CN107414871A - A kind of robot control method - Google Patents
A kind of robot control method Download PDFInfo
- Publication number
- CN107414871A CN107414871A CN201710714452.XA CN201710714452A CN107414871A CN 107414871 A CN107414871 A CN 107414871A CN 201710714452 A CN201710714452 A CN 201710714452A CN 107414871 A CN107414871 A CN 107414871A
- Authority
- CN
- China
- Prior art keywords
- robot
- information
- audio
- control method
- robot control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000009471 action Effects 0.000 claims abstract description 19
- 238000005516 engineering process Methods 0.000 claims description 37
- 238000001914 filtration Methods 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 2
- 238000013480 data collection Methods 0.000 claims 1
- 238000011161 development Methods 0.000 description 15
- 238000011160 research Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000000744 eyelid Anatomy 0.000 description 3
- 210000003128 head Anatomy 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000002425 crystallisation Methods 0.000 description 1
- 230000008025 crystallization Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of robot control method, methods described includes step：Centered on predeterminated position, the target information of object in the pre-determined distance on the predeterminated position periphery is gathered, the target information comprises at least：Positional information, audio-frequency information and image information and by the positional information, audio-frequency information and image information；The target information is analyzed, to obtain the control signal for object in the pre-determined distance；According to the control signal, the action of the robot is controlled, the action comprises at least：One kind in the headwork of the robot, arm action, waist driver and speech utterance.Robot control method provided by the invention, motion control signal is sent to each moving component of robot to realize the desired movement of each moving component of robot, the anthropomorphic robot control device and its control method circuit is simple, cost is cheap, this is invented for bio-robot field.
Description
Technical field
The invention belongs to technical field of robot control, more particularly to a kind of robot control method.
Background technology
With the development of science and technology, Robot Control Technology is also increasingly ripe, not only in the base such as torque and position control
Plinth has technically improved, and is also significantly increased on intelligentized control method.But robot base's control technology is although completeer
It is kind, but be intended to further lifted great difficulty, therefore, intelligent development becomes grinding for Robot Control Technology
Originating party is to the technical breakthrough can bring opportunity to the development of base control technology.
Robot technology is always the problem of domestic and international scientist's primary study, the especially developed country such as the U.S., Japan
The even more stronger country of robot research ability, their research work to robot have nearly 60 years, and realize programming
Development of the robot to intelligent robot.They are summarized by research for many years, and Robot Control Technology is divided into three parts,
It is torque technology, position technique and intellectual technology respectively, wherein, torque technology and position technique are bases, and intellectual technology is to grind
The developing direction studied carefully, thus, the former is basic technology, and the latter is focus technology, both rapidly to be advanced.
Robot control system is the brain of robot, is the principal element for determining robot function and performance.Robot
Controller is the device that certain action or job task are completed according to instruction and heat transfer agent control machine people, and it is machine
Human heart, determine the quality of robot performance.Robot technology is related to the multidisciplinary specialty such as computer, electronics, control, is
A key areas and study hotspot for hi-tech development in recent years.With the development of robot technology, robot application neck
The continuous expansion in domain, higher requirement is proposed to the performance of robot, therefore, how effectively by other field（Such as image
Processing, voice recognition, optimum control, artificial intelligence etc.）Achievement in research be applied in the real-time operation of robot control system,
It is the research of a challenging research work and modularization, standardization robot controller with Open architecture
Undoubtedly to improving robot performance and capacity of will, promoting the development of robot technology to be significant.
The main performance of Robot Control Technology intelligent development has again with the development of network, Robot Control Technology
New developing direction, the external research to the field are more, and the country is due to by fund, technical equipment and working environment etc.
Restriction development it is slower, but its developing direction is right-on, and it is mainly manifested in the following aspects：
（1）Double-direction control technology.The Research Emphasis of Robot Control Technology is double-direction control technology, can so improve controller
Control ability.Network can realize online communication and network inquiry, and Robot Control Technology just needs to have this in development
Kind ability, this technology can improve the systematic function of robot, allow robot control ability to significantly improve.Its advantage is exactly to be
System can carry knowledge according to system and carry out intelligent work, and when running into the insurmountable problem of its own system, robot
Networked system will start, and carry out network online query and order robot and be operated, and this allows the control system of robot
Ability is more powerful.
（2）Voice control technology.Significant capability in Robot Control Technology is exactly that robot has speech identifying function,
Robot can be operated by communication, this technical capability most practical always, can meet different industries
Need, there is very big development space.
（3）Autonomous control technology.Robot autonomous control is the developing major technique of robot automtion, and China
The content of robot research personnel's primary study.In China, Robot Control Technology is also in semi-autonomous technical merit, that is,
Say, robot can independently complete a few thing, but some problems also need to remote control completion, and this control technology is
It is more ripe, accelerate the process of robot automtion development.Robot automtion development represents Robot Control Technology water
Flat raising, it is not only the important scientific payoffs of the mankind, the even more crystallization of the wisdom of humanity.At present, many intelligent robots have been
Through being applied to every field and relevant industries, possesses certain use value.This indicates that robot automtion development is
There is realistic meaning, we must keep punching, and the system of constantly improve intelligent robot, robot can be possessed more
It is multi-functional, the work that people are difficult to complete is completed, is community service so as to be serviced for the mankind.
The existing comparatively laborious complexity of Robot Control Technology method, the defects of high expensive.
The content of the invention
It is an object of the invention to provide a kind of robot control method, motion control signal is sent to machine by the present invention
Each moving component of people is to realize the desired movement of each moving component of robot, the anthropomorphic robot control device and its control method
Circuit is simple, cost is cheap, and this is invented for bio-robot field.
In order to achieve the above object, the invention provides a kind of robot control method, methods described to include step：
Centered on predeterminated position, the target information of object in the pre-determined distance on the predeterminated position periphery, the target are gathered
Information comprises at least：Positional information, audio-frequency information and image information and by the positional information, audio-frequency information and image information；
The target information is analyzed, to obtain the control signal for object in the pre-determined distance；
According to the control signal, the action of the robot is controlled, the action comprises at least：Move on the head of the robot
One kind in work, arm action, waist driver and speech utterance.
Preferably, it is necessary to carry out target information based on the rule pre-set before being analyzed the target information
The filtering and screening of formula.
Preferably, the filtering uses BloomFilter filters.
Preferably, the headwork of the robot, arm action, waist act the motion number by pre-setting respectively
It is acquired and feeds back according to collector.
Preferably, it is described that the target information is analyzed, to obtain the control for object in the pre-determined distance
Signal, including：
The audio-frequency information is subjected to speech recognition, obtains audio controls, is obtained based on the positional information described default
Position and the distance of object in the pre-determined distance, and based on color, the shape and size information of described image acquisition image；
Preferably, based on the audio controls, the distance, and the color, shape and size information, it is directed to
The control signal of object in the pre-determined distance.
Preferably, it is described that the audio-frequency information is subjected to speech recognition, audio controls are obtained, including：
Speech recognition is carried out to the audio-frequency information using speech recognition technology, obtains audio controls, wherein, the voice
Identification technology includes GMM-HMM speech recognition modelings.
Preferably, the step of obtaining described image information, including：
Image procossing is carried out to object in the pre-determined distance on the predeterminated position periphery using imaging sensor, to obtain the figure
As information, wherein, described image sensor is ccd sensor.
Compared with prior art, the beneficial effects of the present invention are：
A kind of robot control method provided by the invention, motion control signal can be sent to each moving component of robot with
The desired movement of each moving component of robot is realized, the anthropomorphic robot control device and its control method circuit are simple, cost
Cheap, this is invented for bio-robot field.
Brief description of the drawings
, below will be to the present invention or prior art in order to illustrate more clearly of technical scheme of the invention or of the prior art
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are only the present invention's
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is the schematic flow sheet of robot control method provided by the invention.
Fig. 2 is the system connection diagram of robot control method provided by the invention.
Fig. 3 is the concrete construction schematic diagram of robot control method provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Below by specific embodiment, the present invention will be described in detail.
It is a kind of schematic flow sheet of robot control method referring to Fig. 1, including：
S101, centered on predeterminated position, the target information of object in the pre-determined distance on the predeterminated position periphery is gathered, it is described
Target information comprises at least：Positional information, audio-frequency information and image information simultaneously believe the positional information, audio-frequency information and image
Breath；
S102, the target information is analyzed, to obtain the control signal for object in the pre-determined distance；
S103, according to the control signal, the action of the robot is controlled, the action comprises at least：The robot
One kind in headwork, arm action, waist driver and speech utterance.
Specifically, the headwork of the robot, arm action, the waist action motion number by pre-setting respectively
It is acquired and feeds back according to collector.
Specifically, the audio-frequency information can be carried out into speech recognition, audio controls are obtained, are believed based on the position
Breath obtains the distance of the predeterminated position and object in the pre-determined distance, and color, the shape of image are obtained based on described image
Shape and dimension information；Based on the audio controls, the distance, and the color, shape and size information, pin is obtained
To the control signal of object in the pre-determined distance.
It is described that the audio-frequency information is subjected to speech recognition in a kind of implementation of the present invention, obtain Voice command
Signal, including：Speech recognition is carried out to the audio-frequency information using speech recognition technology, obtains audio controls, wherein, institute
Stating speech recognition technology includes GMM-HMM speech recognition modelings.
In addition, the step of obtaining described image information, including：Using imaging sensor to the pre- of the predeterminated position periphery
If carrying out image procossing apart from interior object, to obtain described image information, wherein, described image sensor is ccd sensor.
It is the system connection diagram for realizing above-mentioned steps referring to Fig. 2, concrete construction passes through host computer 41, letter referring to Fig. 3
The setting of number collector and slave computer 42, position, audio and the image information that host computer 41 is collected based on signal picker are comprehensive
Close to analyze and send control signal and motion control signal is sent to each moving component of robot again to slave computer 42, slave computer 42
To realize the desired movement of each moving component of robot, the anthropomorphic robot control device and its control method circuit be simple, into
This is cheap.
As preferred embodiment, signal picker is adopted including station acquisition device 401, audio collection device 402 and image
Storage 403, station acquisition device 401, audio collection device 402 and image acquisition device 403 communicate to connect with host computer 41.
As preferred embodiment, the also communication link of host computer 41 is connected to audio isolator 43, and audio isolator 43 is also logical
Letter is connected with audio-frequency amplifier 431, and audio-frequency amplifier 431 is connected with the loudspeaker for carrying out voice output.
As preferred embodiment, the head control panel 421 communicated to connect with slave computer 42, arm control are additionally provided with
Making sheet 422, waist driver 423 and driving eyelid realize the eyelid driver 424 of blink action.
As preferred embodiment, host computer 41 is host computer speech chip, and station acquisition device 401 is position sensing
Device, audio collection device 402 are microphone, and image acquisition device 403 is camera, and slave computer 42 is STM32 control panels, and head controls
Plate 421 and arm control panel 422 are servos control plate, and waist driver 423 is M542 drivers, and eyelid driver 424 is
High level relay, audio isolator 43 are audio isolation module, and audio-frequency amplifier 431 is audio frequency power amplifier plate.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Each embodiment in this specification is described by the way of related, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (8)
1. a kind of robot control method, it is characterised in that the described method comprises the following steps：
Centered on predeterminated position, the target information of object in the pre-determined distance on the predeterminated position periphery, the target are gathered
Information comprises at least：Positional information, audio-frequency information and image information simultaneously send out the positional information, audio-frequency information and image information
Send；
The target information is analyzed, to obtain the control signal for object in the pre-determined distance；
According to the control signal, the action of the robot is controlled, the action comprises at least：Move on the head of the robot
One kind in work, arm action, waist driver and speech utterance.
2. a kind of robot control method according to claim 1, it is characterised in that analyze the target information
It is preceding, it is necessary to carry out the filtering and screening of the rule formula based on pre-setting to target information.
3. a kind of robot control method according to claim 2, it is characterised in that the filtering uses Bloom
Filter filters.
A kind of 4. robot control method according to claim 1, it is characterised in that the headwork of the robot,
Arm action, waist action are acquired and fed back by the motion data collection element pre-set respectively.
5. a kind of robot control method according to claim 1, it is characterised in that described to be carried out to the target information
Analysis, to obtain the control signal for object in the pre-determined distance, including：
The audio-frequency information is subjected to speech recognition, obtains audio controls, is obtained based on the positional information described default
Position and the distance of object in the pre-determined distance, and based on color, the shape and size information of described image acquisition image.
6. a kind of robot control method according to claim 5, it is characterised in that described to be carried out to the target information
Analysis, to obtain the control signal for object in the pre-determined distance, including：
Based on the audio controls, the distance, and the color, shape and size information, obtain for described pre-
If apart from the control signal of interior object.
7. a kind of robot control method according to claim 1, it is characterised in that described to carry out the audio-frequency information
Speech recognition, audio controls are obtained, including：
Speech recognition is carried out to the audio-frequency information using speech recognition technology, obtains audio controls, wherein, the voice
Identification technology includes GMM-HMM speech recognition modelings.
8. according to a kind of robot control method described in claim 1 and 5, it is characterised in that obtain described image information
Step, including：
Image procossing is carried out to object in the pre-determined distance on the predeterminated position periphery using imaging sensor, to obtain the figure
As information, wherein, described image sensor is ccd sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714452.XA CN107414871A (en) | 2017-08-18 | 2017-08-18 | A kind of robot control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714452.XA CN107414871A (en) | 2017-08-18 | 2017-08-18 | A kind of robot control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414871A true CN107414871A (en) | 2017-12-01 |
Family
ID=60434780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710714452.XA Pending CN107414871A (en) | 2017-08-18 | 2017-08-18 | A kind of robot control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414871A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7613947B2 (en) | 2021-02-26 | 2025-01-15 | 株式会社安川電機 | ROBOT CONTROL SYSTEM, ROBOT CONTROLLER, AND ROBOT CONTROL METHOD |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426195A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Control device and method for humanoid robot |
-
2017
- 2017-08-18 CN CN201710714452.XA patent/CN107414871A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426195A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Control device and method for humanoid robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7613947B2 (en) | 2021-02-26 | 2025-01-15 | 株式会社安川電機 | ROBOT CONTROL SYSTEM, ROBOT CONTROLLER, AND ROBOT CONTROL METHOD |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107363812B (en) | Wireless control six-degree-of-freedom mechanical arm demonstration system | |
| CN106227215A (en) | Robot automatic photovoltaic module purging system and cleaning method thereof | |
| CN111906788B (en) | Bathroom intelligent polishing system based on machine vision and polishing method thereof | |
| CN116600947A (en) | Multi-mode comprehensive information identification mobile double-arm robot device, system and method | |
| CN108427390A (en) | A kind of the workshop level intelligent manufacturing system and its configuration method twin based on number | |
| CN103706568A (en) | System and method for machine vision-based robot sorting | |
| CN103345164B (en) | Multi-autonomous vehicle decision-making and control real-time simulation experiment system | |
| CN210452170U (en) | Flexible intelligent polishing system of robot based on six-dimensional force sensor | |
| CN110362090A (en) | A kind of crusing robot control system | |
| CN101373380A (en) | A humanoid robot control system and robot manipulation method | |
| CN206152348U (en) | Intelligent toys control system based on gesture detects | |
| CN104298244A (en) | Industrial robot three-dimensional real-time and high-precision positioning device and method | |
| CN207206431U (en) | A kind of Movement Controller of Mobile Robot | |
| CN104993984A (en) | Internet-of-things vision intellisense system and Internet-of-things vision intellisense method | |
| CN107414871A (en) | A kind of robot control method | |
| CN110640744A (en) | Industrial robot with fuzzy control of motor | |
| CN107671838B (en) | Robot teaching recording system, teaching process steps and algorithm flow thereof | |
| CN109249138A (en) | The cross-platform kinetic control system of laser engraving machine | |
| CN201219933Y (en) | Emergency command and analysis platform for epidemic situation and epidemiology of severe infectious disease | |
| WO2024156228A1 (en) | Peg-in-hole assembly method and system, electronic device, and storage medium | |
| CN110293565A (en) | A kind of control system of remote control industrial robot operation | |
| CN118528076A (en) | Finite element partition full-automatic polishing method based on two-dimensional vision | |
| CN108829003A (en) | A kind of search and rescue intelligent carriage acquisition control system based on NB-IOT communication mode | |
| CN204598191U (en) | A kind of wireless sensing agricultural robot image collecting device | |
| CN203510224U (en) | Car model robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171201 |