Robot and Its Control Method, and Storage Medium

Abstract

The present application discloses a robot, a control method thereof, and a storage medium, relating to the technical field of device control. The method includes: determining a corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot; controlling the robot according to the control mode. This method realizes that the robot can be automatically controlled through the control mode jointly determined according to the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

Description

Technical Field

[0001] This application relates to the technical field of device control, and more specifically, to a robot, its control method, and a storage medium. Background Art

[0002] With the rapid development of the economy, robots have gradually started to enter people's daily lives. For example, compared with the easy occurrence of infectious diseases, breeding costs, and feces during the process of raising pets, more and more users have become interested in robotic pets, such as quadruped robotic dogs (persons). However, in the current control of robots, generally, a wireless control handle is used to control the robot. When people are walking a robotic pet, there may be other people or vehicles passing by. At this time, it may be necessary to make the robotic pet move to the left or right side of the road to give way to other pedestrians or vehicles, or when it is necessary to control the robotic pet to stop temporarily. If the user takes out the wireless control handle to operate every time, it will bring a poor user experience. Summary of the Invention

[0003] This application proposes a robot, its control method, and a storage medium to improve the above problems.

[0004] In a first aspect, an embodiment of this application provides a robot, which includes: a pressure sensing component for collecting pressure values; a detection device for obtaining the walking state of the robot; and a processor for determining a corresponding control mode according to the pressure value and the walking state, and controlling the robot according to the control mode.

[0005] In a second aspect, an embodiment of this application provides a robot control method, which is applied to the robot described in the first aspect above. The method includes: determining a corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot; and controlling the robot according to the control mode.

[0006] In a third aspect, an embodiment of this application provides a computer-readable storage medium, in which program code is stored, and the program code can be called by a processor to execute the robot control method provided in the second aspect above.

[0007] A robot, its control method, and a storage medium provided by the present application. In this method, a corresponding control mode is determined according to the pressure value collected by the pressure sensing component and the walking state of the robot; then the robot is controlled according to the control mode. Thus, through the above method, automatic control of the robot can be achieved by determining the control mode jointly based on the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience. Description of the Drawings

[0008] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0009] Figure 1 The flowchart of a robot control method provided by an embodiment of the present application is shown.

[0010] Figure 2 The flowchart of a robot control method provided by another embodiment of the present application is shown.

[0011] Figure 3 The schematic diagram when a user pulls a quadruped robot from the right rear of the quadruped robot provided by an embodiment of the present application is shown.

[0012] Figure 4 The schematic diagram when the quadruped robot provided by an embodiment of the present application moves to the roadside and the traveling direction is the same as that of the user is shown.

[0013] Figure 5 The flowchart of a robot control method provided by another embodiment of the present application is shown.

[0014] Figure 6 The flowchart of a robot control method provided by another embodiment of the present application is shown.

[0015] Figure 7 The schematic diagram of the motion state of the robot provided by an embodiment of the present application being in a stopped walking state is shown.

[0016] Figure 8 The flowchart of a robot control method provided by another embodiment of the present application is shown.

[0017] Figure 9 The flowchart of a robot control method provided by another embodiment of the present application is shown.

[0018] Figure 10The block diagram of a robot provided by an embodiment of the present application is shown.

[0019] Figure 11 The storage unit for storing or carrying the program code for implementing the robot control method according to the embodiment of the present application is shown. Detailed implementation manners

[0020] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

[0021] With the development of technology, robot technology has also made great progress. Compared with the easy occurrence of infectious diseases, breeding costs, and feces during the process of raising pets, more and more users have become interested in robotic pets. In future life, walking a robotic pet may become a common phenomenon.

[0022] The inventors have found through long-term research that currently, in the control of robots, generally, a wireless control handle is used to control the robot. However, in some special scenarios, controlling the robot with a wireless control handle is extremely clumsy and affects the user experience. For example, when people are walking a quadruped robotic dog, there may be other people or vehicles passing by. At this time, it may be necessary to let the quadruped robotic dog give way to other pedestrians or vehicles, which requires the user to take out the wireless control handle to operate, resulting in a poor user experience. Another example is that when the user meets an acquaintance and greets or has a brief chat, it is necessary for the quadruped robotic dog to stop, which also requires the user to take out the wireless control handle to operate, and it will also cause a poor user experience.

[0023] Therefore, in order to improve the above problems, the inventors have proposed a robot, its control method, and a storage medium provided by the present application, which can automatically control the robot without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

[0024] The embodiments of the present application will be specifically described below with reference to the accompanying drawings.

[0025] Please refer to Figure 1, which shows a flowchart of a robot control method provided by an embodiment of the present application. This embodiment provides a robot control method that can be applied to a robot, which includes a pressure sensing component, a detection device, and a processor. Among them, the pressure sensing component is used to collect pressure values, the detection device is used to obtain the walking state of the robot, and the processor is used to determine a corresponding control mode according to the pressure value and the walking state, and control the robot according to the control mode. It should be noted that the robot in the embodiment of the present application can be understood as a robot, such as some robots with specific functions (such as navigation functions); it can also be understood as a robotic pet, for example, a quadruped robot dog, a quadruped robot cat, etc. The specific type of pet can be not limited. The robot in the embodiment of the present application can be not limited to four legs or six legs, and the embodiment of the present application can not limit the form of the robot. The following will take the robot as a robotic pet as an example for description. The method includes:

[0026] Step S110: Determine a corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot.

[0027] The pressure sensing component in this embodiment can include one or more pressure sensors. The pressure sensor can be any sensor with the function of detecting pressure values. The specific type of the pressure sensor can be not limited. For example, if the pressure sensing component includes multiple pressure sensors, the types of the multiple pressure sensors can be different or the same.

[0028] As a way, a corresponding relationship can be established between the pressure value collected by the pressure sensing component and the walking state of the robot and different control modes. Among them, when the pressure values are equal, the walking states of the robot are different, and the corresponding control modes are different; when the walking states of the robot are the same, the pressure values are different, and the corresponding control modes are also different. The control contents corresponding to different control modes are different.

[0029] In this embodiment, the walking state of the robot can include a (linear) walking state or a stopped walking state (for example, when a quadruped robot dog is in a semi-squat state or a full-squat state, it can be determined that it is in a stopped walking state). Among them, the pressure sensing component can collect the pulling force value received by the robot in real time. Optionally, when the collected pulling force value changes greatly compared with the previously collected pulling force value, or the pulling force values collected continuously for a certain period of time (for example, within 3 seconds) change rapidly, the walking state of the robot can be obtained, and then the corresponding control mode can be determined according to the collected pulling force value and the walking state of the robot.

[0030] Step S120: Control the robot according to the control mode.

[0031] As a way, the motion state of the robot can be controlled according to the control mode. Among them, the motion state can include the walking state and the walking direction of the robot.

[0032] As a way, when the corresponding control mode is determined, the determined control mode can be used to correspondingly control the motion state of the robot, including changing the walking state of the robot or adjusting the walking direction of the robot, so as to realize the automatic control of the robot. For example, controlling the robotic pet to switch from the stopped walking state to the straight walking state, and controlling the robotic pet to move from the middle of the road to the outside of the road, etc.

[0033] The robot control method provided in this embodiment determines the corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot; then controls the robot according to the control mode. Thus, through the above method, it is possible to automatically control the robot through the control mode jointly determined according to the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

[0034] Please refer to Figure 2 , which shows a flowchart of a robot control method provided in another embodiment of the present application. This embodiment provides a robot control method that can be applied to a robot. The robot includes a pressure sensing component. The pressure sensing component includes a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is connected below the robot, the second pressure sensor is connected to the left side of the robot, and the third pressure sensor is connected to the right side of the robot. The method includes:

[0035] Step S210: If the values of the first pressure sensor and the second pressure sensor are respectively greater than a first threshold, and the walking state of the robot is in a straight walking state, determine the first control mode as the corresponding control mode.

[0036] In this embodiment, the first pressure sensor, the second pressure sensor, and the third pressure sensor can all be fixedly arranged on the robot. For example, the first pressure sensor is fixedly arranged below the neck of the robot, the second pressure sensor is fixedly arranged on the left side of the neck of the robot, and the third pressure sensor is fixedly arranged on the right side of the neck of the robot. It is also possible to detachably connect the first pressure sensor, the second pressure sensor, and the third pressure sensor to the robot. For example, the first pressure sensor is detachably connected below the neck of the robot, the second pressure sensor is detachably connected to the left side of the neck of the robot, and the third pressure sensor is detachably connected to the right side of the neck of the robot.

[0037] As a way, when the pressure sensor is set on the neck of the quadruped robot dog, the pressure sensor can be set according to the area of the neck of the quadruped robot dog, so that no matter from which direction the user pulls the quadruped robot dog, the corresponding pressure sensor can collect the pressure value. For example, assume that the first pressure sensor, the second pressure sensor, and the third pressure sensor are set on the user's neck, and the first pressure sensor is fixedly set below the neck of the robot, the second pressure sensor is fixedly set on the left side of the neck of the robot, and the third pressure sensor is fixedly set on the right side of the neck of the robot. When the user pulls the quadruped robot dog from the left side of the quadruped robot dog, the pressure values collected by the first pressure sensor and the third pressure sensor will change significantly. If the user pulls the quadruped robot dog from the right side of the quadruped robot dog, the pressure values collected by the first pressure sensor and the second pressure sensor will change significantly.

[0038] Among them, the pulling force thresholds corresponding to the pulling force values collected by the pressure sensors in different directions can be set. For example, in one implementation, the pulling force thresholds corresponding to the first pressure sensor and the second pressure sensor can be set as the first threshold (when the user pulls the quadruped robot dog from the right side of the quadruped robot dog, it can be considered that the pressure value collected by the first pressure sensor set on the lower side of the neck of the quadruped robot dog is (roughly) the same as the pressure value collected by the second pressure sensor set on the left side of the neck of the quadruped robot dog). In this way, if the values of the first pressure sensor and the second pressure sensor are respectively greater than the first threshold, and the walking state of the robot is in a straight walking state, the first control mode can be determined as the corresponding control mode, and the first control mode is used to control the robot to move in the first direction at the current position, and the first direction can be understood as the opposite direction of the current movement direction of the quadruped robot dog.

[0039] Optionally, different pressure thresholds can also be set for the pressure sensors in different directions in this embodiment. For example, the first pressure sensor corresponds to "pressure threshold A", and the second pressure sensor corresponds to "pressure threshold B". In this way, if the value of the first pressure sensor is greater than the pressure threshold A, the value of the second pressure sensor is greater than the pressure threshold B, and the walking state of the robot is in a straight walking state, the first control mode can be determined as the corresponding control mode.

[0040] Optionally, when the values of the first pressure sensor and the second pressure sensor are respectively greater than the first threshold, if the walking state of the robot is in a stopped walking state, the values of the first pressure sensor and the second pressure sensor can be re-detected.

[0041] Step S220: Control the robot to move in the first direction of the current position according to the first control mode until the values of the first pressure sensor and the second pressure sensor are respectively less than the second threshold.

[0042] For example, in a specific application scenario, please refer to Figure 3 , which shows a schematic diagram of a user pulling a quadruped robot dog from the right rear of the quadruped robot dog provided by an embodiment of the present application. As Figure 3 shown, when the quadruped robot dog is walking and a vehicle is coming on the road, at this time the robot dog needs to make way for the vehicle. If the user uses a wireless control handle to operate the robot dog to make way for the vehicle at this time, it may bring bad consequences due to untimely operation or misoperation.

[0043] To optimize this problem, the user can pull the quadruped robot dog from the right rear with a relatively large force, so that when the values of the first pressure sensor and the second pressure sensor are respectively greater than the first threshold, an automatic control command can be triggered, that is, the robot dog is automatically controlled to move in the first direction of the current position (which can be understood as the opposite direction of the current walking direction, that is, towards the roadside direction) according to relevant algorithms until the values of the first pressure sensor and the second pressure sensor are respectively less than the second threshold. As Figure 4 shown, at this time the quadruped robot dog moves to the roadside and the traveling direction is the same as that of the user. Among them, when the quadruped robot dog moves to the roadside, the user will no longer pull the quadruped robot dog with a relatively large force, so that the values of the first pressure sensor and the second pressure sensor will respectively be less than the second threshold. Among them, the second threshold is less than the first threshold, and the specific values of the first threshold and the second threshold may not be limited.

[0044] The robot control method provided in this embodiment realizes the automatic control of the motion state of the robot according to the control mode jointly determined by the pressure values collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience. At the same time, the quadruped robot dog is automatically controlled to walk by pulling it with a rope. The whole control process is basically the same as that of controlling a real dog. The whole action is naturally generated by people and will not cause the pressure of learning, further improving the user experience.

[0045] Please refer to Figure 5, which shows a flowchart of a robot control method provided by another embodiment of the present application. This embodiment provides a robot control method that can be applied to a robot. The robot includes a pressure sensing component, and the pressure sensing component includes a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is connected below the robot, the second pressure sensor is connected to the left side of the robot, and the third pressure sensor is connected to the right side of the robot. The method includes:

[0046] Step S310: If the values of the first pressure sensor and the third pressure sensor are respectively greater than a first threshold, and the walking state of the robot is in a straight-line walking state, determine the second control mode as the corresponding control mode.

[0047] Among them, the second control mode is used to control the robot to move in a second direction at the current position, and the second direction is opposite to the first direction. For example, assuming the first direction is along the upper right, then the second direction can be along the upper left.

[0048] Similarly, in this embodiment, different pressure thresholds can be set for pressure sensors in different directions. For example, the first pressure sensor corresponds to "pressure threshold A", and the third pressure sensor corresponds to "pressure threshold C". In this way, if the value of the first pressure sensor is greater than pressure threshold A, the value of the third pressure sensor is greater than pressure threshold C, and the walking state of the robot is in a straight-line walking state, then the second control mode can be determined as the corresponding control mode.

[0049] Optionally, when the values of the first pressure sensor and the third pressure sensor are respectively greater than the first threshold, if the walking state of the robot is in a stopped walking state, the previous detection result can be cleared, and the values of the first pressure sensor and the third pressure sensor can be detected again.

[0050] Step S320: Control the robot to move in the second direction at the current position according to the second control mode until the values of the first pressure sensor and the third pressure sensor are respectively less than a second threshold.

[0051] Among them, the second threshold is less than the first threshold. The control principle and implementation process of how to control the robot to move in the second direction at the current position according to the second control mode are similar to those of the foregoing embodiments and will not be elaborated here.

[0052] In the embodiments of the present application, considering that different users may have different habits of pulling the dog in different directions. For example, some users may be accustomed to pulling the quadruped robot dog from the right side of the quadruped robot dog. In this way, different pressure thresholds can be set for the second pressure sensor and the third pressure sensor. For example, the pressure threshold corresponding to the first pressure sensor is set as A, the pressure threshold corresponding to the second pressure sensor is set as B, and the pressure threshold corresponding to the third pressure sensor is set as C. Assuming that the pressure threshold C is greater than the pressure threshold B, then the second control mode can be determined as the corresponding control mode when the value of the first pressure sensor is greater than the pressure threshold A, the value of the third pressure sensor is greater than the pressure threshold C, and the walking state of the robot is in a straight walking state; when the value of the first pressure sensor is greater than the pressure threshold A, the value of the second pressure sensor is greater than the pressure threshold B, and the walking state of the robot is in a straight walking state, the first control mode can be determined as the corresponding control mode. In this way, the quadruped robot dog is controlled to move in a specific direction until it no longer moves in the specific direction, and the pressure thresholds corresponding to different pressure sensors can also be different.

[0053] The robot control method provided in this embodiment realizes the automatic control of the motion state of the robot according to the control mode jointly determined by the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

[0054] Please refer to Figure 6 , which shows a flowchart of a robot control method provided in another embodiment of the present application. This embodiment provides a robot control method that can be applied to a robot. The robot includes a pressure sensing component, and the pressure sensing component includes a fourth sensor. The method includes:

[0055] Step S410: Respond to the touch operation acting on the fourth sensor. If the walking state of the robot is in a stopped walking state, determine the touch control mode as the corresponding control mode.

[0056] Among them, the fourth sensor can be a touch sensor or any other sensor with touch control functions (including clicking, patting, touching, pressing, etc.). To facilitate more convenient control of the motion state of the quadruped robot dog, a touch sensor can be set above the head or neck of the quadruped robot dog, so that when the user touches the touch sensor, an automatic control instruction can be triggered to realize automatic control of the motion state of the robot.

[0057] As a way, in response to a touch operation acting on the fourth sensor, if the walking state of the robot is in a stopped walking state, the touch control mode can be determined as the corresponding control mode. Among them, the touch control mode is used to control the adjustment of the motion state of the robot from the stopped walking state to the straight-line walking state. Optionally, when responding to a touch operation acting on the fourth sensor, if the walking state of the robot is in the straight-line walking state, it can be regarded as a misjudgment, and the fourth sensor is re-detected to determine whether a touch operation is received.

[0058] Step S420: Control the adjustment of the motion state of the robot from the stopped walking state to the straight-line walking state according to the touch control mode.

[0059] For example, in a specific application scenario, please refer to Figure 7 , which shows a schematic diagram of the motion state of the robot provided by the embodiment of the present application being in the stopped walking state. As Figure 7 shown, when a user stops to talk to a friend or acquaintance while walking a quadruped robot dog, the user will also control the robot dog to stop, as Figure 7 shown by controlling the quadruped robot dog to squat beside the user. And when the user finishes chatting with the friend and is ready to continue walking forward, it is necessary to control the quadruped robot dog to start walking.

[0060] As a way, the motion state of the quadruped robot dog can be controlled to be adjusted from the stopped walking state to the straight-line walking state according to the touch control mode, so as to realize the control of changing the motion state of the quadruped robot dog by means of automatic notification.

[0061] The robot control method provided by this embodiment realizes the automatic control of the motion state of the robot according to the control mode jointly determined by the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

[0062] Please refer to Figure 8 , which shows a flowchart of a robot control method provided by another embodiment of the present application. This embodiment provides a robot control method that can be applied to a robot. The robot includes a pressure sensing component. The pressure sensing component may include a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is connected below the robot, the second pressure sensor is connected to the left side of the robot, and the third pressure sensor is connected to the right side of the robot. The method includes:

[0063] Step S510: If the pressure value collected by the pressure sensing component is greater than the third threshold twice in a row, and the time interval between the two times of being greater than the third threshold is less than the preset duration, and the walking state of the robot is in the stopped walking state, determine the third control mode as the corresponding control mode.

[0064] Among them, the third control mode is used to control the adjustment of the motion state of the robot from the stopped walking state to the straight-line walking state.

[0065] In one implementation, the pressure sensing component can be understood as the first pressure sensor. If the pressure value collected by the first pressure sensor is greater than the third threshold twice in a row, and the time interval between the two times of being greater than the third threshold is less than the preset duration, and the walking state of the robot is in the stopped walking state, then the third control mode can be determined as the corresponding control mode. Among them, the specific value of the third threshold may not be limited, and the specific value of the preset duration may not be limited either. Optionally, when the pressure value collected by the first pressure sensor is greater than the third threshold twice in a row, and the time interval between the two times of being greater than the third threshold is less than the preset duration, if the walking state of the robot is in the straight-line walking state, then the pressure value collected by the first pressure sensor can be detected again.

[0066] In other possible implementation manners, according to the different habits of the user pulling the dog, the pressure sensing component can also be understood as the second pressure sensor or the third pressure sensor. In this way, if the pressure value collected by the second pressure sensor is greater than the third threshold twice in a row, and the time interval between the two times of being greater than the third threshold is less than the preset duration, and the walking state of the robot is in the stopped walking state, then the third control mode can be determined as the corresponding control mode; or if the pressure value collected by the third pressure sensor is greater than the third threshold twice in a row, and the time interval between the two times of being greater than the third threshold is less than the preset duration, and the walking state of the robot is in the stopped walking state, then the third control mode can be determined as the corresponding control mode. Optionally, if the pressure sensing component is the second pressure sensor or the third pressure sensor, the pressure threshold corresponding to the second pressure sensor and the pressure threshold corresponding to the third pressure sensor can be different.

[0067] Step S520: Control the adjustment of the motion state of the robot from the stopped walking state to the straight-line walking state according to the third control mode.

[0068] By pulling the quadruped robot dog upward twice in a row with a pulling force greater than the third threshold, it can trigger the control to adjust the motion state of the quadruped robot dog from the stopped walking state to the straight-line walking state.

[0069] The robot control method provided in this embodiment can avoid accidental touch by taking the pressure value collected by the first pressure sensor being greater than the third threshold continuously twice and the time interval between the two consecutive times being greater than the third threshold being less than the preset duration as the prerequisite for determining the third control mode as the corresponding control mode, thereby improving the accuracy of determining the control mode. At the same time, this method realizes the automatic control of the motion state of the robot according to the control mode jointly determined by the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

[0070] Please refer to Figure 9 , which shows a flowchart of a robot control method provided in another embodiment of the present application. This embodiment provides a robot control method that can be applied to a robot. The robot includes a pressure sensing component, and the pressure sensing component may include a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is connected below the robot, the second pressure sensor is connected to the left side of the robot, and the third pressure sensor is connected to the right side of the robot. The method includes:

[0071] Step S610: If the pressure value collected by the pressure sensing component is greater than the fourth threshold, the duration of being greater than the fourth threshold is greater than the duration threshold, and the walking state of the robot is in a straight walking state, determine the fourth control mode as the corresponding control mode.

[0072] In this embodiment, the pressure sensing component may include at least one of the first pressure sensor, the second pressure sensor, and the third pressure sensor. The fourth control mode is used to control the adjustment of the motion state of the robot from the straight walking state to the stopped walking state.

[0073] As a way, if the pressure value collected by at least one of the first pressure sensor, the second pressure sensor, and the third pressure sensor is greater than the fourth threshold, the duration of being greater than the fourth threshold is greater than the duration threshold, and the walking state of the robot is in a straight walking state, then the fourth control mode can be determined as the corresponding control mode.

[0074] Optionally, when the pressure value collected by at least one of the first pressure sensor, the second pressure sensor, and the third pressure sensor is greater than the fourth threshold, if the walking state of the robot is in the stopped walking state, the values of the first pressure sensor, the second pressure sensor, and the third pressure sensor can be re-detected.

[0075] Step S620: Control the adjustment of the motion state of the robot from the straight walking state to the stopped walking state according to the fourth control mode.

[0076] The robot control method provided in this embodiment realizes automatic control of the motion state of the robot according to the control mode jointly determined by the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

[0077] Please refer to Figure 10 , based on the above robot control method, an embodiment of the present application further provides a robot 100 that can execute the foregoing robot control method. The robot 100 includes a memory 102, one or more (only one is shown in the figure) processors 104 coupled to each other, a pressure sensing component 106, and a detection device 108. There is a communication line connection between the memory 102 and the processor 104, a communication line connection between the pressure sensing component 106 and the processor 104, and a communication line connection between the detection device 108 and the processor 104. The memory 102 stores a program that can execute the content in the foregoing embodiment, and the processor 104 can execute the program stored in the memory 102.

[0078] Among them, the processor 104 may include one or more processing cores. The processor 104 uses various interfaces and lines to connect various parts within the entire robot 100, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory 102, and by calling data stored in the memory 102, it executes various functions of the robot 100 and processes data. Optionally, the processor 104 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 104 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the display content; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 104 and may be implemented separately through a communication chip.

[0079] The memory 102 may include a Random Access Memory (RAM), or may also include a Read-Only Memory. The memory 102 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 102 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing each of the foregoing embodiments, etc. The data storage area may also store data created during the use of the robot 100 (such as a phone book, audio and video data, chat record data, etc.).

[0080] The pressure sensing component 106 can be used to collect pressure values, specifically for detecting the pulling force received by the robot 100. For example, when the robot 100 is a robotic dog, the pressure sensing component 106 can be used to detect the pulling force on the neck of the robotic dog. The detection device 108 is used to obtain the walking state of the robot 100, and the processor 104 is used to determine a corresponding control mode according to the pressure value and the walking state, and control the robot according to the control mode.

[0081] Please refer to Figure 11 , which shows a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application. Program code is stored in the computer-readable medium 700, and the program code can be called by a processor to execute the method described in the above method embodiment.

[0082] The computer-readable storage medium 700 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium 700 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 700 has a storage space for the program code 710 for executing any method step in the above method. These program codes can be read out from or written into one or more computer program products. The program code 710 can be compressed in an appropriate form, for example.

[0083] In summary, a robot, its control method, and a storage medium provided by the embodiments of the present application determine a corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot; then control the robot according to the control mode. Thus, through the above method, it is possible to automatically control the motion state of the robot through the control mode jointly determined according to the pressure value collected by the pressure sensing component and the walking state of the robot, without manual operation, making the operation of controlling the robot more intelligent and convenient, and improving the user experience.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements 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 application.

Claims

1. A robot, characterized in that, The robot includes: A pressure sensing component for collecting pressure values. The pressure sensing component includes multiple sensors, and the orientations of the multiple sensors are different from each other; A detection device for obtaining the walking state of the robot; A processor for determining a corresponding control mode according to the pressure value and the walking state, and controlling the robot according to the control mode. Wherein, controlling the robot includes controlling the motion state of the robot, and the motion state includes the walking state and the walking direction of the robot.

2. The robot according to claim 1, characterized in that, The pressure sensing component includes a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is connected below the robot, the second pressure sensor is connected to the left side of the robot, and the third pressure sensor is connected to the right side of the robot. Determining the corresponding control mode according to the pressure value and the walking state includes: If the values of the first pressure sensor and the second pressure sensor are respectively greater than a first threshold, and the walking state of the robot is in a straight walking state, determining the first control mode as the corresponding control mode; The first control mode is used to control the robot to move in a first direction at the current position.

3. The robot according to claim 2, characterized in that, Controlling the robot according to the control mode includes: Controlling the robot to move in a first direction at the current position according to the first control mode until the values of the first pressure sensor and the second pressure sensor are respectively less than a second threshold, and the second threshold is less than the first threshold.

4. The robot according to claim 2, wherein Determining the corresponding control mode according to the pressure value and the walking state further includes: If the values of the first pressure sensor and the third pressure sensor are respectively greater than a first threshold, and the walking state of the robot is in a straight walking state, determining the second control mode as the corresponding control mode; The second control mode is used to control the robot to move in a second direction at the current position, and the second direction is opposite to the first direction.

5. The robot according to claim 4, wherein Controlling the robot according to the control mode includes: Controlling the robot to move in a second direction at the current position according to the second control mode until the values of the first pressure sensor and the third pressure sensor are respectively less than a second threshold, and the second threshold is less than the first threshold.

6. The robot according to claim 1, characterized in that, Determining the corresponding control mode according to the pressure value and the walking state includes: If the pressure values collected by the pressure sensing component are greater than a third threshold twice in a row, and the time interval between the two times being greater than the third threshold is less than a preset duration, and the walking state of the robot is in a stopped walking state, determining the third control mode as the corresponding control mode; The third control mode is used to control the motion state of the robot to be adjusted from a stopped walking state to a straight walking state.

7. The robot according to claim 1, wherein Determining the corresponding control mode according to the pressure value and the walking state includes: If the pressure value collected by the pressure sensing component is greater than the fourth threshold, and the duration of being greater than the fourth threshold is greater than the duration threshold, and the walking state of the robot is in a straight walking state, determine the fourth control mode as the corresponding control mode; The fourth control mode is used to control the robot to adjust its motion state from the straight walking state to the stopped walking state.

8. The robot according to claim 1, characterized in that, The pressure sensing component includes a fourth sensor. Determining the corresponding control mode according to the pressure value and the walking state includes: In response to a touch operation acting on the fourth sensor, if the walking state of the robot is in the stopped walking state, determine the touch control mode as the corresponding control mode; The touch control mode is used to control the robot to adjust its motion state from the stopped walking state to the straight walking state.

9. A robot control method, characterized in that, Applied to a robot, the robot includes a pressure sensing component, the pressure sensing component includes multiple sensors, and the orientations of the multiple sensors are different. The method includes: Determine the corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot; Control the robot according to the control mode. Among them, controlling the robot includes controlling the motion state of the robot, and the motion state includes the walking state and the walking direction of the robot.

10. The method according to claim 9, wherein The pressure sensing component includes a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is connected below the robot, the second pressure sensor is connected to the left side of the robot, and the third pressure sensor is connected to the right side of the robot. Determining the corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot includes: If the values of the first pressure sensor and the second pressure sensor are respectively greater than the first threshold, and the walking state of the robot is in the straight walking state, determine the first control mode as the corresponding control mode; The first control mode is used to control the robot to move in the first direction at the current position.

11. The method according to claim 10, wherein Determining the corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot further includes: If the values of the first pressure sensor and the third pressure sensor are respectively greater than the first threshold, and the walking state of the robot is in the straight walking state, determine the second control mode as the corresponding control mode; The second control mode is used to control the robot to move in the second direction at the current position, and the second direction is the opposite direction of the first direction.

12. The method according to claim 9, wherein Determining the corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot includes: If the pressure value collected by the pressure sensing component is greater than the third threshold twice in a row, and the time interval between the two times of being greater than the third threshold is less than the preset duration, and the walking state of the robot is in the stopped walking state, determine the third control mode as the corresponding control mode; The third control mode is used to control the adjustment of the motion state of the robot from the stopped walking state to the straight-line walking state.

13. The method according to claim 9, characterized in that, Determining the corresponding control mode according to the pressure value collected by the pressure sensing component and the walking state of the robot includes: If the pressure value collected by the pressure sensing component is greater than the fourth threshold, and the duration of being greater than the fourth threshold is greater than the duration threshold, and the walking state of the robot is in the straight-line walking state, determine the fourth control mode as the corresponding control mode; The fourth control mode is used to control the adjustment of the motion state of the robot from the straight-line walking state to the stopped walking state.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program codes, wherein when the program codes are run by a processor, the method according to any one of claims 9-13 is executed.

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