CN110154016A - Robot control method, device, storage medium and computer equipment - Google Patents
Robot control method, device, storage medium and computer equipment Download PDFInfo
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- CN110154016A CN110154016A CN201810901999.5A CN201810901999A CN110154016A CN 110154016 A CN110154016 A CN 110154016A CN 201810901999 A CN201810901999 A CN 201810901999A CN 110154016 A CN110154016 A CN 110154016A
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- robot
- steering engine
- instruction
- control
- capture apparatus
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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—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Signal Processing (AREA)
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- Evolutionary Computation (AREA)
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Abstract
This application involves a kind of robot control method, device, computer readable storage medium and computer equipments, this method comprises: obtaining the direction of travel of instruction when getting travelling control instruction；Extract walking motion sequence corresponding with direction of travel；The walking motion parameter that robot corresponds to steering engine is obtained from walking motion sequence；The corresponding steering engine of control robot is acted according to the walking motion parameter in walking motion sequence；When getting shooting angle adjustment instruction, the adjustment direction of instruction is identified；Extract the capture apparatus action parameter of capture apparatus mounting portion steering engine corresponding with adjustment direction；Control capture apparatus mounting portion steering engine is acted according to capture apparatus action parameter.The direction of travel of robot and the shooting angle of capture apparatus are adjusted due to that can separate, so as to realize the flexible control to robot as needed, greatly expand the field range that robot can observe.
Description
Technical field
This application involves intelligent robot technology fields, more particularly to a kind of robot control method, device, computer
Readable storage medium storing program for executing and computer equipment.
Background technique
With the development of intelligence machine especially smart home, the interactive performance of intelligence machine close friend makes it raw in people
Role is more and more important in work.And for security protection, if user needs to understand at any time the situation of family, mountable intelligence
Energy video camera is, it can be achieved that remotely understand the situation of family.
However, the installation site of intelligent camera is fixed, control mode is not flexible, leads to the field range that can observe
It is narrow.
Summary of the invention
Based on this, it is necessary to for the narrow technical problem of observation field range, provide a kind of robot control method, dress
It sets, computer readable storage medium and computer equipment.
A kind of robot control method, comprising:
When getting travelling control instruction, the direction of travel of instruction is obtained；
Extract walking motion sequence corresponding with the direction of travel；
The walking motion parameter of the corresponding steering engine of robot is obtained from the walking motion sequence；
The corresponding steering engine for controlling the robot is acted according to the walking motion parameter in the walking motion sequence；
When getting shooting angle adjustment instruction, the adjustment direction of instruction is identified；
Extract the capture apparatus action parameter of capture apparatus mounting portion steering engine corresponding with the adjustment direction；
The capture apparatus mounting portion steering engine is controlled to be acted according to the capture apparatus action parameter.
A kind of robot controller, comprising:
Direction obtains module, for obtaining the direction of travel of instruction when getting travelling control instruction；
Action sequence obtains module, for extracting walking motion sequence corresponding with the direction of travel；
Parameter acquisition module, for obtaining the walking motion ginseng of the corresponding steering engine of robot from the walking motion sequence
Number；
Control module, for controlling the corresponding steering engine of the robot according to the walking motion in the walking motion sequence
Parameter is acted；
The direction obtains module, is also used to identify the adjustment direction of instruction when getting shooting angle adjustment instruction；
The parameter acquisition module is also used to extract the bat of capture apparatus mounting portion steering engine corresponding with the adjustment direction
Take the photograph device action parameter；
The control module is also used to control the capture apparatus mounting portion steering engine according to the capture apparatus action parameter
It is acted.
A kind of computer readable storage medium is stored with computer program, when the computer program is executed by processor,
So that the processor executes the step of above method.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the calculating
When machine program is executed by the processor, so that the step of processor executes the above method.
Above-mentioned robot control method, device, computer readable storage medium and computer equipment is walked when receiving
When control instruction, the direction of travel of instruction is obtained, extracts walking motion sequence corresponding with direction of travel, obtains walking motion sequence
The walking motion parameter of corresponding steering engine in column, the corresponding steering engine of control robot are acted according to walking motion parameter, thus real
It is now instructed according to travelling control, controls the direction of travel of robot.When receiving shooting angle adjustment instruction, instruction is identified
Adjustment direction, extracts the capture apparatus action parameter of capture apparatus mounting portion steering engine corresponding with adjustment direction, and control shooting is set
Standby mounting portion steering engine is acted according to capture apparatus action parameter, to realize that, according to shooting angle adjustment instruction, control is clapped
Take the photograph the shooting angle of equipment.The direction of travel of robot and the shooting angle of capture apparatus are adjusted due to that can separate,
So as to realize the flexible control to robot as needed, the field range that robot can observe greatly is expanded.
Detailed description of the invention
Fig. 1 is the applied environment figure of robot control method in one embodiment；
Fig. 2 is the flow diagram of robot control method in one embodiment；
Fig. 3 is the operation interface schematic diagram of robot control in one embodiment；
Fig. 4 is the timing flow chart of robot control method in one embodiment；
Fig. 5 is the system architecture diagram of robot control system in one embodiment；
Fig. 6 is the structural block diagram of robot controller in one embodiment；
Fig. 7 is the structural block diagram of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
Fig. 1 is the application environment schematic diagram of robot control method in one embodiment.Referring to Fig.1, which controls
Method is applied to robot control system.The robot control system includes user terminal 110, server 120 and robot
130.Wherein, user terminal 110 is connect with server 120, and server 120 is connect with robot 130, robot 130 and user
Terminal connection.By user terminal 110, user will be sent to server to the control instruction of robot, is forwarded to by server
Robot executes corresponding movement when robot receives control instruction.
In another embodiment, robot and user are within the scope of the same space, and robot acquires voice messaging, when
When by speech recognition to control instruction, corresponding movement is executed.
A kind of robot control method is executed by robot as shown in Figure 1, as shown in Fig. 2, this method includes following
Step:
S202 obtains the direction of travel of instruction when getting travelling control instruction.
Wherein, travelling control instruction is used to indicate robot and walks to specified direction of travel.Direction of travel is with robot
It itself is reference, including forward and backward, left and right four direction.By taking travelling control instruction is to go ahead as an example, instruction robot is forward
Walking.
Specifically, travelling control instruction can instruct for voice travelling control.By recognition of speech signals, voice row is obtained
Walk control instruction.Wherein, voice signal can be the voice signal that robot acquires at the scene, or mobile phone terminal acquisition
Voice signal.The voice signal of acquisition is sent to server by mobile phone terminal, is identified to obtain travelling control instruction by server,
And it is sent to robot.For example, voice signal can be " going ahead ", " walking to the left " etc..
Specifically, travelling control instruction or the travelling control command identification that can be identified by robot, wherein row
The unique identifier that control instruction is identified as travelling control instruction is walked, travelling control command identification can be sent out by mobile phone terminal
Out.Mobile phone terminal operation has robot to control application program, in the display interface display walking control panel of mobile phone terminal, walking control
Disk processed has forward and backward, left and right four direction travelling control key respectively.When user presses the travelling control in one of direction
When key, corresponding travelling control instruction is generated, travelling control instruction includes travelling control command identification, is used to indicate walking
Direction.Travelling control instruction is sent to server by user terminal, and travelling control instruction is sent to robot by server.
S204 extracts walking motion sequence corresponding with direction of travel.
The set of each steering engine movement of robot needed for walking motion sequence refers to one walking motion of composition, for example, one
The sequencing of each steering engine movement of robot needed for a walking motion sequence defines a walking motion, is included in each time
Section, the robot corresponding joint steering engine of required movement.In another example a walking motion sequence defines needed for a walking motion
The each joint steering engine to be adjusted.
In the present embodiment, robot is made of multiple positions, including head, neck, arm, foot and trunk.Each position
Between pass through joint be connected.In each joint, it is provided with steering engine, controls the movement of corresponding site.For example, last arm and lower arms
It is connected by elbow joint, last arm is connected with trunk by shoulder joint, and foot is connected with trunk by waist joint, head and neck
Pass through pillow joint connection etc..By being provided with steering engine at corresponding joint, the movement of robot corresponding site can be controlled.Example
Such as, it controls the steering engine at shoulder joint to act upwards, then last arm acts upwards, and the steering engine for controlling elbow joint acts upwards, then
Assistant's wall acts upwards, the hand raising action of shoulder joint and elbow joint cooperation realization robot.
Robot ambulation is the cooperation in multiple position joints as mankind's normal walking, then a walking motion,
It is the cooperation in multiple position joints.Specifically, first simultaneously lift left foot and the right hand, to after certain amplitude, put down left foot and
The right hand steps a step, then, while lifting right crus of diaphragm and left hand, to after certain amplitude, puts down right crus of diaphragm and left hand, to complete
Walking motion.So walking motion sequence includes the sequence of movement of the joint steering engine acted needed for travelling control.Its
In, walking motion sequence includes the joint steering engine mark successively acted in walking motion.Steering engine mark in joint is used for unique identification
Steering engine, to distinguish each steering engine.
S206 obtains the walking motion parameter of the corresponding steering engine of robot from walking motion sequence.
Wherein, corresponding steering engine refers to each joint steering engine of robot of requirement movement indicated in walking motion sequence.Row
The action message that action parameter refers to corresponding joint steering engine in walk sequence is walked, the movement of action sequence, steering engine including steering engine
Direction and the operating angle of steering engine etc..Wherein, direction of travel is related to the direction of motion of corresponding joint steering engine, movement range with
The movement angle of corresponding joint steering engine is related.
By once forward for walking motion, the walking motion parameter of an action sequence can be with are as follows:
100ms, right shoulder joint steering engine act 30 degree upwards；
100ms, left waist joint steering engine act 30 degree upwards；
200ms, right elbow joint steering engine act 30 degree upwards；
200ms, left knee joint steering engine act 30 degree upwards；
300ms, right 30 degree of elbow joint steering engine downward actuation；
300ms, left 30 degree of knee joint steering engine downward actuation；
400ms, right 30 degree of shoulder joint steering engine downward actuation；
400ms, left 30 degree of waist joint steering engine downward actuation.
As it appears from the above, an action sequence includes actuation time, steering engine and operating angle are controlled.Wherein, at one
Actuation time has multiple steering engine cooperations to complete.The action parameter of each steering engine of multiple actuation times, constitutes action sequence.
In other embodiments, more complicated action sequence can be set according to robot architecture and steering engine, so that machine
The walking motion of people has more steering engine cooperations to complete, and the movement of robot is made to tend to human action.
S208, the corresponding steering engine for controlling robot are acted according to the walking motion parameter in walking motion sequence.
Wherein, corresponding steering engine refers to each joint steering engine of requirement movement indicated in walking motion sequence.With to move ahead
For walking, the corresponding steering engine in one embodiment includes right shoulder joint steering engine, left waist joint steering engine, right elbow joint steering engine and left knee
Joint steering engine.Corresponding steering engine by controlling robot is acted according to the walking motion parameter of walking motion sequence, with complete
At the walking motion of the direction of travel to instruction.
According to walking motion parameter, each steering engine for successively controlling robot is successively acted according to walking motion sequence.
It is as shown above to the action sequence for walking walking, according to actuation time, first control in first element time 100ms, right shoulder
Joint steering engine and left waist joint steering engine are acted according to set angle, then are controlled in second actuation time 200ms, right elbow joint
Steering engine and left knee joint steering engine are acted according to set angle, are then controlled in third actuation time 300ms, right elbow joint rudder
Machine and left knee joint steering engine are acted according to set angle, are finally controlled in the 4th actuation time 400ms, right shoulder joint steering engine
It is acted with left waist joint steering engine according to set angle, completes walking motion forward.
Wherein, an action sequence completes foot traffic work, in practical applications, controls robot cycle according to walking
The walking motion parameter of action sequence is acted, i.e., after a walking motion sequence executes completion, if not receiving walking
Halt instruction then continues to execute the walking motion sequence of next one, until receiving walking finishing control instruction.
S210 identifies the adjustment direction of instruction when getting shooting angle adjustment instruction.
Wherein, the capture apparatus that shooting angle adjustment instruction is used to indicate robot is adjusted to specified direction, with adjustment
Shooting angle.The robot of the present embodiment is configured with capture apparatus, for acquiring the picture and video of robot local environment.
Specifically, shooting angle adjustment instruction can instruct for voice travelling control.By recognition of speech signals, language is obtained
Sound shooting angle adjustment instruction.Wherein, voice signal can be the voice signal that robot acquires at the scene, or mobile phone
The voice signal of terminal acquisition.The voice signal of acquisition is sent to server by mobile phone terminal, is identified and is shot by server
Angle adjustment instruction, and it is sent to robot.For example, voice signal can be " turning left on head ", " camera is turned left " etc..
Specifically, the shooting angle adjustment instruction mark that shooting angle adjustment instruction may be and can be identified by robot
Know, wherein shooting angle adjustment instruction is identified as the unique identifier of shooting angle adjustment instruction, shooting angle adjustment instruction
Mark can be issued by mobile phone terminal.Mobile phone terminal operation has robot to control application program, in the display interface of mobile phone terminal
Show that shooting angle control panel, shooting angle control panel have forward and backward, left and right four direction adjustment control button, energy respectively
Enough realize 360 degree of adjustment of capture apparatus.When user presses the shooting angle control button in one of direction, correspondence is generated
Shooting angle adjustment instruction, shooting angle adjustment instruction include shooting angle adjustment instruction mark, be used to indicate shooting and set
Standby adjustment direction.Shooting angle adjustment instruction is sent to server by user terminal, by server by shooting angle adjustment instruction
It is sent to robot.
S212 extracts the capture apparatus action parameter of capture apparatus mounting portion steering engine corresponding with adjustment direction.
Capture apparatus is mounted on the capture apparatus mounting portion of robot.Capture apparatus mounting portion can appointing for robot
What position, such as head, neck, hand etc..Capture apparatus mounting portion can also be independently mounted at the portion of robot for one
Part, if capture apparatus mounting portion is the pedestal of installation overhead, capture apparatus is mounted on the base.More specifically.
Capture apparatus mounting portion is provided with steering engine, can control rotating forward, backward, to the left or to the right for capture apparatus mounting portion, from
And the rotation of capture apparatus is driven, and then can be realized the shooting angle of adjustment capture apparatus as needed.In the present embodiment, clap
Take the photograph the head that equipment mounting portion is robot, i.e. the capture apparatus head that is mounted on robot.
Capture apparatus action parameter is capture apparatus in action process, the action message of capture apparatus mounting portion steering engine.
Specifically, for each adjustment direction, the capture apparatus action parameter of capture apparatus mounting portion steering engine is pre-set.Specifically
Ground, capture apparatus action parameter may include actuation time, direction of action and operating angle.Wherein, direction of action and adjustment side
To correspondence, operating angle was determined in actuation time, the movement range of capture apparatus mounting portion steering engine.Wherein, for different directions
Capture apparatus action parameter for, the operating angle of each direction of action may be configured as identical in actuation time, to keep shooting
Equipment is when all directions are adjusted, the consistency of operating frequency.
S214, control capture apparatus mounting portion steering engine are acted according to capture apparatus action parameter.
According to capture apparatus action parameter, controls capture apparatus mounting portion steering engine and acted in corresponding direction, Zhi Daojie
When receiving shooting angle adjustment halt instruction, the bat to capture apparatus is realized in control capture apparatus mounting portion steering engine stopping movement
Take the photograph the adjustment in direction.
Wherein, the adjustment of a capture apparatus action parameter executed at an angle is made, in practical applications, control
Robot cycle is acted according to capture apparatus action parameter, i.e., after a capture apparatus action parameter executes completion, if
Shooting angle adjustment halt instruction is not received, then continues to execute the execution of next one capture apparatus action parameter.
Wherein, above-mentioned steps number is not the restriction to each step execution sequence, gets travelling control instruction and obtains
Getting the two steps of shooting angle adjustment instruction, there is no sequencings, can get shooting in walking control process
Angle adjustment instruction can also get travelling control instruction during shooting angle adjustment instruction.Robot ambulation direction
With the adjustment of shooting angle, the visual range for expanding robot is realized in cooperation.
Above-mentioned robot control method obtains the direction of travel of instruction when receiving travelling control instruction, extract with
The corresponding walking motion sequence of direction of travel obtains the walking motion parameter of corresponding steering engine in walking motion sequence, controls machine
The corresponding steering engine of people is acted according to walking motion parameter, is instructed to realize according to travelling control, is controlled the walking of robot
Direction.When receiving shooting angle adjustment instruction, the adjustment direction of instruction is identified, extract shooting corresponding with adjustment direction and set
The capture apparatus action parameter of standby mounting portion steering engine, control capture apparatus mounting portion steering engine are carried out according to capture apparatus action parameter
Movement controls the shooting angle of capture apparatus to realize according to shooting angle adjustment instruction.Due to that can separate to robot
Direction of travel and the shooting angle of capture apparatus be adjusted, so as to realize the flexible control to robot as needed
System, greatly expands the field range that robot can observe.
In another embodiment, before getting travelling control instruction or before getting shooting angle adjustment instruction, also
It include: the connection request for obtaining user terminal；According to connection request, the video data that capture apparatus acquires was sent to user's end
End.
Specifically, connection request refers to the request for connecting with robot that user terminal is sent, and connects when receiving
After request, robot responds connection request, connect with user terminal, and the video data that capture apparatus acquires is sent to user
Terminal, so that user can understand in real time robot local environment by mobile phone.
In specific application, by taking the scene in user terminal control robot ambulation direction as an example, user terminal and machine
The step of people connects should be before sending travelling control instruction or sending shooting angle adjustment instruction.It is received in user terminal
To after video data, shooting visual angle that can be current based on robot, according to demand, user's operation control panel adjust robot
The shooting angle of direction of travel and capture apparatus, to obtain the video image of specific objective.For example, acquired by capture apparatus
Video data, user judge that robot is currently in parlor, and user can pass through control panel control it should be understood that the case where bedroom
The direction of travel of robot processed and the adjustment angle of capture apparatus make robot run to bedroom according to travelling control instruction, and
According to shooting angle adjustment instruction, the direction of capture apparatus is adjusted, so as to shoot the video image of each angle in bedroom, so that
User understands bedroom situation.
In another embodiment, robot control method further include: the shooting control instruction that user terminal is sent is received,
According to shooting control instruction, capture apparatus is called, image is generated, image is sent to the user terminal storage.
Wherein, the shooting control being arranged on the display interface of user terminal adjusts robot when passing through control operation panel
To setting position, the video image sent is realized by robot, user after judging the capture apparatus alignment target of robot,
It can trigger shooting control, generate shooting control instruction.User terminal will shoot control instruction and be sent to robot by server.
Robot calls capture apparatus after receiving shooting control instruction, generates image.Wherein, the image of generation and shooting control
Instruction is related, and shooting control instruction can be picture shooting control instruction or video capture control instruction, then what is generated can be with
It is picture or video image.The image of generation is sent to the user terminal by robot, aobvious by the display interface of user terminal
Show the image of robot shooting, user can be based further on image selection storage mode, for example, storing to local, or share
To social good friend etc..
Specifically, the shooting control instruction of mobile phone terminal can be sent to server by mobile phone terminal, will be shot by server
Control instruction is sent to robot.The image of acquisition can be sent to server by robot, be sent to the user terminal by server.
In the present embodiment, image is shot by the remote controlled robot of user terminal, and the image of shooting is sent to
User terminal storage.
In another embodiment, robot control method further include: when receiving preset control instruction, according to preset
Control instruction determines preset action identification；Match preset action sequence corresponding with preset action identification；From preset action sequence
The middle preset action parameter for obtaining the corresponding steering engine of robot；The corresponding steering engine of robot is controlled according to pre- in preset action sequence
It sets action parameter to be acted, to execute preset movement.
Wherein, preset control instruction, which refers to, is used to indicate the control instruction that robot executes preset movement.Preset movement is
Refer to the robot correlation function movement pre-established.Such as, it being acted than love, dancing movement, greeting movement are acted than praising, then
See movement etc..
Specifically, preset control instruction can be phonetic control command.By recognition of speech signals, obtains preset control and refer to
It enables.Wherein, voice signal can be the voice signal that robot acquires at the scene, or the voice letter of mobile phone terminal acquisition
Number.The voice signal of acquisition is sent to server by mobile phone terminal, is identified to obtain preset control instruction by server, and be sent to
Robot.For example, voice signal can be " greeting ", " ratio is praised ", " goodbye " etc..
Specifically, preset control instruction also includes to identify with the preset control instruction that can be identified by robot, wherein
Preset control instruction is identified as the unique identifier of preset control instruction, and preset control instruction mark can be sent out by mobile phone terminal
Out.Mobile phone terminal operation has robot to control application program, in the control button of each preset movement of mobile phone terminal.When user presses
When the control button of one of them lower preset movement, corresponding preset control instruction is generated, preset control instruction includes preset
Control instruction mark is used to indicate robot and executes corresponding preset movement.Preset control instruction is sent to clothes by user terminal
Business device, is sent to robot for preset control instruction by server.
When receiving preset control instruction, preset action identification is determined according to preset control instruction.Preset action identification
It is the mark for uniquely distinguishing each preset movement.
Wherein, preset control instruction is corresponding with preset action identification, and preset action identification is corresponding with preset action sequence, i.e.,
Different preset control instructions corresponds to different preset movements, and different preset movements has different preset action sequences.
The set of each steering engine movement of robot needed for preset action sequence refers to one preset movement of composition, for example, one
The sequencing of each steering engine movement of robot needed for a preset action sequence defines a preset movement, is included in each time
Section, the robot corresponding joint steering engine of required movement.In another example a preset action sequence defines needed for a preset movement
The each joint steering engine to be adjusted.
By taking preset movement is greets as an example, preset movement is lifts the right hand and rolls, and the right hand lifts and needs the right side
The cooperation of hand shoulder joint and elbow joint, therefore, the preset action sequence of the preset movement includes right hand shoulder joint and elbow joint rudder
The sequence of movement of machine.By taking preset movement is than praising as an example, preset movement is moved forward and is leaned in front to lift left hand and the right hand
Hold together.Therefore the preset action sequence of the preset movement includes the sequence of movement of right-hand man's shoulder joint and elbow joint steering engine.
Preset action parameter refers to that robot executes in preset action process, the movement of corresponding steering engine in preset action sequence
Information, the direction of action of action sequence, steering engine including steering engine and the operating angle of steering engine etc..
By taking preset movement of greeting as an example, the preset action parameter of a preset action sequence can be with are as follows:
100ms, right shoulder joint steering engine act 15 degree upwards；
100ms, right elbow joint act 145 degree upwards；
200ms, right elbow joint act 15 degree to the left；
300ms, right elbow joint act to the right 30 degree；
400ms, right elbow joint act 30 degree to the left；
500ms, right elbow joint act to the right 15 degree.
As it appears from the above, a preset action sequence includes actuation time, steering engine and operating angle are controlled.Wherein, exist
One actuation time has multiple steering engine cooperations to complete.The action parameter of each steering engine of multiple actuation times, constitutes preset movement
Sequence.
In other embodiments, different preset movements can be arranged according to robot architecture, steering engine setting, holding function
Different action sequence, so that the preset movement of robot tends to human action.
Wherein, corresponding steering engine refers to each joint steering engine of requirement movement indicated in preset action sequence.To greet
For, the corresponding steering engine in one embodiment includes right shoulder joint steering engine and right elbow joint steering engine.By the phase for controlling robot
Steering engine is answered to be acted according to the preset action parameter of preset action sequence, to complete preset movement.
Above-mentioned robot control method can control robot to execute preset movement.
Further, matching preset action sequence corresponding with preset action identification includes: acquisition user characteristics；According to
Family feature and preset action identification match corresponding preset action sequence.
Wherein, user characteristics are the features for referring to characterization user personality.User characteristics can be based on the user information of configuration
It determines, when using robot for the first time such as user, can configure relevant personal information, for example, age, gender and occupation etc..User
Feature can also be arrived based on robot with the middle school's acquistion that exchanges of user.Robot in the exchanging of user, can be according to user's
Locution and user's behavior learning user characteristics.
The different types of user characteristics of system intialization, and be provided with every kind of user characteristics each preset movement it is preset dynamic
Make sequence.Wherein, preset action sequence can embody user characteristics.
In one embodiment, the user characteristics of setting include: aughty, steady, passion etc..It is special for different users
Sign, provided with different preset action sequences, to meet user characteristics.For greeting, such as aughty greeting style is removed
Outside conventional headwork, there are also heads to left avertence certain angle, blink.
Above-mentioned robot control method, when controlling robot and executing preset movement, it is also contemplated that user characteristics make machine
Device people is linked up in a manner of meeting user characteristics with user, makes robot rich in emotional color.
In another embodiment, robot control method further include: obtain voice signal, recognition of speech signals is controlled
System instruction.
Wherein, voice signal can be robot voice signal collected, can also be the voice of mobile phone terminal acquisition
Signal.By speech recognition, control instruction is obtained, identifiable control instruction includes travelling control instruction, shooting angle adjustment
Instruction, shooting control instruction, walking halt instruction, control control instruction and shooting angle adjust halt instruction.By identifying language
Sound signal extracts control instruction, increases the mode of acquisition instruction, and this method does not limit robot and the space of user is wanted
It asks, can be realized long-range voice control.
In another embodiment, robot control method further include: receive the control instruction that user terminal is sent.
Specifically, mobile phone terminal operation has robot to control application program, and when an application program is launched, mobile phone terminal is shown
Show the operation interface of interface display robot control.The operation interface of the robot control of one embodiment is as shown in Figure 3.Machine
People acquisition video show in video viewing area, travelling control disk 301, shooting angle control panel 302, shooting control 303 and in advance
It sets movement control 304 and suspends and be arranged in upper one layer of video viewing area.
Wherein, travelling control disk 301 is for issuing travelling control instruction and walking halt instruction.Specifically, travelling control
Disk 301 is provided with forward and backward, left and right four direction travelling control key.When user presses the walking control in one of direction
When key processed, corresponding travelling control instruction is generated, travelling control instruction includes travelling control command identification, is used to indicate row
Walk direction.For example, when pressing upward travelling control key, forward travelling control instruction is generated, when pressing downward row
When walking control button, travelling control instruction backward is generated, when pressing travelling control key to the left, generates walking to the left
Control instruction generates travelling control instruction to the right when pressing travelling control key to the right.It is currently pressed when user unclamps
Travelling control key when, generate walking halt instruction.By travelling control disk, the walking of robot remotely can be flexibly controlled
Direction.
Shooting angle control panel 302 is provided with forward and backward, left and right four direction adjustment control button.When user presses
When the adjustment control button in one of direction, corresponding shooting angle adjustment instruction is generated, shooting angle adjustment instruction includes
There is shooting angle adjustment mark, is used to indicate the adjustment direction of capture apparatus.For example, when pressing upward adjustment control button
When, the shooting angle adjustment instruction of forward adjustment is generated, when pressing downward adjustment control button, generates shooting backward
Angle adjustment instruction generates shooting angle adjustment instruction to the left when pressing adjustment control button to the left, when pressing to the right
Adjustment control button when, generate shooting angle adjustment instruction to the right.When user unclamps the adjustment control button currently pressed
When, generate adjustment halt instruction.By shooting angle control panel, 360 degree to capture apparatus shooting angle can be remotely realized
Adjustment.
Control instruction can be shot in issuing by shooting control 303.Specifically, when user presses shooting control 303, figure is generated
Piece shoots control instruction, when user's long-pressing shoots control 303, generates video capture control instruction, when user unclamps long-pressing
When shooting control 303, generates and stop shooting control instruction.
Preset movement control 304 is used to indicate robot and refers to the preset movement of row for issuing preset action command.
Above-mentioned robot control method can realize the long-range control to robot by user terminal.
In one embodiment, when receiving walking finishing control instruction, the corresponding steering engine for controlling robot stops moving
Make.
Walking finishing control instruction refers to that control robot stops the instruction of walking.Robot refers to receiving travelling control
When enabling, the corresponding steering engine for controlling robot is acted according to the walking motion parameter of walking motion sequence, i.e., circulation executes dynamic
Make sequence, when receiving walking finishing control instruction, each steering engine stopping movement of robot is controlled, at this point, robot stops
Posture when receiving walking finishing control instruction is maintained at when only.
In another embodiment, when receiving walking finishing control instruction, each position steering engine for controlling robot is held
It has gone and has stopped after current action sequence.
Walking finishing control instruction refers to that control robot stops the instruction of walking.Robot refers to receiving travelling control
When enabling, the corresponding steering engine for controlling robot carries out circulation action according to the walking motion parameter of walking motion sequence, i.e., circulation is held
Row action sequence, until when receiving walking finishing control instruction, after control robot has executed the action sequence of current round
Stop, at this point, keeping the walking posture of standard when robot stops.
In another embodiment, when receiving shooting angle adjustment halt instruction, capture apparatus mounting portion is shone in control
Steering engine stopping movement.
Wherein, shooting angle adjusts halt instruction, is the instruction for controlling capture apparatus mounting portion steering engine stopping movement.When connecing
When receiving shooting angle adjustment instruction, control capture apparatus mounting portion steering engine is acted according to capture apparatus action parameter, directly
To when receiving shooting angle adjustment halt instruction, control is acted according to the steering engine stopping of capture apparatus mounting portion, is maintained at and is currently adopted
Collect visual angle.
In another embodiment, when receiving walking finishing control instruction, the corresponding steering engine for controlling robot stops
Movement；It obtains walking and stops action sequence；The walking for stopping obtaining the corresponding steering engine of robot in action sequence from walking stops moving
Make parameter；The corresponding steering engine for controlling robot stops action parameter according to the walking in walking stopping action sequence and is acted,
Until walking stops action sequence and is finished.
Specifically, stop the set that action sequence refers to each joint steering engine movement of the robot of composition one stopping movement,
One stops the sequencing that action sequence defines each position movement of a stopping movement, i.e. unit time, corresponding to close
Save the sequence of movement of steering engine.It is executed by control robot and stops action sequence, return robot can after stopping movement
One standard posture.Wherein, standard posture can close up for both feet, the standard stance that both hands naturally droop.So stopping acts
Sequence is related to the standard state of setting.Such as, a stopping action sequence includes foot action and hand motion.In robot
After stopping walking, control robot stops parameter actions according to the walking for stopping action sequence, and robot is made to return standard posture.
In the following, robot control method is described in detail so that user terminal is realized to the control of robot as an example.
As shown in figure 4, robot control method includes:
User terminal sends connection request, and robot responds connection request, establishes connection with user terminal.Robot according to
Connection request sends the video data that capture apparatus acquires to user terminal, and user terminal shows video counts in display interface
According to.
The operation interface of one embodiment is as shown in figure 3, the video data that robot is sent is shown in video as shown in Figure 3
Show that area is shown.
Operation interface is additionally provided with travelling control disk 301, shooting angle control panel 302, shooting control 303 and preset movement
Control 304, these controls, which suspend, is arranged in upper one layer of video viewing area.
Travelling control disk 301 is for issuing travelling control instruction and walking halt instruction.Specifically, travelling control disk 301
It is provided with forward and backward, left and right four direction travelling control key.When user presses the travelling control key in one of direction
When, generate corresponding travelling control instruction to the left, to the right, forward or backward.User passes through operation travelling control disk, Neng Gouyuan
The direction of travel of process control robot, meanwhile, according to the video data that robot is sent by server, can be realized accurate
It is adjusted to target direction.
Shooting angle control panel 302 is provided with forward and backward, left and right four direction adjustment control button.When user presses
When the adjustment control button in one of direction, generates corresponding shooting angle adjustment to the left, to the right, forward or backward and refer to
It enables.User is capable of the direction of the capture apparatus of remote control robot by operation shooting angle control panel 302, is clapped with adjusting
Angle is taken the photograph, meanwhile, according to the video data that robot is sent by server, it can be realized and accurately adjusted to target direction,
And by adjusting four direction, it can be realized 360 degree of adjustment remotely to capture apparatus shooting angle.
Control instruction can be shot in issuing by shooting control 303.Specifically, when user presses shooting control 303, figure is generated
Piece shoots control instruction, when user's long-pressing shoots control 303, generates video capture control instruction, when user unclamps long-pressing
When shooting control 303, generates and stop shooting control instruction.
Preset movement control 304 is used to indicate robot and refers to the preset movement of row for issuing preset action command.
In the present embodiment, direction of travel and shooting angle flexibly can be separately adjusted.
By taking walking of going ahead as an example, user by press user terminal travelling control disk the control walked upwards by
Key generates the travelling control instruction that instruction is walked forward.Travelling control instruction is sent to robot by server.
Robot gets travelling control instruction, and the direction of travel for obtaining instruction is to walk forward, extracts and walks forward
Corresponding walking motion sequence.Walking motion sequence includes the sequence of movement of the joint steering engine acted needed for travelling control.Its
In, walking motion sequence includes the sequence of movement of the joint steering engine successively acted in walking motion.
Obtain the walking motion parameter that joint of robot in walking motion sequence corresponds to steering engine.Walking motion parameter refers to row
The action message for walking corresponding joint steering engine in sequence, the direction of action of action sequence, steering engine including steering engine and the movement of steering engine
Angle etc..Wherein, direction of travel is related to the direction of motion of corresponding joint steering engine, the fortune of movement range and corresponding joint steering engine
Dynamic angle is related.
Once the walking motion parameter of the action sequence of walking motion can be with forward are as follows:
100ms, right shoulder joint steering engine act 30 degree upwards；
100ms, left waist joint steering engine act 30 degree upwards；
200ms, right elbow joint steering engine act 30 degree upwards；
200ms, left knee joint steering engine act 30 degree upwards；
300ms, right 30 degree of elbow joint steering engine downward actuation；
300ms, left 30 degree of knee joint steering engine downward actuation；
400ms, right 30 degree of shoulder joint steering engine downward actuation；
400ms, left 30 degree of waist joint steering engine downward actuation.
As it appears from the above, an action sequence includes actuation time, steering engine and operating angle are controlled.Wherein, at one
Actuation time has multiple steering engine cooperations to complete.The action parameter of each steering engine of multiple actuation times, constitutes action sequence.
The corresponding steering engine of control robot is acted according to the walking motion parameter of walking motion sequence.It walks forward
In, the corresponding steering engine in one embodiment includes right shoulder joint steering engine, left waist joint steering engine, right elbow joint steering engine and left knee joint
Steering engine.Corresponding steering engine by controlling robot is acted according to the walking motion parameter of walking motion sequence, until receiving
To when walking halt instruction, corresponding steering engine stopping movement being controlled, realizes and goes ahead the control of walking to robot.Neatly basis
The video of robot acquisition, controls the direction of travel of robot, can remotely realize robot accurately running to specific position.
For adjusting to the right to capture apparatus, user is by pressing the tune to the right of the shooting angle control panel of user terminal
Whole control button generates the shooting angle adjustment instruction that instruction adjusts to the right.Shooting angle adjustment instruction is sent out by server
It send to robot.
Identify the adjustment direction of instruction, the capture apparatus for extracting capture apparatus mounting portion steering engine corresponding with adjustment direction is dynamic
Make parameter.In the present embodiment, capture apparatus mounting portion is the head of robot, i.e. the capture apparatus head that is mounted on robot.
So being to adjust the headwork direction of robot by the adjustment to head steering engine, and then adjust shooting in the present embodiment
The shooting angle of equipment.Capture apparatus action parameter is capture apparatus in action process, and capture apparatus mounting portion steering engine moves
Make information.Specifically, for each adjustment direction, the capture apparatus movement ginseng of capture apparatus mounting portion steering engine is pre-set
Number.Specifically, capture apparatus action parameter may include actuation time, direction of action and operating angle.Wherein, direction of action with
Adjustment direction is corresponding, and operating angle determined in actuation time, the movement range of capture apparatus mounting portion steering engine.
Control capture apparatus mounting portion steering engine is acted according to capture apparatus action parameter.Specifically, it is set according to shooting
Standby action parameter, control capture apparatus mounting portion steering engine are acted in corresponding direction, are stopped until receiving shooting angle adjustment
When only instructing, the adjustment to capture apparatus shooting direction is realized in control capture apparatus mounting portion steering engine stopping movement.Neatly root
According to the video that robot acquires, cooperates the control in robot ambulation direction, can remotely realize and be directed at the capture apparatus of robot
Specific objective.
By it is separated adjustment robot direction of travel and capture apparatus direction of action, remote controlled robot ambulation,
The capture apparatus shooting angle on 360 degree of rotation heads, makes the capture apparatus alignment target object of robot.
User can generate shooting control instruction by the shooting control 303 of operation user terminal, and shooting control instruction passes through
Server is sent to robot.Robot calls capture apparatus according to shooting control instruction, generates image.Robot can will adopt
The image of collection is sent to server, is sent to the user terminal by server.
It is understood that user can be also used for by operating preset movement control 304 for issuing preset action command
Instruction robot refers to the preset movement of row.
Wherein, server and the system framework of robotic end as shown in figure 5, by server to robot send instruction and
Image data realizes all around 360 degree of robot, without extremely, it can be achieved that be movably walking in mobile phone remote tele-robotic, rotary head
Angle is taken pictures video recording.
A kind of robot controller, as shown in Figure 6, comprising:
Direction obtains module 602, for obtaining the direction of travel of instruction when getting travelling control instruction.
Action sequence obtains module 604, for extracting walking motion sequence corresponding with direction of travel.
Parameter acquisition module 606, for obtaining the walking motion parameter of the corresponding steering engine of robot from walking motion sequence.
Control module 608, for controlling the corresponding steering engine of robot according to the walking motion parameter in walking motion sequence
It is acted.
Direction obtains module 602, is also used to identify the adjustment direction of instruction when getting shooting angle adjustment instruction.
Parameter acquisition module 606, the shooting for being also used to extract capture apparatus mounting portion steering engine corresponding with adjustment direction are set
Standby action parameter.
Control module 608 is also used to control capture apparatus mounting portion steering engine and is acted according to capture apparatus action parameter.
Above-mentioned robot controller obtains the direction of travel of instruction when receiving travelling control instruction, extract with
The corresponding walking motion sequence of direction of travel obtains the walking motion parameter of corresponding steering engine in walking motion sequence, controls machine
The corresponding steering engine of people is acted according to walking motion parameter, is instructed to realize according to travelling control, is controlled the walking of robot
Direction.When receiving shooting angle adjustment instruction, the adjustment direction of instruction is identified, extract shooting corresponding with adjustment direction and set
The capture apparatus action parameter of standby mounting portion steering engine, control capture apparatus mounting portion steering engine are carried out according to capture apparatus action parameter
Movement controls the shooting angle of capture apparatus to realize according to shooting angle adjustment instruction.Due to that can separate to robot
Direction of travel and the shooting angle of capture apparatus be adjusted, so as to realize the flexible control to robot as needed
System, greatly expands the field range that robot can observe.
In another embodiment, robot controller further includes
Link block, for obtaining the connection request of user terminal.
Video sending module, for according to connection request, the video data that capture apparatus acquires to be sent to user terminal.
In another embodiment, robot controller further include:
Shooting instruction obtains module, for receiving the shooting control instruction of user terminal transmission.
Acquisition module generates image for calling capture apparatus according to shooting control instruction；
Sending module, for image to be sent to the user terminal storage.
In another embodiment, robot controller further include:
Preset action identification obtains module, for being determined according to preset control instruction when receiving preset control instruction
Preset action identification.
Matching module, for matching preset action sequence corresponding with preset action identification.
Parameter acquisition module is also used to obtain the preset action parameter of the corresponding steering engine of robot from preset action sequence；
Control module, be also used to control the corresponding steering engine of robot according to the preset action parameter in preset action sequence into
Action is made, to execute preset movement.
Specifically, matching module, for obtaining user characteristics, according to user characteristics and preset action identification, matching is corresponded to
Preset action sequence.
It in another embodiment, further include instruction acquisition module, for obtaining voice signal, recognition of speech signals is obtained
Control instruction；Or the control instruction for receiving user terminal transmission.
In another embodiment, control module is also used to control robot when receiving walking finishing control instruction
Corresponding steering engine stopping movement, or when receive shooting angle adjustment halt instruction when, control shine capture apparatus mounting portion steering engine
Stopping movement.
In another embodiment, control module, for controlling robot when receiving walking finishing control instruction
Corresponding steering engine stopping movement.
Action sequence obtains module, is also used to obtain walking and stops action sequence.
Parameter acquisition module, the walking for being also used to stop obtaining in action sequence from walking the corresponding steering engine of robot stop moving
Make parameter.
The corresponding steering engine that control module is also used to control robot is acted according to the walking stopping that walking stops action sequence
Parameter is acted, until walking stops action sequence and is finished.
Fig. 7 shows the internal structure chart of computer equipment in one embodiment.The computer equipment specifically can be Fig. 1
In robot.As shown in fig. 7, it includes the processing connected by system bus that the computer equipment, which includes the computer equipment,
Device, memory and network interface.Wherein, memory includes non-volatile memory medium and built-in storage.The computer equipment
Non-volatile memory medium is stored with operating system, can also be stored with computer program, which is executed by processor
When, it may make processor to realize robot control method.Computer program can also be stored in the built-in storage, the computer journey
When sequence is executed by processor, processor may make to execute robot control method.
It will be understood by those skilled in the art that structure shown in Fig. 7, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, robot controller provided by the present application can be implemented as a kind of shape of computer program
Formula, computer program can be run in computer equipment as shown in Figure 7.Composition can be stored in the memory of computer equipment should
Each program module of robot controller, for example, direction shown in Fig. 7 obtains module, action sequence obtains module and ginseng
Number obtains module.It is each that the computer program that each program module is constituted makes processor execute the application described in this specification
Step in the robot control method of a embodiment.
For example, computer equipment shown in Fig. 7 can be obtained by the direction in robot controller as shown in FIG. 6
The step of module is executed when getting travelling control instruction, obtains the direction of travel of instruction.Computer equipment can pass through movement
Retrieval module executes the step of extracting walking motion sequence corresponding with direction of travel.Computer equipment can be obtained by parameter
Modulus block, which executes, obtains the step of joint of robot corresponds to the walking motion parameter of steering engine in walking motion sequence.
A kind of computer readable storage medium is stored with computer program, when computer program is executed by processor, so that
Processor executes following steps:
When getting travelling control instruction, the direction of travel of instruction is obtained；
Extract walking motion sequence corresponding with direction of travel；
The walking motion parameter of the corresponding steering engine of robot is obtained from walking motion sequence；
The corresponding steering engine of control robot is acted according to the walking motion parameter in walking motion sequence；
When getting shooting angle adjustment instruction, the adjustment direction of instruction is identified；
Extract the capture apparatus action parameter of capture apparatus mounting portion steering engine corresponding with adjustment direction；
Control capture apparatus mounting portion steering engine is acted according to capture apparatus action parameter.
In another embodiment, before getting travelling control instruction or before getting shooting angle adjustment instruction, also
Include:
Obtain the connection request of user terminal；
According to connection request, the video data that capture apparatus acquires is sent to user terminal.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
Receive the shooting control instruction that user terminal is sent；
According to shooting control instruction, capture apparatus is called, generates image；
Image is sent to the user terminal storage.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
When receiving preset control instruction, preset action identification is determined according to preset control instruction；
Match preset action sequence corresponding with preset action identification；
The preset action parameter of the corresponding steering engine of robot is obtained from preset action sequence；
The corresponding steering engine of control robot is acted according to the preset action parameter in preset action sequence, pre- to execute
Set movement.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
Match preset action sequence corresponding with preset action identification, comprising:
Obtain user characteristics；
According to user characteristics and preset action identification, corresponding preset action sequence is matched.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
Voice signal is obtained, recognition of speech signals obtains control instruction；Or
Receive the control instruction that user terminal is sent.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
When receiving walking finishing control instruction, the corresponding steering engine stopping movement of robot is controlled；Or
When receiving shooting angle adjustment halt instruction, control is acted according to the steering engine stopping of capture apparatus mounting portion.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
When receiving walking finishing control instruction, the corresponding steering engine stopping movement of robot is controlled；
It obtains walking and stops action sequence；
The walking for stopping obtaining the corresponding steering engine of robot in action sequence from walking stops action parameter；
The corresponding steering engine for controlling robot stops action parameter according to the walking in walking stopping action sequence and is acted,
Until walking stops action sequence and is finished.
Above-mentioned computer readable storage medium, since the bat to the direction of travel and capture apparatus of robot can be separated
It takes the photograph angle to be adjusted, so as to realize the flexible control to robot as needed, it is considerable greatly to expand robot
The field range measured.
A kind of computer equipment, including memory and processor, memory are stored with computer program, computer program quilt
When processor executes, so that processor executes following steps:
When getting travelling control instruction, the direction of travel of instruction is obtained；
Extract walking motion sequence corresponding with direction of travel；
Obtain the walking motion parameter of corresponding steering engine in walking motion sequence；
The corresponding steering engine of control robot is acted according to the walking motion parameter of walking motion sequence；
When getting shooting angle adjustment instruction, the adjustment direction of instruction is identified；
Extract the capture apparatus action parameter of capture apparatus mounting portion steering engine corresponding with adjustment direction；
Control capture apparatus mounting portion steering engine is acted according to capture apparatus action parameter.
In another embodiment, before getting travelling control instruction or before getting shooting angle adjustment instruction, also
Include:
Obtain the connection request of user terminal；
According to connection request, the video data that capture apparatus acquires is sent to user terminal.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
Receive the shooting control instruction that user terminal is sent；
According to shooting control instruction, capture apparatus is called, generates image；
Image is sent to the user terminal storage.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
When receiving preset control instruction, preset action identification is determined according to preset control instruction；
Match preset action sequence corresponding with preset action identification；
Obtain the preset action parameter of corresponding steering engine in preset action sequence；
The corresponding steering engine of control robot is acted according to the preset action parameter of preset action sequence, preset to execute
Movement.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
Match preset action sequence corresponding with preset action identification, comprising:
Obtain user characteristics；
According to user characteristics and preset action identification, corresponding preset action sequence is matched.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
Voice signal is obtained, recognition of speech signals obtains control instruction；Or
Receive the control instruction that user terminal is sent.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
When receiving walking finishing control instruction, the corresponding steering engine stopping movement of robot is controlled；Or
When receiving shooting angle adjustment halt instruction, control is acted according to the steering engine stopping of capture apparatus mounting portion.
In another embodiment, when computer program is executed by processor, so that processor executes following steps:
When receiving walking finishing control instruction, the corresponding steering engine stopping movement of robot is controlled；
It obtains walking and stops action sequence；
The walking for stopping obtaining the corresponding steering engine of robot in action sequence from walking stops action parameter；
The corresponding steering engine for controlling robot stops action parameter according to the walking in walking stopping action sequence and is acted,
Until walking stops action sequence and is finished.
Above-mentioned computer equipment, due to can separate to the shooting angle of the direction of travel of robot and capture apparatus into
Row adjustment, so as to realize the flexible control to robot as needed, greatly expands the view that robot can observe
Wild range.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a non-volatile computer and can be read
In storage medium, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, provided herein
Each embodiment used in any reference to memory, storage, database or other media, may each comprise non-volatile
And/or volatile memory.Nonvolatile memory may include that read-only memory (ROM), programming ROM (PROM), electricity can be compiled
Journey ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include random access memory
(RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms, such as static state RAM
(SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhanced SDRAM
(ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) directly RAM (RDRAM), straight
Connect memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (11)
1. a kind of robot control method, comprising:
When getting travelling control instruction, the direction of travel of instruction is obtained；
Extract walking motion sequence corresponding with the direction of travel；
The walking motion parameter of the corresponding steering engine of robot is obtained from the walking motion sequence；
The corresponding steering engine for controlling the robot is acted according to the walking motion parameter in the walking motion sequence；
When getting shooting angle adjustment instruction, the adjustment direction of instruction is identified；
Extract the capture apparatus action parameter of capture apparatus mounting portion steering engine corresponding with the adjustment direction；
The capture apparatus mounting portion steering engine is controlled to be acted according to the capture apparatus action parameter.
2. the method according to claim 1, wherein before getting travelling control instruction or getting shooting angle
Before spending adjustment instruction, further includes:
Obtain the connection request of user terminal；
According to the connection request, the video data that capture apparatus acquires is sent to user terminal.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
Receive the shooting control instruction that user terminal is sent；
According to the shooting control instruction, capture apparatus is called, generates image；
Described image is sent to the user terminal storage.
4. the method according to claim 1, wherein the method also includes:
When receiving preset control instruction, preset action identification is determined according to preset control instruction；
Matching preset action sequence corresponding with the preset action identification；
The preset action parameter of the corresponding steering engine of robot is obtained from the preset action sequence；
The corresponding steering engine of control robot is acted according to the preset action parameter in the preset action sequence, to hold
The preset movement of row.
5. according to the method described in claim 4, the matching preset action sequence corresponding with the preset action identification, is wrapped
It includes:
Obtain user characteristics；
According to the user characteristics and the preset action identification, corresponding preset action sequence is matched.
6. the method according to claim 1, wherein the method also includes:
Voice signal is obtained, identifies that the voice signal obtains control instruction；Or
Receive the control instruction that user terminal is sent.
7. the method according to claim 1, wherein when receiving walking finishing control instruction, described in control
The corresponding steering engine stopping of robot acts；Or
When receiving shooting angle adjustment halt instruction, the capture apparatus mounting portion steering engine stopping movement being controlled.
8. the method according to claim 1, wherein
When receiving walking finishing control instruction, the corresponding steering engine stopping movement of robot is controlled；
It obtains walking and stops action sequence；
The walking for stopping obtaining the corresponding steering engine of robot in action sequence from walking stops action parameter；
The corresponding steering engine for controlling the robot, which stops action parameter according to the walking in the walking stopping action sequence, to carry out
Movement, until the walking stops action sequence and is finished.
9. a kind of robot controller, comprising:
Direction obtains module, for obtaining the direction of travel of instruction when getting travelling control instruction；
Action sequence obtains module, for extracting walking motion sequence corresponding with the direction of travel；
Parameter acquisition module, for obtaining the walking motion parameter of the corresponding steering engine of robot from the walking motion sequence；
Control module, for controlling the corresponding steering engine of the robot according to the walking motion parameter in the walking motion sequence
It is acted；
The direction obtains module, is also used to identify the adjustment direction of instruction when getting shooting angle adjustment instruction；
The parameter acquisition module, the shooting for being also used to extract capture apparatus mounting portion steering engine corresponding with the adjustment direction are set
Standby action parameter；
The control module is also used to control the capture apparatus mounting portion steering engine and carries out according to the capture apparatus action parameter
Movement.
10. a kind of computer readable storage medium is stored with computer program, when the computer program is executed by processor,
So that the processor is executed such as the step of any one of claims 1 to 8 the method.
11. a kind of computer equipment, including memory and processor, the memory is stored with computer program, the calculating
When machine program is executed by the processor, so that the processor executes the step such as any one of claims 1 to 8 the method
Suddenly.
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