Robot control method, device, electronic device and computer readable medium

Abstract

The embodiments of the present disclosure disclose a robot control method, device, electronic device and computer-readable medium. A specific implementation of the method includes: in response to receiving at least one control instruction within a set time, querying the matching relationship information between the at least one control instruction; determining the target operation corresponding to the at least one control instruction through the matching relationship information; and controlling the robot based on the target operation. This implementation improves the combination setting of the robot's buttons and improves the robot's adaptability to actual application scenarios.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of robotics technology, and in particular to a robot control method, device, electronic device, and computer-readable medium. Background Art

[0002] A robot is a machine device that automatically performs a series of complex operations by receiving instructions and following pre-set programs. A logistics robot is a robot used for cargo transfer and handling in warehousing, sorting centers, and during cargo transportation. Logistics robots are also gradually being recognized as an important intelligent infrastructure in the digitalization and automation process of logistics and supply chain-related companies.

[0003] Logistics robots are usually equipped with multiple buttons to facilitate the operation of operators. When designing, it is usually considered to achieve more functional configurations on the minimum button layout. The existing button settings have the following shortcomings:

[0004] First, each button has a single function and can only realize a single function;

[0005] Second, the button functions are not set according to the application scenarios. Summary of the invention

[0006] The content of this disclosure is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0007] Some embodiments of the present disclosure propose robot control methods, devices, electronic devices, and computer-readable media to solve the technical problems mentioned in the above background technology section.

[0008] In a first aspect, some embodiments of the present disclosure provide a robot control method, the method comprising: in response to receiving at least one control instruction within a set time, querying matching relationship information between the at least one control instruction; determining a target operation corresponding to the at least one control instruction through the matching relationship information; and controlling the robot based on the target operation.

[0009] In a second aspect, some embodiments of the present disclosure provide a robot control device, which includes: a matching relationship information query unit, configured to query the matching relationship information between the at least one control instruction in response to receiving at least one control instruction within a set time; a target operation determination unit, configured to determine the target operation corresponding to the at least one control instruction through the matching relationship information; and a control unit, configured to control the robot based on the target operation.

[0010] In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner of the above-mentioned first aspect.

[0011] In a fourth aspect, some embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method described in any implementation manner of the above-mentioned first aspect is implemented.

[0012] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: through the control of the robot by the robot control method of some embodiments of the present disclosure, the scene adaptability of the robot is improved. Specifically, the reason for the low scene adaptability of the robot is that the button function of the robot is single, and the button function cannot be set in a targeted manner according to the actual application scenario. Based on this, the robot control method of some embodiments of the present disclosure can receive multiple control instructions within a set time, and query the matching relationship information corresponding to the multiple control instructions. Then determine the target operation corresponding to the matching relationship information, realize the button combination control of the robot, and finally control the robot through the target operation, thereby improving the combination setting of the robot's buttons. Also because of the combination setting of the buttons, the robot's adaptability to actual application scenarios is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0014] Figure 1 is a schematic diagram of an application scenario of a robot control method according to some embodiments of the present disclosure;

[0015] Figure 2 is a flow chart of some embodiments of the robot control method according to the present disclosure;

[0016] Figure 3 are flow charts of other embodiments of the robot control method according to the present disclosure;

[0017] Figure 4 are flow charts of still further embodiments of the robot control method according to the present disclosure;

[0018] Figure 5 is a schematic diagram of the structure of some embodiments of the robot control device according to the present disclosure;

[0019] Figure 6 It is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0020] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0021] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0022] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0024] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0025] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0026] Figure 1 It is a schematic diagram of an application scenario of a robot control method according to some embodiments of the present disclosure.

[0027] like Figure 1As shown, the robot 101 is provided with a plurality of buttons 1011. When the technician encounters a specific problem in an actual application scenario, several buttons 1011 can be pressed at the same time within a set time. For example, the plurality of buttons 1011 can include a power button, an emergency stop button, a lifting button, a lowering button, and a reset button. When the technician encounters an abnormal working scenario of the robot 101 (for example, the posture of the robot 101 is not correct, etc.), the technician can press the lifting button, the lowering button, and the reset button at the same time. At this time, the robot 101 can receive a plurality of control instructions 1012, and then query the matching relationship information 1013 of the plurality of control instructions 1012. The robot 101 can determine the target operation 1014 corresponding to the matching relationship information 1013 (for example, it can be a correction operation for the posture of the robot 101), and control the robot 101 to perform corresponding actions or data processing according to the target operation 1014. In this way, a certain function or operation is realized by combining a plurality of buttons 1011 with a single function. The adaptability of the robot 101 to the application scenario is improved.

[0028] It should be understood that Figure 1 The number of keys 1011 in the embodiment is only for illustration. Any number of keys 1011 may be provided as required.

[0029] Continue to refer Figure 2 , Figure 2 The process 200 of some embodiments of the robot control method according to the present disclosure is shown. The robot control method comprises the following steps:

[0030] Step 201: In response to receiving at least one control instruction within a set time, query the matching relationship information between the at least one control instruction.

[0031] In some embodiments, the execution subject of the robot control method (for example Figure 1 The robot 101 shown in the figure can receive at least one control instruction within a set time through a wired connection or a wireless connection. It should be noted that the above wireless connection method may include but is not limited to 3G / 4G / 5G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection, and other wireless connection methods currently known or to be developed in the future.

[0032] As can be seen from the above description, the technician needs to perform corresponding operations on the execution subject through multiple buttons 1011 in a specific application scenario. Each button 1011 has an independent function. The execution subject can only receive multiple control instructions 1012 when the technician presses multiple buttons 1011 at the same time within the set time. Afterwards, the execution subject can query the matching relationship information 1013 between the multiple control instructions 1012. Among them, the set time is usually a very short time, which is used to characterize the time when multiple buttons are pressed at the same time. For example, the set time can be 0.1 seconds, 0.5 seconds, etc. The matching relationship information 1013 is used to characterize the combination relationship between multiple control instructions in a certain order. For example, the control instructions received by the execution subject within 0.5 seconds include: lifting button, lowering button and reset button. Then the corresponding matching relationship information 1013 can be: 1: lowering button, 2: lifting button and 3, reset button. It can also be 1: lowering button, lifting button, 2, reset button. Among them, "1", "2" and "3" represent the time sequence respectively. Correspondingly, “1: lower button, raise button, 2: reset button” can mean pressing the lower button and the raise button at the same time, and then pressing the reset button.

[0033] Step 202: Determine the target operation corresponding to the at least one control instruction through the matching relationship information.

[0034] In some embodiments, after the execution subject obtains the matching relationship information 1013, it can search for a pre-built operation table according to the matching relationship information, and the operation table can record the correspondence between multiple matching relationship information and operations. The execution subject can determine the target operation corresponding to the matching relationship information through the operation table. For example, when the matching relationship information is "1: down button, 2: lift button and 3: reset button", the corresponding target operation can be "posture correction".

[0035] Step 203: Control the robot based on the target operation.

[0036] After the target operation is determined, the execution subject can execute the target operation to achieve control over the robot.

[0037] The robot control method disclosed in some embodiments of the present disclosure controls the robot, and the robot's scene adaptability is improved. Specifically, the reason for the low scene adaptability of the robot is that the robot's button functions are single, and the button functions cannot be set in a targeted manner according to the actual application scenario. Based on this, the robot control method of some embodiments of the present disclosure can receive multiple control instructions within a set time, and query the matching relationship information corresponding to the multiple control instructions. Then determine the target operation corresponding to the matching relationship information, realize the button combination control of the robot, and finally control the robot through the target operation, thereby improving the combination setting of the robot's buttons. Also because of the combination setting of the buttons, the robot's adaptability to actual application scenarios is improved.

[0038] Continue to refer Figure 3 , Figure 3 The process 300 of some embodiments of the robot control method according to the present disclosure is shown. The robot control method comprises the following steps:

[0039] Step 301, in response to receiving at least one control instruction within a set time, query the instruction name of each control instruction in the at least one control instruction to obtain an instruction name set.

[0040] The execution subject has pre-recorded the control instruction corresponding to each key, and the execution subject can query the instruction name of each control instruction, and then obtain the instruction name set corresponding to at least one control instruction.

[0041] Step 302: determine the matching relationship information corresponding to the above instruction name set through a preset instruction matching table.

[0042] The execution subject may be pre-set with an instruction matching table, which may include a plurality of instruction name sets with corresponding relationships and matching relationship information. The execution subject may determine the matching relationship information corresponding to the instruction name set through the instruction matching table.

[0043] In some optional implementations of some embodiments, determining the matching relationship information corresponding to the instruction name set by using a preset instruction matching table may include the following steps:

[0044] In the first step, the sequencing information between the at least one control instruction is determined according to the start timestamp of each control instruction in the at least one control instruction.

[0045] In order to determine the order between control instructions, it is necessary to determine the start time of each control instruction. Correspondingly, each of the at least one control instruction includes a corresponding start timestamp. The start timestamp can be used to identify the time when the corresponding control instruction is detected. The execution subject can determine the order information between multiple control instructions according to the start timestamp of each control instruction. The earlier the timestamp, the higher the order of the control instruction.

[0046] The second step is to query the instruction matching table for matching relationship information corresponding to the sorting information.

[0047] After the sorting information is determined, the execution subject may query the instruction matching table for matching relationship information that matches the sorting information.

[0048] In some optional implementations of some embodiments, the above-mentioned querying of the matching relationship information corresponding to the above-mentioned sorting information in the above-mentioned instruction matching table may include: matching the above-mentioned sorting information with the benchmark matching relationship information in the instruction matching table to determine the target matching relationship information corresponding to the above-mentioned at least one control instruction.

[0049] The instruction matching table includes at least one benchmark matching relationship information, and the benchmark matching relationship information may be pre-set. The benchmark matching relationship information may be used to characterize the combination relationship between multiple instruction names. The execution subject may match the sorting information with each benchmark matching relationship information, and then determine the target matching relationship information corresponding to the received control instruction.

[0050] Step 303: determine the target sub-control instruction of each control instruction in the at least one control instruction.

[0051] The execution subject may be pre-set with multiple sub-control instructions for each control instruction, and multiple sub-control instructions of multiple control instructions may have multiple combinations. In this way, when encountering different problems in different application scenarios, specific problems can be solved by combining sub-control instructions of different control instructions. In this way, the function of the buttons is increased without increasing the number of buttons, which is conducive to improving the robot's adaptability to application scenarios. Among them, the above-mentioned control instruction includes at least one sub-control instruction, and the above-mentioned sub-control instructions are divided by the duration of the control instruction. The above-mentioned duration is used to identify the duration of the control instruction starting from the detection of the start timestamp of the control instruction.

[0052] Step 304: Determine the target operation of at least one target sub-control instruction corresponding to the at least one control instruction through the matching relationship information.

[0053] The matching relationship information can be used to characterize the combination relationship between multiple control instructions in a certain order. After determining the target sub-control instruction of each control instruction, the combination relationship between multiple target sub-control instructions can be further determined according to the matching relationship information, and then the target operations corresponding to the multiple target sub-control instructions can be determined. In this way, the function of key combination is further increased, and the robot's adaptability to application scenarios is improved.

[0054] In some optional implementations of some embodiments, the determining of the target sub-control instruction of each control instruction in the at least one control instruction may include the following steps:

[0055] The first step is to query the target duration of the control instruction in the at least one control instruction.

[0056] Taking the descend button as an example, the descend button can include 3 sub-control instructions, namely: 1. Drive the robot forward; 2. Maintain the current state; 3. Lower the tray on the robot. Specifically, when the descend button is pressed for no more than 1 second, the corresponding sub-control instruction may be: 1. Drive the robot forward; when the descend button is pressed for no more than 3 seconds, the corresponding sub-control instruction may be: 2. Maintain the current state; when the descend button is pressed for more than 5 seconds, the corresponding sub-control instruction may be: 3. Lower the tray on the robot.

[0057] The second step is to determine the target sub-control instruction of the control instruction based on the target duration.

[0058] The execution subject can detect the target duration of the control instruction and match the corresponding target sub-control instruction according to the target duration of the control instruction. Taking the down button as an example, if the target duration is within 1 second, the target sub-control instruction is 1, drive the robot forward; if the target duration is greater than 1 second and less than 3 seconds, the target sub-control instruction is: 2, maintain the current state; if the target duration is greater than 5 seconds, the target sub-control instruction is: 3, lower the tray on the robot.

[0059] The technician discovered that the robot's pallet was not aligned during operation, causing the robot's center of gravity to be unstable. The robot automatically corrected the problem, causing the robot to tilt. The technician can use multiple buttons on the robot to correct the problem. Figure 4As shown, the target operations corresponding to the control instructions of the three buttons on the robot. The three buttons can be 1: lowering button, 2: lifting button and 3: reset button. They correspond to control instruction 1, control instruction 2 and control instruction 3 respectively. Among them, the target duration of control instruction 1 can be 2.5 seconds; the target duration of control instruction 2 can be 0.5 seconds; the target duration of control instruction 3 can be 7 seconds. In this way, the target sub-control instructions obtained can be: the second sub-control instruction of control instruction 1, the first sub-control instruction of control instruction 2 and the third sub-control instruction of control instruction 3. The execution subject can query Figure 4 The combination relationship of the three sub-control instructions in the program is used to determine the corresponding target operation (for example, resetting the robot system after correcting the deviation of the robot pallet). In this way, targeted control of the robot is achieved according to the state of the robot in a specific application scenario, which improves the robot's adaptability to the application scenario.

[0060] In some optional implementations of some embodiments, the above-mentioned determination of the target sub-control instruction of the control instruction based on the above-mentioned target duration may include: in response to the above-mentioned target duration being less than a first set time threshold, and multiple above-mentioned target durations being detected within a second set time threshold, determining the target sub-control instruction according to the number of target durations detected within the above-mentioned second set time threshold.

[0061] In practice, there are also situations where a button is pressed multiple times in succession (for example, a double-click button, a triple-click button, etc.). For this reason, the execution subject needs to detect the number of times the button is pressed. Correspondingly, the execution subject can detect whether the target duration is less than the first set time threshold. Among them, the first set time threshold is usually very small, for example, the first set time threshold can be 0.3 seconds. When the execution subject detects that the target duration is less than the first set time threshold, and multiple of the above target durations are detected within the second set time threshold, it can be considered that there is a situation where the button is pressed multiple times in succession. For this reason, the execution subject can determine the target sub-control instruction based on the number of target durations detected within the second set time threshold. Taking the lifting button as an example, when it is detected that the target duration of the control instruction corresponding to the lifting button is less than 0.3 seconds, and 2 target durations are detected within 1 second, it can be considered that the lifting button is double-clicked. At this time, the execution subject can query that the operation corresponding to the double-clicking the lifting button can be: tray lifting.

[0062] Step 305: Control the robot based on the target operation.

[0063] The content of step 305 is the same as that of step 203 and will not be described in detail here.

[0064] Further references Figure 5As an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a robot control device, and these device embodiments are Figure 2 Corresponding to the method embodiments shown, the device can be specifically applied to various electronic devices.

[0065] like Figure 5 As shown, the robot control device 500 of some embodiments includes: a matching relationship information query unit 501, a target operation determination unit 502 and a control unit 503. Among them, the matching relationship information query unit 501 is configured to query the matching relationship information between the at least one control instruction in response to receiving at least one control instruction within a set time; the target operation determination unit 502 is configured to determine the target operation corresponding to the at least one control instruction through the matching relationship information; the control unit 503 is configured to control the robot based on the target operation.

[0066] In an optional implementation of some embodiments, the matching relationship information query unit 501 may include: an instruction name query subunit (not shown in the figure) and a matching relationship information query subunit (not shown in the figure). The instruction name query subunit is configured to query the instruction name of each control instruction in the at least one control instruction to obtain an instruction name set; the matching relationship information query subunit is configured to determine the matching relationship information corresponding to the instruction name set through a preset instruction matching table.

[0067] In an optional implementation of some embodiments, each of the at least one control instruction includes a corresponding start timestamp, and the start timestamp is used to identify the time when the corresponding control instruction is detected; and the matching relationship information query subunit may include: a sorting information determination module (not shown in the figure) and a matching relationship information query module (not shown in the figure). The sorting information determination module is configured to determine the sorting information between the at least one control instruction according to the start timestamp of each of the at least one control instruction; the matching relationship information query module is configured to query the matching relationship information corresponding to the sorting information in the instruction matching table.

[0068] In an optional implementation of some embodiments, the above-mentioned instruction matching table includes at least one benchmark matching relationship information, and the above-mentioned benchmark matching relationship information is used to characterize the combination relationship between multiple instruction names; and the above-mentioned matching relationship information query module may include: a matching relationship information query sub-module (not shown in the figure), which is configured to match the above-mentioned sorting information with the benchmark matching relationship information in the instruction matching table to determine the target matching relationship information corresponding to the above-mentioned at least one control instruction.

[0069] In an optional implementation of some embodiments, the control instruction includes at least one sub-control instruction, and the sub-control instruction is divided by the duration of the control instruction, and the duration is used to identify the duration of the control instruction starting from the detection of the start timestamp of the control instruction, and; the target operation determination unit 502 may include: a target sub-control instruction determination sub-unit (not shown in the figure) and a target operation determination sub-unit (not shown in the figure). Among them, the target sub-control instruction determination sub-unit is configured to determine the target sub-control instruction of each control instruction in the at least one control instruction; the target operation determination sub-unit is configured to determine the target operation of at least one target sub-control instruction corresponding to the at least one control instruction through the matching relationship information.

[0070] In an optional implementation of some embodiments, the target sub-control instruction determination subunit may include: a target duration query module (not shown in the figure) and a target sub-control instruction determination module (not shown in the figure). The target duration query module is configured to query the target duration of the control instruction in the at least one control instruction; the target sub-control instruction determination module is configured to determine the target sub-control instruction of the control instruction based on the target duration.

[0071] In an optional implementation of some embodiments, the above-mentioned target sub-control instruction determination module may include: a target sub-control instruction determination sub-module (not shown in the figure), which is configured to respond to the above-mentioned target duration being less than a first set time threshold, and multiple above-mentioned target durations are detected within a second set time threshold, and determine the target sub-control instruction according to the number of target durations detected within the above-mentioned second set time threshold.

[0072] It is understood that the units described in the device 500 are similar to those described in the reference Figure 2 Therefore, the operations, features and beneficial effects described above for the method are also applicable to the device 500 and the units included therein, and will not be described in detail here.

[0073] like Figure 6 As shown, the electronic device 600 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0074] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 The electronic device 600 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 6 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0075] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. When the computer program is executed by the processing device 601, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0076] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0077] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0078] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: in response to receiving at least one control instruction within a set time, queries the matching relationship information between the at least one control instruction; determines the target operation corresponding to the at least one control instruction through the matching relationship information; and controls the robot based on the target operation.

[0079] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0080] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0081] The units described in some embodiments of the present disclosure may be implemented by software or hardware. The units described may also be provided in a processor, for example, may be described as: a processor including a matching relationship information query unit, a target operation determination unit, and a control unit. The names of these units do not, in some cases, constitute limitations on the units themselves, for example, a control unit may also be described as "a unit for controlling a robot according to a target operation".

[0082] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0083] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A robot control method, wherein a plurality of buttons are provided on the robot, and the plurality of buttons include: The lift button, lower button and reset button, each button has pre-recorded corresponding control instructions, including: In response to receiving at least one control instruction within a set time, querying matching relationship information between the at least one control instruction, the set time is used to represent the time when multiple keys are pressed simultaneously, and the matching relationship information is used to represent the combination relationship between the multiple control instructions in a certain order, wherein the control instruction includes at least one sub-control instruction, at least one sub-control instruction of the at least one control instruction has multiple combinations, and the sub-control instructions are divided by the duration of the control instruction, and the duration is used to identify the duration of the control instruction starting from the detection of the start timestamp of the control instruction; Determining the target operation corresponding to the at least one control instruction through the matching relationship information includes: for a control instruction in the at least one control instruction, querying the target duration of the control instruction; detecting the target duration of the control instruction, and matching the corresponding target sub-control instruction according to the target duration of the control instruction; querying the combination relationship of at least one target sub-control instruction to determine the corresponding target operation; detecting the number of times a key is pressed, specifically including: in response to the target duration being less than a first set time threshold, and a plurality of the target durations being detected within a second set time threshold, determining the target sub-control instruction according to the number of the target durations detected within the second set time threshold; determining the target operation of at least one target sub-control instruction corresponding to the at least one control instruction through the matching relationship information; The robot is controlled based on the target operation.

2. The method according to claim 1, wherein: The querying the matching relationship information between the at least one control instruction includes: Querying the instruction name of each control instruction in the at least one control instruction to obtain an instruction name set; The matching relationship information corresponding to the instruction name set is determined through a preset instruction matching table.

3. The method according to claim 2, wherein: Each of the at least one control instruction includes a corresponding start timestamp, where the start timestamp is used to identify the time when the corresponding control instruction is detected; as well as The determining the matching relationship information corresponding to the instruction name set through a preset instruction matching table includes: Determining the sorting information between the at least one control instruction according to the start timestamp of each control instruction in the at least one control instruction; The instruction matching table is queried for matching relationship information corresponding to the sorting information.

4. The method according to claim 3, wherein: The instruction matching table includes at least one piece of reference matching relationship information, and the reference matching relationship information is used to represent the combination relationship between multiple instruction names; as well as The querying of the instruction matching table for the matching relationship information corresponding to the sorting information includes: The sorting information is matched with the reference matching relationship information in the instruction matching table to determine the target matching relationship information corresponding to the at least one control instruction.

5. A robot control device, wherein the robot is provided with a plurality of buttons, the plurality of buttons comprising: The lift button, lower button and reset button, each button has pre-recorded corresponding control instructions, including: a matching relationship information query unit, configured to query matching relationship information between at least one control instruction in response to receiving at least one control instruction within a set time, wherein the set time is used to represent the time when multiple keys are pressed simultaneously, and the matching relationship information is used to represent the combination relationship between multiple control instructions in a certain order, wherein the control instruction includes at least one sub-control instruction, at least one sub-control instruction of at least one control instruction has multiple combinations, and the sub-control instructions are divided by the duration of the control instruction, and the duration is used to identify the duration of the control instruction starting from the detection of the start timestamp of the control instruction; a target operation determining unit, configured to determine a target operation corresponding to the at least one control instruction according to the matching relationship information; a control unit configured to control the robot based on the target operation; The target operation determination unit is further configured to: query the target duration of the control instruction in the at least one control instruction; detect the target duration of the control instruction, and match the corresponding target sub-control instruction according to the target duration of the control instruction; query the combination relationship of at least one target sub-control instruction to determine the corresponding target operation; detect the number of times a key is pressed, specifically including: in response to the target duration being less than a first set time threshold and multiple target durations being detected within a second set time threshold, determine the target sub-control instruction according to the number of target durations detected within the second set time threshold; determine the target operation of at least one target sub-control instruction corresponding to the at least one control instruction through the matching relationship information.

6. An electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 4.

7. A computer readable medium having a computer program stored thereon, wherein: When the program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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