CN111168668A - A robot control method and robot - Google Patents
A robot control method and robot Download PDFInfo
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- CN111168668A CN111168668A CN201911364887.1A CN201911364887A CN111168668A CN 111168668 A CN111168668 A CN 111168668A CN 201911364887 A CN201911364887 A CN 201911364887A CN 111168668 A CN111168668 A CN 111168668A
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- 230000004044 response Effects 0.000 claims description 10
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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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Abstract
本申请适用于机器人技术领域，提供了一种机器人的控制方法，包括：获取机器人的控制指令；所述控制指令包括待运行的目标脚本文件的脚本文件标识；基于预设脚本文件标识和预设脚本文件之间的对应关系，确定所述脚本文件标识对应的目标脚本文件；运行所述目标脚本文件，响应所述控制指令。上述方法，外部控制终端可以控制不同的脚本文件运行，外部控制终端也可以接收到脚本运行状态，机器人可以实时的响应控制者的操作意图，减少实时控制发送的指令数据内容，同时机器人在运行脚本文件的响应速度和性能都比纯实时控制表现得更好，提升了性能和操作体验。
The present application is applicable to the field of robotics technology, and provides a method for controlling a robot, including: obtaining a control instruction of the robot; the control instruction includes a script file identifier of a target script file to be executed; based on the preset script file identifier and preset The corresponding relationship between script files is determined, and the target script file corresponding to the script file identifier is determined; the target script file is executed to respond to the control instruction. In the above method, the external control terminal can control the running of different script files, and the external control terminal can also receive the script running status. The robot can respond to the controller's operation intention in real time, reducing the content of the instruction data sent by the real-time control, while the robot is running the script. File responsiveness and performance are better than pure real-time control, improving performance and operating experience.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a robot and control thereof.
Background
The existing methods for controlling the robot mainly include two types: controlling and running scripts in real time. Real-time control presents a delay problem in the wireless transmission process because of the large number of commands that need to be sent. In order to solve the delay problem, when the control of the robot is realized, a running script is more adopted. However, when the robot is controlled by running the script, the external control end cannot control the internal execution scheduling of the script, and the external control end cannot receive the running state of the script to perform feedback, so that the robot cannot respond to the operation intention of the controller in real time.
Disclosure of Invention
The embodiment of the application provides control of a robot and the robot, and can solve the problems that in an existing robot control method, an external control end cannot control internal execution scheduling of a script, the external control end cannot receive running states of the script to feed back, and the robot cannot respond to operation intentions of a controller in real time.
In a first aspect, an embodiment of the present application provides a control method for a robot, which is applied to a robot, and includes:
acquiring a control instruction of the robot; the control instruction comprises a script file identifier of a target script file to be operated;
determining a target script file corresponding to a script file identifier based on a corresponding relation between the preset script file identifier and a preset script file; the preset script file and the corresponding preset script file identification are generated by the control terminal based on the function setting instruction;
and operating the target script file and responding to the control instruction.
Further, the control instruction comprises script file identifiers of a plurality of target script files to be run and the priority of each target script file;
the running the target script file and responding to the control instruction comprises the following steps:
and running the target script files based on the priority of each target script file, and responding to the control instruction.
Further, before determining the target script file corresponding to the script file identifier based on the corresponding relationship between the preset script file identifier and the preset script file, the method further includes:
and receiving the preset script file and the corresponding preset script file identification sent by the control terminal.
Further, after the running the target script file and responding to the control instruction, the method further includes:
and when the target script file is detected to be operated, acquiring operation result information and sending the operation result information to the control terminal.
Further, after the running the target script file and responding to the control instruction, the method further includes:
and when detecting abnormal data generated when the target script file runs, sending the abnormal data to the control terminal.
Further, the preset script file can be modified, deleted or added.
In a second aspect, an embodiment of the present application provides a control method for a robot, which is applied to a control terminal, and the method includes:
when a function setting instruction is detected, generating a preset script file and a corresponding preset script file identifier based on the function setting instruction;
sending the preset script file and the corresponding preset script file identification to the robot;
when a control instruction of the robot is detected, sending the control instruction to the robot;
and receiving operation result information returned by the robot.
Further, after the control instruction is sent to the robot when the control instruction of the robot is detected, the method further includes:
receiving exception data returned by the robot.
In a third aspect, an embodiment of the present application provides a robot, including:
the acquisition unit is used for acquiring a control instruction of the robot; the control instruction comprises a script file identifier of a target script file to be operated;
the determining unit is used for determining a target script file corresponding to the script file identifier based on the corresponding relation between the preset script file identifier and the preset script file; the preset script file and the corresponding preset script file identification are generated by the control terminal based on the function setting instruction;
and the running unit is used for running the target script file and responding to the control instruction.
Further, the control instruction comprises script file identifiers of a plurality of target script files to be run and the priority of each target script file;
the operation unit is specifically configured to:
and running the target script files based on the priority of each target script file, and responding to the control instruction.
Further, the robot further includes:
and the receiving unit is used for receiving the preset script file and the corresponding preset script file identifier sent by the control terminal.
Further, the robot further includes:
and the first sending unit is used for acquiring operation result information when the operation of the target script file is detected to be finished, and sending the operation result information to the control terminal.
Further, the robot further includes:
and the second sending unit is used for sending the abnormal data to the control terminal when the abnormal data generated when the target script file runs is detected.
Further, the preset script file can be modified, deleted or added.
In a fourth aspect, an embodiment of the present application provides a control terminal, including:
the generating unit is used for generating a preset script file and a corresponding preset script file identifier based on the function setting instruction when the function setting instruction is detected;
the first sending unit is used for sending the preset script file and the corresponding preset script file identifier to the robot;
the second sending unit is used for sending the control instruction to the robot when the control instruction of the robot is detected;
and the first receiving unit is used for receiving the operation result information returned by the robot.
Further, the control terminal further includes:
and the second receiving unit is used for receiving the abnormal data returned by the robot.
In a fifth aspect, the present invention provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the control method of the robot according to the first aspect.
In a sixth aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the control method for the robot according to the second aspect.
In a seventh aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the control method for the robot according to the first aspect.
In an eighth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the control method for the robot according to the second aspect.
In the embodiment of the application, a control instruction of the robot is obtained; the control instruction comprises a script file identifier of a target script file to be operated; determining a target script file corresponding to a script file identifier based on a corresponding relation between the preset script file identifier and a preset script file; and operating the target script file and responding to the control instruction. According to the method, the external control terminal can control different script files to run, the external control terminal can also receive the running state of the script, the robot can respond to the operation intention of a controller in real time, the content of instruction data sent by real-time control is reduced, meanwhile, the response speed and performance of the robot when running the script files are better than those of pure real-time control, and the performance and the operation experience are improved.
On the other hand, when a function setting instruction is detected, a preset script file and a corresponding preset script file identifier are generated based on the function setting instruction; sending the preset script file and the corresponding preset script file identification to the robot; when a control instruction of the robot is detected, sending the control instruction to the robot; and receiving operation result information returned by the robot. According to the method, the external control terminal can control different script files to run, the external control terminal can also receive the running state of the script, the robot can respond to the operation intention of a controller in real time, the content of instruction data sent by real-time control is reduced, meanwhile, the response speed and performance of the robot when running the script files are better than those of pure real-time control, and the performance and the operation experience are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a control method of a robot according to a first embodiment of the present application;
FIG. 2 is a schematic diagram of the interaction of a robot and a control terminal provided by the present application;
fig. 3 is a schematic flowchart of a control method of a robot according to a second embodiment of the present application;
FIG. 4 is a schematic view of a robot provided in a third embodiment of the present application;
fig. 5 is a schematic diagram of a control terminal provided in a fourth embodiment of the present application;
fig. 6 is a schematic view of a robot provided in a fifth embodiment of the present application;
fig. 7 is a schematic diagram of a control terminal according to a sixth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic flowchart of a control method of a robot according to a first embodiment of the present application. The main body of execution of the control method of the robot in this embodiment is the robot. The control method of the robot shown in fig. 1 may include:
s101: acquiring a control instruction of the robot; the control instruction comprises a script file identifier of a target script file to be operated.
In this embodiment, the robot interacts with the control terminal, as shown in fig. 2, a user controls the robot in real time through the control terminal, the user can trigger the control terminal to generate a control instruction, the control terminal sends the control instruction to the robot, the robot obtains a script file identifier of a script file corresponding to the control instruction according to the control instruction, so as to obtain the script file corresponding to the control instruction, the robot runs the script file, and the robot is controlled through the interaction process.
The robot acquires a control instruction of the robot, wherein the control instruction is sent to the robot by the control terminal, and the control instruction can be generated by clicking a virtual control button on a screen of the control terminal by a user, for example, the user clicks a button for lifting the left hand on the control terminal to trigger the control terminal to generate the control instruction containing a script identifier for lifting the left hand; the control instruction may also be generated by the user through triggering the control terminal by voice, gesture, etc., which is not limited herein. The control instruction comprises a script file identifier of a target script file to be operated, and the target script file is a script file which needs to be operated to complete the control instruction.
S102: determining a target script file corresponding to a script file identifier based on a corresponding relation between the preset script file identifier and a preset script file; and the preset script file and the corresponding preset script file identifier thereof are generated by the control terminal based on the function setting instruction.
The robot is provided with a preset script file and a preset script file identification corresponding to the preset script file, wherein the preset script file and the preset script file identification corresponding to the preset script file are generated by a control terminal based on a function setting instruction, the function setting instruction is used for setting a function corresponding to a certain instruction and generating a corresponding script file, for example, a user can set that when a certain button is clicked, the function corresponding to the instruction of clicking the button lifts hands of the robot and generates a corresponding script file. The script file includes at least one script, the script includes functions required by the robot to execute corresponding actions, and the script language, such as a Java script language, or a robot script language developed secondarily based on the Java script language, is used to describe operations to be executed by the robot.
The robot obtains the preset script file and the corresponding preset script file identification from the terminal equipment. And the robot determines a target script file corresponding to the script file identifier based on the corresponding relation between the preset script file identifier and the preset script file.
Further, the preset script file can be modified, deleted or added for flexible control of the robot. In this embodiment, the preset script file can be modified, deleted or added, that is, the control terminal can modify, delete or add the preset script file based on the new function setting instruction. For example, when the user has set that clicking a certain virtual button lifts the left hand for the robot, the user can reset, and when the same button is clicked, the robot lifts the right hand, and the preset script file is modified.
Further, in order to obtain the preset script file and the corresponding preset script file identifier from the control terminal, before S102, the method may further include: and receiving the preset script file and the corresponding preset script file identification sent by the control terminal. And when the control terminal generates the preset script file and the corresponding preset script file identifier, sending the preset script file and the corresponding preset script file identifier to the robot for subsequent calling and control.
S103: and operating the target script file and responding to the control instruction.
The robot runs the target script file, analyzes the target script file, obtains the function contained in the target script file, and executes the function according to the function and the configuration file related to the robot motion. The robot motion related configuration file comprises application program interfaces corresponding to different functions. The robot executes the function, makes corresponding action and responds to the control instruction.
Further, the control instruction includes script file identifiers of a plurality of target script files to be executed and a priority of each target script file, and in order to ensure that the robot can correctly respond to the control instruction, S103 may include: and running the target script files based on the priority of each target script file, and responding to the control instruction. In this embodiment, the control instruction includes script file identifiers of a plurality of target script files to be executed, and a priority of each target script file, and the priority of each target script file identifies an execution sequence of each target script file. The user may have clicked on multiple buttons for controlling the robot to sequentially perform multiple actions. Thus, the control command includes script file identifiers of a plurality of target script files to be executed and a priority of each target script file. And the robot acquires the target script file corresponding to each script file identifier and executes all the target script files according to the priority of each target script file.
Further, in order to enable the control terminal to know whether the target script file is completely run in real time, after S103, the method may further include: and when the target script file is detected to be operated, acquiring operation result information and sending the operation result information to the control terminal. And when the robot detects that the target script file is finished running, obtaining running result information, identifying that the robot runs all the target script files by the running result information, and sending the running result information to the control terminal by the robot.
Further, when the robot performs a corresponding action, and a fault or an abnormality occurs, in order that the control terminal may grasp the situation of the robot in real time, after S103, the method may further include: and when detecting abnormal data generated when the target script file runs, sending the abnormal data to the control terminal. When the robot runs the target script file, abnormal data generated when the target script file runs is obtained in real time, wherein the abnormal data can identify errors occurring in the running process of the robot, and the errors can include running program errors of the robot and damage errors of hardware of the robot. And when the robot detects the abnormal data, sending the abnormal data to the control terminal.
In the embodiment, a control instruction of the robot is obtained; the control instruction comprises a script file identifier of a target script file to be operated; determining a target script file corresponding to a script file identifier based on a corresponding relation between the preset script file identifier and a preset script file; and operating the target script file and responding to the control instruction. According to the method, the external control terminal can control different script files to run, the external control terminal can also receive the running state of the script, the robot can respond to the operation intention of a controller in real time, the content of instruction data sent by real-time control is reduced, meanwhile, the response speed and performance of the robot when running the script files are better than those of pure real-time control, and the performance and the operation experience are improved.
Referring to fig. 3, fig. 3 is a schematic flowchart of a control method for a robot according to a second embodiment of the present application. The main execution body of the control method of the robot in the embodiment is a control terminal. The control method of the robot shown in fig. 3 may include:
s201: and when a function setting instruction is detected, generating a preset script file and a corresponding preset script file identifier based on the function setting instruction.
When the control terminal detects the function setting instruction, the control terminal generates a preset script file and a preset script file identifier corresponding to the preset script file based on the function setting instruction. The function setting instruction is used for setting a function corresponding to a certain instruction and generating a corresponding script file, for example, when a certain button is clicked, the user may set that the function corresponding to the instruction of clicking the button lifts both hands of the robot and generates a preset script file corresponding to the preset script file identifier "lift both hands". The preset script file at least comprises a script, the script comprises a function required by the robot to execute the corresponding action, and the script language, such as a Java script language, or a robot script language based on Java script language secondary development, is used for describing the operation to be executed by the robot.
S202: and sending the preset script file and the corresponding preset script file identification to the robot.
The control terminal sends the preset script file and the corresponding preset script file identification to the robot, and the robot stores the preset script file and the corresponding preset script file identification in advance for subsequent calling and control.
S203: and when a control instruction of the robot is detected, sending the control instruction to the robot.
In this embodiment, the control terminal obtains the control instruction of the robot, and the control instruction of the robot can be clicked by the user on the control terminalTerminal endVirtual control button generation on screen, e.g. user pointing at control terminalClicking a button of 'lifting the left hand' to trigger the control terminal to generate a control instruction containing a script identifier of 'lifting the left hand'; the control instruction may also be generated by the user through triggering the control terminal by voice, gesture, etc., which is not limited herein. And when the control instruction of the robot is detected, the control terminal sends the control instruction to the robot.
Further, when the robot performs a corresponding action, and a fault or an abnormality occurs, in order that the control terminal may grasp the condition of the robot in real time, after S203, the method may further include: receiving exception data returned by the robot. The control terminal receives abnormal data returned by the robot, the abnormal data can identify errors occurring in the running process of the robot, and the errors can include running program errors of the robot and damage errors of hardware of the robot. The user can know the problems of the robot through the abnormal data and make adjustments in time.
S204: and receiving operation result information returned by the robot.
The control terminal receives an operation result returned by the robot, and the user knows that the control is finished through the operation result.
In this embodiment, when a function setting instruction is detected, a preset script file and a corresponding preset script file identifier are generated based on the function setting instruction; sending the preset script file and the corresponding preset script file identification to the robot; when a control instruction of the robot is detected, sending the control instruction to the robot; and receiving operation result information returned by the robot. According to the method, the external control terminal can control different script files to run, the external control terminal can also receive the running state of the script, the robot can respond to the operation intention of a controller in real time, the content of instruction data sent by real-time control is reduced, meanwhile, the response speed and performance of the robot when running the script files are better than those of pure real-time control, and the performance and the operation experience are improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Referring to fig. 4, fig. 4 is a schematic view of a robot according to a third embodiment of the present application. The units included are used to perform the steps in the corresponding embodiments of fig. 1-2. Please refer to the related description of the embodiments in fig. 1-2. For convenience of explanation, only the portions related to the present embodiment are shown.
Referring to fig. 4, the robot 4 includes:
an obtaining unit 410, configured to obtain a control instruction of the robot; the control instruction comprises a script file identifier of a target script file to be operated;
a determining unit 420, configured to determine, based on a corresponding relationship between a preset script file identifier and a preset script file, a target script file corresponding to the script file identifier; the preset script file and the corresponding preset script file identification are generated by the control terminal based on the function setting instruction;
and the running unit 430 is configured to run the target script file and respond to the control instruction.
Further, the control instruction comprises script file identifiers of a plurality of target script files to be run and the priority of each target script file;
the operation unit 430 is specifically configured to:
and running the target script files based on the priority of each target script file, and responding to the control instruction.
Further, the robot 4 further includes:
and the receiving unit is used for receiving the preset script file and the corresponding preset script file identifier sent by the control terminal.
Further, the robot 4 further includes:
and the first sending unit is used for acquiring operation result information when the operation of the target script file is detected to be finished, and sending the operation result information to the control terminal.
Further, the robot 4 further includes:
and the second sending unit is used for sending the abnormal data to the control terminal when the abnormal data generated when the target script file runs is detected.
Further, the preset script file can be modified, deleted or added.
Referring to fig. 5, fig. 5 is a schematic diagram of a control terminal according to a fourth embodiment of the present application. The units are included for performing the steps in the corresponding embodiment of fig. 3. Please refer to the related description of the embodiment in fig. 3. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 5, the control terminal 5 includes:
a generating unit 510, configured to generate a preset script file and a preset script file identifier corresponding to the preset script file based on a function setting instruction when the function setting instruction is detected;
a first sending unit 520, configured to send the preset script file and the preset script file identifier corresponding to the preset script file to the robot;
a second transmitting unit 530, configured to transmit a control instruction of the robot to the robot when the control instruction is detected;
a first receiving unit 540, configured to receive operation result information returned by the robot.
Further, the control terminal 5 further includes:
and the second receiving unit is used for receiving the abnormal data returned by the robot.
Fig. 6 is a schematic view of a robot according to a fifth embodiment of the present application. As shown in fig. 6, the robot 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62, such as a control program for a robot, stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the control method embodiments of the respective robots described above, such as the steps 101 to 103 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 410 to 430 shown in fig. 4.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the robot 6. For example, the computer program 62 may be divided into an acquisition unit, a determination unit, and an execution unit, and the specific functions of each unit are as follows:
the acquisition unit is used for acquiring a control instruction of the robot; the control instruction comprises a script file identifier of a target script file to be operated;
the determining unit is used for determining a target script file corresponding to the script file identifier based on the corresponding relation between the preset script file identifier and the preset script file; the preset script file and the corresponding preset script file identification are generated by the control terminal based on the function setting instruction;
and the running unit is used for running the target script file and responding to the control instruction.
The robot may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a robot 6 and does not constitute a limitation of robot 6 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the robot 6, such as a hard disk or a memory of the robot 6. The memory 61 may also be an external storage device of the robot 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 6. Further, the robot 6 may also include both an internal storage unit and an external storage device of the robot 6. The memory 61 is used for storing the computer program and other programs and data required by the robot. The memory 61 may also be used to temporarily store data that has been output or is to be output.
Fig. 7 is a schematic diagram of a control terminal according to a sixth embodiment of the present application. As shown in fig. 7, the control terminal 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72, such as a control program for a robot, stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in the control method embodiments of the respective robots described above, such as the steps 201 to 204 shown in fig. 3. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 510 to 540 shown in fig. 5.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the control terminal 7. For example, the computer program 72 may be divided into a generating unit, a first transmitting unit, a second transmitting unit, and a first receiving unit, and each unit has the following specific functions:
the generating unit is used for generating a preset script file and a corresponding preset script file identifier based on the function setting instruction when the function setting instruction is detected;
the first sending unit is used for sending the preset script file and the corresponding preset script file identifier to the robot;
the second sending unit is used for sending the control instruction to the robot when the control instruction of the robot is detected;
and the first receiving unit is used for receiving the operation result information returned by the robot.
The control terminal may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is only an example of a control terminal 7 and does not constitute a limitation of the control terminal 7 and may comprise more or less components than shown, or some components may be combined, or different components, e.g. the control terminal may further comprise input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the control terminal 7, such as a hard disk or a memory of the control terminal 7. The memory 71 may also be an external storage device of the control terminal 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the control terminal 7. Further, the control terminal 7 may also include both an internal storage unit and an external storage device of the control terminal 7. The memory 71 is used to store the computer program and other programs and data required by the control terminal. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), random-access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A control method of a robot is applied to the robot, and is characterized by comprising the following steps:
acquiring a control instruction of the robot; the control instruction comprises a script file identifier of a target script file to be operated;
determining a target script file corresponding to a script file identifier based on a corresponding relation between the preset script file identifier and a preset script file; the preset script file and the corresponding preset script file identification are generated by the control terminal based on the function setting instruction;
and operating the target script file and responding to the control instruction.
2. The control method of a robot according to claim 1, wherein the control instruction includes script file identification of a plurality of target script files to be executed, a priority of each of the target script files;
the running the target script file and responding to the control instruction comprises the following steps:
and running the target script files based on the priority of each target script file, and responding to the control instruction.
3. The method for controlling a robot according to claim 1, wherein before determining the target script file corresponding to the script file identifier based on the correspondence between the preset script file identifier and the preset script file, the method further comprises:
and receiving the preset script file and the corresponding preset script file identification sent by the control terminal.
4. The method of controlling a robot according to claim 1, further comprising, after said executing the object script file in response to the control command:
and when the target script file is detected to be operated, acquiring operation result information and sending the operation result information to the control terminal.
5. The method of controlling a robot according to claim 1, further comprising, after said executing the object script file in response to the control command:
and when detecting abnormal data generated when the target script file runs, sending the abnormal data to the control terminal.
6. A control method of a robot is applied to a control terminal, and is characterized by comprising the following steps:
when a function setting instruction is detected, generating a preset script file and a corresponding preset script file identifier based on the function setting instruction;
sending the preset script file and the corresponding preset script file identification to the robot;
when a control instruction of the robot is detected, sending the control instruction to the robot;
and receiving operation result information returned by the robot.
7. The method of controlling a robot according to claim 6, further comprising, after said transmitting the control command to the robot when the control command of the robot is detected, the step of:
receiving exception data returned by the robot.
8. A robot, comprising:
the acquisition unit is used for acquiring a control instruction of the robot; the control instruction comprises a script file identifier of a target script file to be operated;
the determining unit is used for determining a target script file corresponding to the script file identifier based on the corresponding relation between the preset script file identifier and the preset script file; the preset script file and the corresponding preset script file identification are generated by the control terminal based on the function setting instruction;
and the running unit is used for running the target script file and responding to the control instruction.
9. A control terminal, comprising:
the generating unit is used for generating a preset script file and a corresponding preset script file identifier based on the function setting instruction when the function setting instruction is detected;
the first sending unit is used for sending the preset script file and the corresponding preset script file identifier to the robot;
the second sending unit is used for sending the control instruction to the robot when the control instruction of the robot is detected;
and the first receiving unit is used for receiving the operation result information returned by the robot.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out a method of controlling a robot according to any one of claims 1-5 or 6-7.
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| CN201911364887.1A CN111168668A (en) | 2019-12-26 | 2019-12-26 | A robot control method and robot |
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| CN201911364887.1A CN111168668A (en) | 2019-12-26 | 2019-12-26 | A robot control method and robot |
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