CN106313055A - Control method of robot - Google Patents
Control method of robot Download PDFInfo
- Publication number
- CN106313055A CN106313055A CN201610931162.6A CN201610931162A CN106313055A CN 106313055 A CN106313055 A CN 106313055A CN 201610931162 A CN201610931162 A CN 201610931162A CN 106313055 A CN106313055 A CN 106313055A
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- CN
- China
- Prior art keywords
- robot
- pressure
- pressure sensor
- rear end
- input
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method of a robot. The robot comprises a left wheel, a machine body, a right wheel, a left motor, a right motor, a front end pressure sensor, a balancing device and a back end pressure sensor, wherein the front end of the balancing device is arranged on the front end pressure sensor; and the back end of the balancing device is arranged on the back end pressure sensor. The control method of the robot comprises the steps of S1, judging in a certain time whether a signal is input or not, if the signal is input, starting a traveling mechanism, and if the signal is not input, enabling the robot to be in a power-saving standby mode; S2, judging whether an infrared remote control signal is input or not, if the infrared remote control signal is input, controlling the robot to move, and if the infrared remote control signal is not input, performing S3; S3, judging whether a voice control signal is input or not, if the voice control signal is input, controlling the robot to move, and if the voice control signal is not input, performing S4; S4, judging whether a distance measurement signal is smaller than a certain value or not, if the distance measurement signal is smaller than the certain value, performing judgment and rotating, and if the distance measurement signal is not smaller than the certain value, performing S5; and S5, judging whether a ground return signal is input or not, and if the ground return signal is input, braking the robot immediately.
Description
Technical field
The invention belongs to Internet technical field, particularly relate to the control method of a kind of robot.
Background technology
At present, along with developing rapidly of science and technology, the function of robot is becoming better and approaching perfection day by day, and robotics is widely used to people
Class social life field.Robot, as in addition to toy for entertainment, is equally applicable for industry, medical treatment and nursing and community service
Various aspects, in fact can complete the more inaccessiable exceedingly difficult movements of the mankind, or under specific environment, the mankind not caned
The work become.Therefore, all there be close contacting in robot with the life of the mankind and production.
Having a kind of remote robot at present, it may be crossed infra-red remote control and be controlled, and makes the actions such as walking, is meeting
During to barrier, the remote control of operator is needed to change direction of travel, it addition, its speed of travel also all need to be controlled by operating.This
Kind of robot needs operator's control completely, so, under walking mode, it may occur that fall, can not avoiding obstacles etc.
Situation, thus affect the performance of its performance.
Accordingly, it would be desirable to the control method of a kind of new robot overcomes the defect in above-mentioned technology.
Summary of the invention
For the deficiencies in the prior art, it is an object of the invention to provide the control method of a kind of robot, can be with perceptron
The direction that device people tilts, thus make corresponding action, make robot of the present invention be maintained at erectility.
The control method of a kind of robot, described robot comprises right wheel, left motor, revolver, fuselage, right motor, comprises
Rear end pressure receptor, forefront pressure sensor, bascule, bascule front end is placed on forefront pressure sensor, flat
Weighing apparatus device rear end is placed on forefront pressure sensor, and 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.
Preferably, when the biped of the robot robot that walks upright turns forward, the pressure of forefront pressure sensor perception
More than rear end pressure receptor, control system, by left motor regulation revolver rotating speed, right motor regulation right wheel rotating speed, makes robot
The biped robot that walks upright travel forward, until the pressure of forefront pressure sensor, rear end pressure receptor perception is equal.
Preferably, when the robot biped robot that walks upright turns forward, and the pressure of forefront pressure sensor perception is big
In rear end pressure receptor, control system, by left motor regulation revolver rotating speed, right motor regulation right wheel rotating speed, makes robot
The biped robot that walks upright travels forward, until the pressure of forefront pressure sensor, rear end pressure receptor perception is equal.
Preferably, when the biped of the robot robot that walks upright tilts backwards, the pressure of forefront pressure sensor perception
Less than rear end pressure receptor, control system, by left motor regulation revolver rotating speed, right motor regulation right wheel rotating speed, makes robot
Biped walk upright robot rearward movement, until the pressure of forefront pressure sensor, rear end pressure receptor perception is equal.
Technical scheme has the advantages that
The control method of a kind of robot that the present invention provides, can reach the function that robot automatically dodges and turns, machine
People oneself may determine that whether normal its speed of travel and its speed of travel of adjustable, is unlikely to excessive velocities and falls, and
Can be dropproof, sound identification module can receive the voice signal in the external world and reaches voice control function simultaneously, thus improves robot
Performance.
Detailed description of the invention
In order to have a clear understanding of technical scheme, its detailed structure be will be set forth in the description that follows.Obviously, originally
The concrete also deficiency of implementing of inventive embodiments is limited to the specific details that those skilled in the art is familiar with.The present invention's is preferred real
Execute example to be described in detail as follows, in addition to these embodiments described in detail, it is also possible to there is other embodiments.
Below in conjunction with embodiment, the present invention is described in further details.
The control method of a kind of robot, described robot comprises right wheel, left motor, revolver, fuselage, right motor, comprises
Rear end pressure receptor, forefront pressure sensor, bascule, bascule front end is placed on forefront pressure sensor, flat
Weighing apparatus device rear end is placed on forefront pressure sensor, and 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.
When the biped of the robot robot that walks upright turns forward, and the pressure of forefront pressure sensor perception is more than rear end
Pressure receptor, control system is by left motor regulation revolver rotating speed, right motor regulation right wheel rotating speed, and the biped making robot is straight
Vertical walking robot travels forward, until the pressure of forefront pressure sensor, rear end pressure receptor perception is equal.
When the robot biped robot that walks upright turns forward, and the pressure of forefront pressure sensor perception is more than rear side pressure
Ergoreceptor, control system is by left motor regulation revolver rotating speed, right motor regulation right wheel rotating speed, and the biped making robot is upright
Walking robot travels forward, until the pressure of forefront pressure sensor, rear end pressure receptor perception is equal.
When the biped of the robot robot that walks upright tilts backwards, and the pressure of forefront pressure sensor perception is less than rear end
Pressure receptor, control system is by left motor regulation revolver rotating speed, right motor regulation right wheel rotating speed, and the biped making robot is straight
Vertical walking robot rearward movement, until the pressure of forefront pressure sensor, rear end pressure receptor perception is equal.
The control method of a kind of robot that the present invention provides, can reach the function that robot automatically dodges and turns,
Robot oneself may determine that whether normal its speed of travel and its speed of travel of adjustable, is unlikely to excessive velocities and falls
Fall, and can be dropproof, sound identification module can receive the voice signal in the external world and reaches voice control function simultaneously, thus improves machine
The performance of device people
Finally should be noted that: above example is only in order to illustrate that technical scheme is not intended to limit, although ginseng
Being described in detail the present invention according to above-described embodiment, those of ordinary skill in the field still can be to the present invention's
Detailed description of the invention is modified or equivalent, and these are without departing from any amendment of spirit and scope of the invention or equivalent
Replace, all within the claims that application is awaited the reply.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931162.6A CN106313055A (en) | 2016-10-31 | 2016-10-31 | Control method of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931162.6A CN106313055A (en) | 2016-10-31 | 2016-10-31 | Control method of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106313055A true CN106313055A (en) | 2017-01-11 |
Family
ID=57818573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610931162.6A Pending CN106313055A (en) | 2016-10-31 | 2016-10-31 | Control method of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106313055A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108470504A (en) * | 2018-03-29 | 2018-08-31 | 重庆博张博乐机器人有限公司 | A kind of modularization self-balancing educational robot |
| CN114260905A (en) * | 2022-01-28 | 2022-04-01 | 天津华宁电子有限公司 | Control system of mining working face monitoring robot |
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| US20020130632A1 (en) * | 2000-02-14 | 2002-09-19 | Andrew Filo | Walking platforms with automatic self-stabilization |
| CN1372505A (en) * | 2000-04-03 | 2002-10-02 | 索尼公司 | Control device and control method for robot |
| CN1507382A (en) * | 2002-02-15 | 2004-06-23 | 索尼公司 | Leg device for leg type movable robot, and method of controlling leg type movable robot |
| CN1518488A (en) * | 2002-03-15 | 2004-08-04 | ���ṫ˾ | Operation control device for leg-type mobile robot and operation control method and robot device |
| CN1946521A (en) * | 2004-07-30 | 2007-04-11 | 提姆查克股份有限公司 | Multi-point ground contact type foot part support mechanism, bipedal walking robot having the support mechanism, and control structure for the robot |
| CN101108480A (en) * | 2006-07-18 | 2008-01-23 | 深圳职业技术学院 | Robot and ambulation control method of the same |
| CN202243768U (en) * | 2011-07-28 | 2012-05-30 | 重庆友武科技有限公司 | Robot capable of walking uprightly on two feet |
| CN105382838A (en) * | 2015-12-25 | 2016-03-09 | 河池学院 | Intelligence-promoting robot control system |
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2016
- 2016-10-31 CN CN201610931162.6A patent/CN106313055A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020130632A1 (en) * | 2000-02-14 | 2002-09-19 | Andrew Filo | Walking platforms with automatic self-stabilization |
| CN1372505A (en) * | 2000-04-03 | 2002-10-02 | 索尼公司 | Control device and control method for robot |
| CN1507382A (en) * | 2002-02-15 | 2004-06-23 | 索尼公司 | Leg device for leg type movable robot, and method of controlling leg type movable robot |
| CN1518488A (en) * | 2002-03-15 | 2004-08-04 | ���ṫ˾ | Operation control device for leg-type mobile robot and operation control method and robot device |
| CN1946521A (en) * | 2004-07-30 | 2007-04-11 | 提姆查克股份有限公司 | Multi-point ground contact type foot part support mechanism, bipedal walking robot having the support mechanism, and control structure for the robot |
| CN101108480A (en) * | 2006-07-18 | 2008-01-23 | 深圳职业技术学院 | Robot and ambulation control method of the same |
| CN202243768U (en) * | 2011-07-28 | 2012-05-30 | 重庆友武科技有限公司 | Robot capable of walking uprightly on two feet |
| CN105382838A (en) * | 2015-12-25 | 2016-03-09 | 河池学院 | Intelligence-promoting robot control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108470504A (en) * | 2018-03-29 | 2018-08-31 | 重庆博张博乐机器人有限公司 | A kind of modularization self-balancing educational robot |
| CN114260905A (en) * | 2022-01-28 | 2022-04-01 | 天津华宁电子有限公司 | Control system of mining working face monitoring robot |
| CN114260905B (en) * | 2022-01-28 | 2023-11-28 | 天津华宁电子有限公司 | Mining working face monitoring robot control system |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |
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| RJ01 | Rejection of invention patent application after publication |