Robot control method, device and robot

Abstract

This invention provides a robot control method, device, and robot. The method includes: when a user triggers a force operation on the robot, acquiring data information generated by the force operation; determining a motion control mode corresponding to the force operation based on the data information; and controlling the robot according to the motion control mode. The human-computer interaction method provided by this invention is more natural and human-like, and overcomes the limitations of remote controls, solving problems such as inability to control the robot due to lost or out-of-power remote controls.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, and in particular to a robot control method, device, and robot. Background Technology

[0002] With the comprehensive development of artificial intelligence and the driving force of domestic market demand, public service robots have begun to be widely used, such as financial bank service robots, supermarket shopping guide robots, institutional front desk greeting robots, and food delivery service robots, etc.

[0003] In existing technologies, users typically issue remote control commands via Bluetooth remotes, Wi-Fi remotes, or other remote control methods. When the robot receives the remote control command, it controls its movement accordingly. However, this control method appears rigid and lacks human-like characteristics in practical applications. Summary of the Invention

[0004] In view of the above problems, the present invention provides a robot control method, apparatus and robot for solving the above problems or at least partially solving the above problems.

[0005] Therefore, in one embodiment of the present invention, a robot control method is provided. The method includes:

[0006] When a force operation triggered by a user on the robot is detected, the data information generated by the force operation is acquired;

[0007] Based on the data information, determine the motion control method corresponding to the force application operation;

[0008] The robot is controlled according to the described motion control method.

[0009] In another embodiment of the present invention, a control device for a robot is provided. The device includes:

[0010] The detection module is used to acquire data information generated by the force operation triggered by the user on the robot.

[0011] The determination module is used to determine the motion control mode corresponding to the force application operation based on the data information.

[0012] The control module is used to control the robot according to the motion control method.

[0013] In another embodiment of the present invention, a robot is provided. The robot includes a detection device for detecting applied force.

[0014] The detection device is connected to the robot's controller and is used to notify the controller when it detects a force operation applied by a user on the robot, so that the controller can acquire the data information generated by the force operation; determine the motion control mode corresponding to the force operation based on the data information; and control the robot according to the motion control mode.

[0015] In the technical solution provided by this invention, users can control the robot's movement by applying force to it; that is, the user and the robot interact through actions. Compared with the prior art of controlling the robot's movement through remote control commands, the human-computer interaction method provided by this invention is more natural and more human-like, and it overcomes the limitations of remote controls, solving problems such as the inability to control the robot due to a lost or out-of-power remote control. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a robot control method according to an embodiment of the present invention;

[0018] Figure 2 This is a structural block diagram of a robot control device provided in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the back of a robot provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the side structure of a robot according to an embodiment of the present invention. Detailed Implementation

[0021] The inventors observed that when one person in a group wants to lead the other to a location to retrieve something, they will directly pull the other person's hand or give them a slight push to indicate which direction to go. Similarly, when two people are walking and talking together, one person leading the way will gently push or pull the other person's shoulder in a specific direction at a turn to indicate which way to turn. Therefore, to achieve a more natural and human-like interaction, the technical solution provided in this invention is designed to control the robot's motion through actions similar to pushing and pulling between humans.

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] Figure 1 A flowchart illustrating a robot control method according to an embodiment of the present invention is shown. Figure 1 As shown, the method includes:

[0024] 101. When a force operation triggered by a user on the robot is detected, the data information generated by the force operation is obtained.

[0025] 102. Based on the data information, determine the motion control method corresponding to the force application operation.

[0026] 103. Control the robot according to the motion control method.

[0027] In the above 101, the force application operation can be detected by pressure sensors, force gauges, and / or displacement sensors. For example, a pressure sensor can detect a pushing operation; a force gauge can detect a pulling operation; since force application operations usually cause robot displacement, a displacement sensor can detect any force application operation.

[0028] The data information may include, but is not limited to, at least one of the following: the magnitude of the applied force, the direction of the applied force, the triggering location information of the applied force operation, the displacement amount and direction of the robot displacement caused by the applied force operation.

[0029] In the above 102, the motion control method may include motion direction and / or motion speed. For example: determining the motion direction based on the direction of the applied force, determining the motion speed based on the magnitude of the applied force, and generating a motion control method based on the determined motion direction and motion speed. Another example: determining the motion direction based on the trigger position information of the applied force operation, and generating a motion control method based on the motion direction. Yet another example: determining the motion direction based on the displacement direction of the robot caused by the applied force operation, and generating a motion control method based on the motion direction.

[0030] In the above 103, assuming the motion control method is: the motion direction is forward and the motion speed is 1m / s, then according to this motion control method, the robot is controlled to walk forward and the walking speed is 1m / s.

[0031] In the technical solution provided by this invention, users can control the robot's movement by applying force to it; that is, the user and the robot interact through actions. Compared with the prior art of controlling the robot's movement through remote control commands, the human-computer interaction method provided by this invention is more natural and more human-like, and it overcomes the limitations of remote controls, solving problems such as the inability to control the robot due to a lost or out-of-power remote control.

[0032] In practical applications, accidental collisions with the robot by users are difficult to avoid. If these collisions alter the robot's movement, it can lead to a negative user experience. Therefore, after detecting a force application, it's advisable to first determine if the force application is effective before proceeding with subsequent operations. Specifically, step 102 above, "determining the motion control method corresponding to the force application based on the data information," can be implemented using the following steps:

[0033] 1021. Based on the data, determine whether the force application is effective.

[0034] 1022. When the force application is effective, the motion control method is obtained based on the data information.

[0035] In the above 1021, the data information includes the magnitude of the applied force and / or the displacement of the robot caused by the applied force operation. If the magnitude of the applied force is greater than or equal to a first threshold, the applied force operation is determined to be valid; if the displacement is greater than or equal to a second threshold, the applied force operation is determined to be valid.

[0036] The values ​​of the first threshold and the second threshold can be set according to the actual situation, and the embodiments of the present invention do not impose specific limitations on them.

[0037] In the above 1022, the motion control method is only obtained based on data information when the force application operation is effective. The motion control method obtained based on data information will be described in detail in the following embodiments.

[0038] If the applied force is ineffective, the robot can continue to be controlled using the currently used motion control method.

[0039] In one feasible solution, the data information includes: the trigger position information of the force application operation. Specifically, step 102 above, "determining the motion control method corresponding to the force application operation based on the data information," is implemented using the following steps:

[0040] 1023a. Determine the area of ​​force application based on the trigger location information.

[0041] 1024a. Determine the motion control method based on the area of ​​force application.

[0042] In the aforementioned 1023a, force application areas can be pre-set at multiple locations on the robot. For example, a first force application area can be set directly behind the robot's head, a second force application area can be set on the left side of the robot's back, a third force application area can be set on the right side of the robot's back, and a fourth force application area can be set on the center line of the robot's back. Pressure sensors can be built into the force application areas, or tension gauges can be installed on the force application areas. When a user triggers a force application operation on the robot, the robot can record the user's trigger position information, and subsequently determine which force application area the force application operation occurred on based on the trigger position information.

[0043] In the above 1024a, motion control methods can be pre-set for each force application area according to actual needs, and a correspondence between the force application area and the motion control method can be established. Subsequently, based on the correspondence between the force application area and the motion control method, the motion control method corresponding to that force application area can be obtained. For example, the correspondence is shown in Table 1 below:

[0044] Table 1:

[0045] Area of ​​application of force Motion control methods First area of ​​force application Forward movement Second application area Move to the left Third force application area Move to the right Fourth force application area Reverse movement or braking movement

[0046] Assumption: If the force application area determined in 1023a above is the second force application area, then the motion control method is to move to the left.

[0047] It should be noted that the motion control method may include not only the direction of motion but also the speed of motion. The speed of motion can be preset or calculated based on the magnitude of the applied force; this invention does not impose specific limitations on this.

[0048] In order to achieve the braking effect, the "determine the motion control method according to the force application area" in 1024a above can be implemented by the following steps:

[0049] S1. If the robot is currently in motion and the force application area is the marked force application area, then the stop motion mode will be used as the motion control mode.

[0050] S2. Otherwise, based on the correspondence between the force application area and the motion control method, obtain the motion control method corresponding to the force application area.

[0051] Here, "motion state" refers to the robot being in motion. "Marked force application area" refers to a pre-marked area for applying force; if this marked force application area is triggered during robot movement, it must function as a brake. In one possible implementation, this marked force application area can be the fourth force application area mentioned above.

[0052] If the robot is currently stationary or the force application area is not a marked force application area, then the motion control method corresponding to the force application area is obtained according to the correspondence between the force application area and the motion control method.

[0053] In practical applications, force application can also be a combined operation triggered by simultaneously applying force to at least two force application areas on the robot, that is, combining the aforementioned force application areas for motion control. Specifically, the data information includes: at least two trigger position information for the combined operation. Correspondingly, step 102 above, "determining the motion control method corresponding to the force application based on the data information," can be implemented using the following steps:

[0054] 1023b. Determine whether it is a valid combination of force application areas based on at least two trigger location information.

[0055] 1024b. If it is a valid combination of force application areas, then obtain the motion control mode corresponding to the combination of force application areas based on the correspondence between the combination of force application areas and the motion control mode.

[0056] In 1023b above, at least two force application areas can be determined based on at least two trigger position information, and these at least two force application areas constitute a force application area combination. The validity of this force application area combination can be determined as follows: Various pre-set force application area combinations are obtained; if the force application area combination is among the pre-set combinations, it is determined to be a valid force application area combination; if it is not among the pre-set combinations, it is determined to be an invalid force application area combination.

[0057] In section 1024b above, a corresponding motion control mode is pre-set for each force application area combination, and a correspondence between the force application area combination and the motion control mode is established. This allows the motion control mode corresponding to the force application area combination to be obtained subsequently based on this correspondence. For example, the correspondence is shown in Table 2 below:

[0058] Table 2:

[0059]

[0060] It should be noted that the motion control method may include not only the direction of motion but also the speed of motion. The speed of motion can be preset or calculated based on the magnitude of the applied force of the combined operation (which may be the resultant force of the combined operation acting on each applied force area). This invention does not impose specific limitations on this.

[0061] In another feasible solution, the motion control method can be determined based on the direction of the applied force. Specifically, the data information includes: the direction of the applied force. The phrase "obtaining the motion control method corresponding to the applied force based on the data information" in section 102 above includes:

[0062] 1023c. Obtain the robot's current orientation.

[0063] 1024c. Determine the motion control method based on the direction of the applied force and the current orientation.

[0064] In the above 1024c, when the direction of the applied force is opposite to the robot's current orientation and the robot is in motion, the stop motion mode is used as the motion control mode; when the direction of the applied force is not opposite to the robot's current orientation, the direction of the applied force is determined as the motion direction, and a motion control mode is generated based on the motion direction.

[0065] It should be noted that the motion control method may include not only the direction of motion but also the speed of motion. The speed of motion can be preset or calculated based on the magnitude of the applied force. That is, the steps of "generating a motion control method based on the direction of motion" mentioned above can specifically include:

[0066] Based on the direction of motion and a pre-set speed, a motion control method is generated; or

[0067] The speed of motion is determined based on the magnitude of the applied force; a motion control method is generated based on the direction and speed of motion.

[0068] Of course, in practical applications, the robot's current orientation can be disregarded, and the direction of force application can be directly determined as the direction of motion, and a motion control method can be generated based on the direction of motion.

[0069] The aforementioned "determining the speed of motion based on the magnitude of the applied force" can be achieved using the following methods:

[0070] Based on the magnitude of the applied force, determine the force range to which the applied force belongs;

[0071] Based on the correspondence between force range and motion speed, the motion speed corresponding to the force range to which the applied force belongs is determined.

[0072] The "correspondence between force range and movement speed" can be preset here. For example, the movement speed corresponding to F1~F2 is V1; the movement speed corresponding to F2~F3 is V2, and so on. The scheme of determining the movement speed by increasing the magnitude of the applied force is to simulate how humans judge whether the other party wants to move quickly or slowly by sensing the force of the other party's push or pull.

[0073] In another feasible solution, the motion control method can be determined based on the displacement direction of the robot caused by the applied force operation. That is, the data information includes the displacement direction of the robot caused by the applied force operation. Accordingly, step 102 above, "obtaining the motion control method corresponding to the applied force operation based on the data information," can be implemented using the following steps:

[0074] 1023d. Determine the direction of displacement as the direction of motion.

[0075] 1024d. Based on the direction of motion, generate motion control methods.

[0076] It should be noted that motion control methods can include not only motion direction but also motion speed. Motion speed can be preset or calculated based on the displacement of the robot caused by the applied force. That is, the steps described above for "generating motion control methods based on motion direction" can specifically include:

[0077] Based on the direction of motion and a pre-set speed, a motion control method is generated; or

[0078] The motion speed is determined based on the displacement; the motion control method is generated based on the motion direction and motion speed.

[0079] It's important to add here that the displacement can indirectly reflect the magnitude of the force applied by the user. A larger force results in a larger displacement for the robot, and a smaller force results in a smaller displacement. The displacement is used to determine the movement speed, and then a motion control method is generated based on the direction and speed of movement. This is similar to how humans perceive the force of each other's pushes and pulls to determine whether the other party wants to move quickly or slowly.

[0080] In one feasible technical solution, the above-mentioned "determining the motion speed based on the displacement" can be achieved by the following steps:

[0081] Determine the displacement range within which the displacement amount is located;

[0082] Based on the preset correspondence between displacement range and motion speed, the motion speed corresponding to the displacement range in which the displacement is located is obtained.

[0083] The aforementioned preset displacement range and the corresponding relationship between movement speed can be set manually.

[0084] Furthermore, the above method may also include the following steps 104 or 105:

[0085] 104. Once the force application is completed, control the robot to stop moving.

[0086] 105. After step 103 above, when the magnitude of the applied force is detected to be less than the first threshold, control the robot to stop moving.

[0087] In this embodiment, the force application operation can be considered as a continuous force application operation (e.g., continuous pull operation, continuous push operation). When the continuous force application operation ends or the magnitude of the force applied in the continuous force application operation is less than a first threshold, the robot is controlled to stop moving.

[0088] In summary, the human-computer interaction method provided by the embodiments of the present invention is more natural and more human-like, and breaks through the limitations of remote control, solving problems such as inability to control due to loss or power failure of remote control.

[0089] Figure 2 A structural block diagram of a robot control device according to an embodiment of the present invention is shown. Figure 2 As shown, the device includes: an acquisition module 201, a determination module 202, and a control module 203. The acquisition module 201 is used to acquire data information generated by a force application operation triggered by a user on the robot when a detection device mounted on the robot detects such an operation. The determination module 202 is used to determine the motion control mode corresponding to the force application operation based on the data information. The control module 203 is used to control the robot according to the motion control mode.

[0090] In the technical solution provided by this invention, users can control the robot's movement by applying force to it; that is, the user and the robot interact through actions. Compared with the prior art of controlling the robot's movement through remote control commands, the human-computer interaction method provided by this invention is more natural and more human-like, and it overcomes the limitations of remote controls, solving problems such as the inability to control the robot due to a lost or out-of-power remote control.

[0091] Furthermore, the determining module 202 is also used to determine whether the force application operation is effective based on the data information; when the force application operation is effective, the motion control mode is obtained based on the data information.

[0092] Furthermore, the data information includes at least one of the following: the magnitude of the applied force, and the displacement of the robot caused by the applied force operation; correspondingly, the determining module 202 is also used to: determine that the applied force operation is valid if the magnitude of the applied force is greater than or equal to a first threshold; and determine that the applied force operation is valid if the displacement is greater than or equal to a second threshold.

[0093] Furthermore, the data information includes the trigger position information of the force application operation. Accordingly, the determining module 202 is also used to: determine the force application area based on the trigger position information; and determine the motion control mode based on the force application area.

[0094] Furthermore, the determining module 202 is also used to: if the robot is currently in motion and the force application area is a marked force application area, then the stop motion mode is used as the motion control mode; otherwise, according to the correspondence between the force application area and the motion control mode, the motion control mode corresponding to the force application area is obtained.

[0095] Furthermore, when the force application operation is a combined operation triggered by the simultaneous application of force in at least two force application areas on the robot, the data information includes: at least two triggering position information of the combined operation; correspondingly, the determining module 202 is also used to: determine whether it is a valid force application area combination based on the at least two triggering position information; if it is a valid force application area combination, then obtain the motion control mode corresponding to the force application area combination based on the correspondence between the force application area combination and the motion control mode.

[0096] Furthermore, the motion control method includes at least one of the following: motion direction and motion speed.

[0097] Furthermore, the data information includes the direction of force application. Correspondingly, the determining module 202 is also used to: acquire the robot's current orientation; and determine the motion control method based on the direction of force application and the current orientation.

[0098] Furthermore, the determining module 202 is also used to: when the direction of the applied force is opposite to the current orientation of the robot and the robot is in motion, use the stop motion mode as the motion control mode; when the direction of the applied force is not opposite to the current orientation of the robot, determine the direction of the applied force as the motion direction, and generate the motion control mode based on the motion direction.

[0099] Furthermore, the data information includes: the displacement direction of the robot displacement caused by the force application operation; correspondingly, the determining module 202 is also used to: determine the displacement direction as the motion direction; and generate the motion control mode based on the motion direction.

[0100] Furthermore, the control module 203 is also used to: control the robot to stop moving when it detects that the force application operation has ended.

[0101] It should be noted that the robot control device provided in the above embodiments can implement the technical solutions described in the above method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content of each method embodiment, and will not be repeated here. The robot control device may be a hardware device with an embedded program integrated on the robot, or it may be an application software installed on the robot, or it may be tool software embedded in the robot's operating system, etc. This application embodiment does not limit this.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0103] Figure 3 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown. Figure 3 As shown, the robot 300 is equipped with a detection device 301 for detecting force operations; the detection device 301 is connected to the robot's controller (not shown) and is used to notify the controller when a force operation by a user is detected on the robot, so that the controller can determine the motion control mode corresponding to the force operation; and control the robot according to the motion control mode.

[0104] The number and placement of the detection devices 301 can be determined statistically from a large number of users' habitual operating positions on the robot, or they can be set empirically; this embodiment of the invention does not impose specific limitations on this. The detection device 301 may include: a displacement sensor, a pressure sensor, and / or a force gauge. The displacement sensor can be used to detect the amount and direction of the robot's displacement caused by the applied force operation. The force gauge can be used to detect the magnitude and direction of the pulling force during the pulling operation. The pressure sensor can be used to detect the magnitude and direction of the pushing force during the pushing operation.

[0105] In the technical solution provided by this invention, users can control the robot's movement by applying force to it; that is, the user and the robot interact through actions. Compared with the prior art of controlling the robot's movement through remote control commands, the human-computer interaction method provided by this invention is more natural and more human-like, and it overcomes the limitations of remote controls, solving problems such as the inability to control the robot due to a lost or out-of-power remote control.

[0106] like Figure 3 As shown, there are multiple detection devices 301; the multiple detection devices 301 are respectively set at different positions of the robot, such as: head, shoulder, back, arm, etc.

[0107] The area occupied by a detection device at a given location on the robot is called a force application area. Each of the multiple detection devices 301 will only notify the controller when it detects a force application operation acting on it. Therefore, each of the multiple detection devices 301 can be numbered in advance. In this way, when the controller receives a notification, it can determine which detection device at which location sent the notification based on the number of the sender, and thus determine the force application area corresponding to the force application operation.

[0108] In a specific structure, such as Figure 3 As shown, the multiple detection devices 301 include: a first detection device 3011 located directly behind the robot's head, a second detection device 3012 and a third detection device 3013 located on the left and right sides of the robot's back respectively, and a fourth detection device 3014 located on the center line of the robot's back.

[0109] Furthermore, such as Figure 3 As shown, the fourth detection device 3014 is located below the second detection device 3012 and the third detection device 3013.

[0110] The area set by the first detection device 3011 corresponds to the first force application area mentioned above; the area set by the second detection device 2012 corresponds to the second force application area mentioned above; the area set by the third detection device 3013 corresponds to the third force application area mentioned above; and the area set by the fourth detection device 3014 corresponds to the fourth force application area mentioned above.

[0111] Specifically, such as Figure 4 As shown, the second detection device 3012 is located at the connection point between the robot's back and the root of the robot's left arm 400. Similarly, the third detection device 3013 is located at the connection point between the robot's back and the root of the robot's right arm (not shown in the figure). These two locations are more in line with the user's operating habits.

[0112] When the detection device is a force gauge, one end of the force gauge can be attached to the robot, and the other end can be connected to a pull rope. The user applies force to the robot by pulling the pull rope. Alternatively, the force gauge can be placed between the robot arm and the robot body; after the user pulls the robot arm, the force gauge can sense the pulling force applied by the user to the robot.

[0113] Furthermore, the plurality of detection devices may also include: a fifth detection device disposed on the left arm of the robot and a sixth detection device disposed on the right arm of the robot. For example, the fifth detection device is disposed on the forearm of the left arm and the sixth detection device is disposed on the forearm of the right arm. When the user walks alongside the robot, the user grasps the right forearm, and after the detection device on the right forearm detects the force applied by the user, it determines that the robot's motion control mode is a right turn control mode.

[0114] Furthermore, the plurality of detection devices may also include: a seventh detection device disposed at the connection point between the robot's left arm and the body, and an eighth detection device disposed at the connection point between the robot's right arm and the body. The seventh and eighth detection devices disposed at the connection points may be force gauges. For example, when a user is moving alongside the robot, and the robot is initially moving forward in a straight line, if the user pulls on the robot's right arm, the force gauge disposed at the connection point between the right arm and the body will detect the pulling force, and the robot will then turn right.

[0115] Furthermore, the plurality of detection devices may also include a ninth detection device disposed on the front chest of the robot body. For example, when the user and the robot are moving forward in a straight line at the same time, and the user extends his arm to block the robot, when the robot moves to contact the user's arm, the ninth detection device disposed on the front chest detects the force applied by the user and will activate a braking control mode to put the robot into a braking motion mode.

[0116] Furthermore, the robot may also include a memory storing various motion control methods. Specifically, this includes motion control methods corresponding to each force application area and / or motion control methods corresponding to combinations of force application areas. Further, the memory may also store preset motion speeds.

[0117] The implementation principle of the controller in this embodiment can be found in the corresponding content of the above method embodiments, and will not be repeated here.

[0118] The technical solution provided by this invention will be explained below in conjunction with specific application scenarios to aid understanding.

[0119] Application Scenario 1

[0120] The user applies force to the back of the robot's head (commonly known as the back of the head) to propel the robot forward. The robot's detection device detects this force and, after determining it to be valid, identifies the corresponding motion control mode as straight-line control. The robot then moves forward in a straight line according to this straight-line control mode.

[0121] Application Scenario 2

[0122] The user walks alongside the robot, pulling on the robot's right arm. The robot's detection device detects the user's force and determines that the corresponding motion control mode is right-turn control. The robot then turns right and moves accordingly.

[0123] Application Scenario 3

[0124] The user moves alongside the robot, applying a pushing force. The robot's detection device detects this force and, based on the direction of the force and the robot's current orientation, determines the motion control method. For example, if the robot is currently facing north and the user applies a southward pushing force, the robot determines the motion control method to be braking. Following this braking control method, the robot enters braking mode.

[0125] Application Scenario 4

[0126] The robot is stationary when the user applies a pushing force. The robot's detection device detects a northward displacement caused by the user's force. The robot then determines its motion control mode to be straight north and proceeds in that direction.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a robot, characterized in that, include: When a force operation triggered by a user on the robot is detected, the data information generated by the force operation is acquired; The data information includes: the triggering location information of the force application operation; Based on the data information, determining the motion control method corresponding to the force application operation includes: determining the force application area based on the trigger position information; and determining the motion control method based on the force application area. The robot is controlled to walk according to the described motion control method.

2. The method according to claim 1, characterized in that, Based on the data information, the motion control method corresponding to the force application operation is determined, including: Based on the data information, determine whether the force application operation is effective; When the force application is effective, the motion control method is obtained based on the data information.

3. The method according to claim 2, characterized in that, The data information includes at least one of the following: the magnitude of the applied force, and the amount of displacement of the robot caused by the applied force operation; as well as Determining whether the force application operation is effective based on the data information includes: If the applied force is greater than or equal to the first threshold, the applied force operation is deemed valid. If the displacement is greater than or equal to the second threshold, the force application operation is deemed valid.

4. The method according to any one of claims 1 to 3, characterized in that, Based on the applied force area, the motion control method is determined, including: If the robot is currently in motion and the force application area is a marked force application area, then the motion control method is to stop the movement. Otherwise, based on the correspondence between the force application area and the motion control method, the motion control method corresponding to the force application area is obtained.

5. The method according to any one of claims 1 to 3, characterized in that, When the force application operation is a combined operation triggered by the simultaneous application of force to at least two force application areas on the robot, the data information includes: at least two triggering position information of the combined operation; and Based on the data information, the motion control method corresponding to the force application operation is determined, including: Based on the at least two trigger location information, determine whether it is a valid combination of force application areas; If it is a valid combination of force application areas, then the motion control mode corresponding to the combination of force application areas is obtained according to the correspondence between the combination of force application areas and the motion control mode.

6. The method according to any one of claims 1 to 3, characterized in that, The motion control method includes at least one of the following: motion direction and motion speed.

7. The method according to any one of claims 1 to 3, characterized in that, The data information includes: the direction of force application; and Based on the data information, the motion control method corresponding to the force application operation is determined, including: Obtain the robot's current orientation; The motion control method is determined based on the applied force direction and the current orientation.

8. The method according to claim 7, characterized in that, The motion control method is determined based on the applied force direction and the current orientation, including: The direction of the applied force is opposite to the robot's current orientation, and when the robot is in motion, the motion control method is to stop moving. When the direction of the applied force is not opposite to the robot's current orientation, the direction of the applied force is determined as the direction of motion, and the motion control method is generated based on the direction of motion.

9. The method according to any one of claims 1 to 3, characterized in that, The data information includes: the direction of the robot's displacement caused by the applied force operation; and, Based on the data information, the motion control method corresponding to the force application operation is determined, including: The displacement direction is determined as the motion direction; The motion control method is generated based on the direction of motion.

10. The method according to any one of claims 1 to 3, characterized in that, Also includes: Once the force application is detected to have ended, the robot is controlled to stop moving.

11. A control device for a robot, characterized in that, include: The acquisition module is used to acquire data information generated by the force application operation when the detection device set on the robot detects the force application operation triggered by the user on the robot. The data information includes: the triggering location information of the force application operation; The determining module is used to determine the motion control mode corresponding to the force application operation based on the data information, including: determining the force application area based on the trigger position information; and determining the motion control mode based on the force application area. The control module is used to control the robot to walk according to the motion control method.

12. A robot, characterized in that, include: The robot is equipped with a detection device for detecting the applied force. The detection device is connected to the robot's controller and is used to notify the controller when it detects a user applying force on the robot, so that the controller can obtain the data information generated by the force application. The data information includes: the trigger position information of the force application operation; determining the motion control mode corresponding to the force application operation based on the data information, including: determining the force application area based on the trigger position information; determining the motion control mode based on the force application area; and controlling the robot to walk according to the motion control mode.

13. The robot according to claim 12, characterized in that, The detection device comprises multiple devices; Multiple detection devices are respectively installed at different positions on the robot.

14. The robot according to claim 13, characterized in that, The plurality of detection devices include: a first detection device located directly behind the head of the robot, a second detection device and a third detection device located on the left and right sides of the back of the robot body respectively, and a fourth detection device located on the center line of the back of the robot body.

15. The robot according to claim 14, characterized in that, The second detection device and the third detection device are respectively located on the back of the robot body at the connection points with the roots of the robot's left and right arms.

16. The robot according to claim 15, characterized in that, The fourth detection device is located below the second and third detection devices.

17. The robot according to claim 13, characterized in that, The plurality of detection devices include: a fifth detection device disposed on the left arm of the robot and a sixth detection device disposed on the right arm of the robot.

18. The robot according to claim 13, characterized in that, The plurality of detection devices include: a seventh detection device disposed at the connection between the robot's left arm and the robot body, and an eighth detection device disposed at the connection between the robot's right arm and the robot body.

19. The robot according to claim 13, characterized in that, The plurality of detection devices include: a ninth detection device disposed on the front chest of the robot body.

20. The robot according to any one of claims 12 to 19, characterized in that, The detection device includes: a displacement sensor, a pressure sensor, and / or a force gauge.

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