligence degree is high：The automatic pathfinding robot automatic sensing environmental data of the present invention, enters line number automatically
It is automatic to carry out the function such as path planning and avoidance according to fusion.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of method of robot interactive motion, it is characterised in that comprise the following steps：
A) system starts, system initialization；
B) command information is obtained by vision sensor；And send the command information to message processing module；
C) described information processing module is understood to the command information, and the command information after deciphering is sent into path rule
Draw module；
D) path planning module is according to the action path of the command information planning robot after the deciphering, and the life formed
Make sequence；
E) motion of robot is moved according to the command sequence.
2. the method for a kind of robot interactive motion according to claim 1, it is characterised in that the robot is according to institute
Command sequence is stated to run one by one.
3. the method for a kind of robot interactive motion according to claim 1, it is characterised in that the command information includes
Word, image, the one or more of voice.
4. a kind of method of robot interactive motion according to claim 1, it is characterised in that the road in step d
Footpath planning module includes according to the method for the action path of the command information planning robot after the deciphering：
Step 1：The positional information of robot is obtained according to locating module；
Step 2：The positional information of destination is obtained according to the command information；
Step 3：Simulation action path, and the simulation action path formation command sequence are formed on storing map.
5. a kind of method of robot interactive motion according to claim 1, it is characterised in that the robot in step e
The detailed process moved according to the command sequence of motion also include：Evade the barrier on path.
6. the method for a kind of robot interactive motion according to claim 5, it is characterised in that described to evade on path
The method of barrier comprises the following steps：
Step 1：Surrounding enviroment information is obtained by the vision sensor, and the environmental information is sent to information processing mould
Block；
Step 2：Judge whether to arrive at, if it is, terminating path planning, if it is not, then performing step 3；
Step 3：Barrier is determined whether, if it is, carrying out obstacle recognition, avoiding obstacles；If it is not, according to institute
State command sequence persistent movement.
7. the method for a kind of robot interactive motion according to claim 6, it is characterised in that the barrier includes resistance
Block material, turning.
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| CN201710464102.2A CN107203211A (en) | 2017-06-19 | 2017-06-19 | A kind of method of robot interactive motion |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109213151A (en) * | 2018-08-07 | 2019-01-15 | 北京云迹科技有限公司 | A kind of paths planning method and distributed robot |
| CN110480306A (en) * | 2019-07-09 | 2019-11-22 | 金榀精密工业(苏州)有限公司 | Intelligent locating formula intelligent casting component assembly method |
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| CN102631265A (en) * | 2012-05-11 | 2012-08-15 | 重庆大学 | Embedded control system of intelligent wheelchair |
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| CN109213151A (en) * | 2018-08-07 | 2019-01-15 | 北京云迹科技有限公司 | A kind of paths planning method and distributed robot |
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Application publication date: 20170926 |
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