Robot control method, robot, handle and robot control system

Abstract

The invention provides a robot control method, a robot, a handle and a robot control system.The robot control method comprises the steps that control information sent by the handle is received, and the control information is used for controlling a target part on the robot to move in a target control mode; the target control mode is determined from multiple control modes provided by the handle, the multiple control modes correspond to different parts on the robot, an operation key is arranged on the handle, and the operation key is mapped to different movement actions under at least two control modes in the multiple control modes; and controlling the target part to move based on the control information so as to realize the target movement action represented by the control information. According to the technical scheme, the convenience of the robot control process can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot control method, a robot, a handle and a robot control system. Background Art

[0002] With the continuous advancement of science and technology, people's lives and work are gradually developing in the direction of intelligence. In some scenarios, robots can be used to perform operations. For example, the robot's arm can be used to grasp objects, tighten screws, and so on. When using the robot to perform related operations, some joints of the robot need to be controlled. For some complex or dynamic scenarios, the current method of controlling the robot is difficult to conveniently control the degrees of freedom of different parts of the robot. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a robot control method, a robot, a handle and a robot control system, which can improve the convenience of the robot control process.

[0004] In a first aspect, an embodiment of the present application provides a robot control method, which is applied to a robot, and the robot control method comprises: receiving control information sent by a handle, wherein the control information is used to control the movement of a target part on the robot under a target control mode, the target control mode is determined from a plurality of control modes provided by the handle, the plurality of control modes correspond to different parts on the robot, the handle is provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the plurality of control modes; controlling the movement of the target part based on the control information to realize the target motion action represented by the control information.

[0005] In a second aspect, an embodiment of the present application provides a robot control method, which is applied to a handle, and the robot control method includes: generating control information based on the user's input operation on the handle; sending the control information to the robot so that the robot controls the movement of a target part on the robot based on the control information in a target control mode to achieve the target motion action represented by the control information, wherein the target control mode is determined from a plurality of control modes provided by the handle, and the plurality of control modes correspond to different parts on the robot, and the handle is provided with operation keys, which are mapped to different motion actions in at least two of the plurality of control modes.

[0006] In a third aspect, an embodiment of the present application provides a robot control device, which is applied to a robot, and the robot control device includes: a receiving module, which is used to receive control information sent by a handle, wherein the control information is used to control the movement of a target part on the robot under a target control mode, and the target control mode is determined from a plurality of control modes provided by the handle, and the plurality of control modes correspond to different parts on the robot. The handle is provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the plurality of control modes; a control module, which is used to control the movement of the target part based on the control information, so as to realize the target motion action represented by the control information.

[0007] In a fourth aspect, an embodiment of the present application provides a robot control device, which is applied to a handle, and the robot control device includes: a generation module, which is used to generate control information based on the user's input operation on the handle; a sending module, which is used to send control information to the robot, so that the robot controls the movement of a target part on the robot based on the control information in a target control mode to achieve the target motion action represented by the control information, wherein the target control mode is determined from a plurality of control modes provided by the handle, and the plurality of control modes correspond to different parts on the robot, and the handle is provided with operation keys, which are mapped to different motion actions in at least two of the plurality of control modes.

[0008] In a fifth aspect, an embodiment of the present application provides a robot comprising a control module and an arm, wherein the control module is used to execute the robot control method described in the first aspect above.

[0009] In a sixth aspect, an embodiment of the present application provides a handle, comprising a control module, and the control module is used to execute the robot control method described in the second aspect above.

[0010] In a seventh aspect, an embodiment of the present application provides a robot control system, comprising: a handle and a robot. The handle is used to: generate control information based on the user's input operation on the handle, and send the control information to the robot. The robot is used to: receive the control information, and control the movement of the target part on the robot based on the control information in a target control mode to achieve the target motion action represented by the control information, wherein the target control mode is determined from a plurality of control modes provided by the handle, and the plurality of control modes correspond to different parts on the robot, and the handle is provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the plurality of control modes.

[0011] In an eighth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the robot control method described in the first aspect or the robot control method described in the second aspect.

[0012] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the robot control method described in the first aspect or the robot control method described in the second aspect.

[0013] In the tenth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device can execute the robot control method described in the first aspect or the robot control method described in the second aspect.

[0014] In the eleventh aspect, an embodiment of the present application provides a chip, comprising: a processor; a memory for storing processor executable instructions, wherein the processor is used to execute the robot control method described in the first aspect or the robot control method described in the second aspect.

[0015] The embodiments of the present application provide a robot control method, a robot, a handle, and a robot control system, by determining a target control mode from a plurality of control modes provided by the handle, so as to switch the current control mode to the target control mode, so that the target part corresponding to the target control mode can be controlled. Here, the plurality of control modes correspond to different parts on the robot, and the handle may be provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the plurality of control modes. With such a setting, by switching the control mode, different parts on the robot can be controlled based on limited operation keys, thereby improving the convenience and flexibility of the control process. Moreover, by switching the control mode and then controlling the movement of the target part based on the control information, the reliability of the control process can be improved to avoid misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of the system architecture of a robot control system provided by an exemplary embodiment of the present application.

[0017] Figure 2 Shown is a flow chart of a robot control method provided by an exemplary embodiment of the present application.

[0018] Figure 3 Shown is a schematic diagram of the distribution of a ranging receiver and a ranging transmitter provided by an exemplary embodiment of the present application.

[0019] Figure 4 Shown is a flow chart of a robot control method provided by another exemplary embodiment of the present application.

[0020] Figure 5Shown is a flow chart of a robot control method provided by another exemplary embodiment of the present application.

[0021] Figure 6a Shown is a schematic structural diagram of the front side of a robot provided by an exemplary embodiment of the present application.

[0022] Figure 6b Shown is a schematic structural diagram of the back side of a robot provided by an exemplary embodiment of the present application.

[0023] Figure 7a Shown is a schematic structural diagram of a left handle provided by an exemplary embodiment of the present application.

[0024] Figure 7b Shown is a schematic structural diagram of a right handle provided by an exemplary embodiment of the present application.

[0025] Figure 8 Shown is a schematic structural diagram of a robot control device provided by an exemplary embodiment of the present application.

[0026] Fig. 9 Shown is a schematic structural diagram of a robot control device provided by another exemplary embodiment of the present application.

[0027] Fig.10 Shown is a block diagram of an electronic device for executing a robot control method provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] Application Overview

[0030] With the development of intelligent technology, more and more tasks can be performed by robots. For example, the robot's arm can be used to grasp objects, tighten screws, and so on. Specifically, in some dynamic scenarios, it is necessary to control the robot's trunk to aim the robot at the target object, and then control the robot's arm to perform related operations through the robot's arm. In some complex scenarios, some joints on the robot need to be controlled in real time according to the real-time environment. Robots generally have many degrees of freedom. For example, the arms of humanoid robots usually have 7 or more degrees of freedom. The current control method makes it difficult to achieve real-time manual control of all degrees of freedom of the robot's entire body.

[0031] For example, one control method is to control the robot movement through user (such as operator) input on a touch screen. This control method has high technical requirements for users and poor convenience, and is difficult to adapt to real-time control in complex or dynamic scenarios.

[0032] Another control method is to control the robot movement through the switch on the remote control. This control method can only control a certain joint on the robot to move during each control process. Therefore, there are technical problems such as single control method and poor convenience, and it is difficult to adapt to real-time control in complex or dynamic scenes.

[0033] In summary, for some complex or dynamic scenarios, the current methods of controlling robots have the technical problem of poor convenience.

[0034] In response to the above technical problems, an embodiment of the present application provides a robot control method, which determines a target control mode from a plurality of control modes provided by a handle so as to switch the current control mode to the target control mode, so that the target part corresponding to the target control mode can be controlled. Here, the plurality of control modes correspond to different parts of the robot, and the handle may be provided with operation keys, which are mapped to different motion actions in at least two of the plurality of control modes. With such a setting, by switching the control mode, different parts of the robot can be controlled based on limited operation keys, thereby improving the convenience and flexibility of the control process. Moreover, by switching the control mode and then controlling the movement of the target part based on the control information, the reliability of the control process can be improved to avoid misoperation.

[0035] Exemplary Systems

[0036] Figure 1 FIG. 1 is a schematic diagram of a system architecture of a robot control system provided by an exemplary embodiment of the present application. Figure 1 As shown, the robot control system 100 may include a robot 110 and a handle 120. The robot 110 may be a wheeled robot, a humanoid robot, a tracked robot, or other types of robots. For example, the robot 110 may be a robot including an arm, a trunk, and a chassis, and the number of the robot's arms may be one or more.

[0037] The handle 120 may be connected to the robot 110 by wired or wireless communication. For example, the handle 120 may transmit control information to the robot 110 by wireless communication. The wireless communication may include Bluetooth communication, Long Range Radio (LoRa) communication or other wireless communication methods.

[0038] The handle 120 may provide multiple control modes for the user to choose from, and the multiple control modes correspond to different parts of the robot 110. The user may select a target control mode from the multiple control modes, and then control the target part of the robot 110 by operating the handle 120. The handle 120 may be provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the multiple control modes.

[0039] For example, the multiple control modes may include an arm control mode, a chassis control mode, and a trunk control mode. In the target control mode, the robot 110 may control the movement of the target part according to the control information sent by the handle 120.

[0040] The number of the handles 120 may be one or more. For example, the number of the handles 120 may be the same as the number of the arms of the robot 110 , and different arm movements may be controlled by different handles.

[0041] In one example, the robot 110 is a wheeled chassis dual-arm humanoid robot, and the robot 110 may include a left arm 111 and a right arm 112. The handle 120 includes a left handle 121 and a right handle 122, the left handle 121 is used to control the movement of the left arm 111 of the robot 110, and the right handle 122 is used to control the movement of the right arm 112 of the robot 110. Further, the robot 110 may be provided with an accommodation space 113 for accommodating the left handle 121 and the right handle 122.

[0042] Taking the target control mode as the arm control mode as an example, the control process of the robot is explained.

[0043] Specifically, the left handle 121 may be provided with button 1, button 2 and button 3. Button 1, button 2 and button 3 correspond to the arm control mode, chassis control mode and trunk control mode respectively. After the user selects button 1, the current control mode is switched to the arm control mode.

[0044] The handle 120 may transmit a ranging signal to the robot 110 via a ranging transmitter. Taking the left handle 121 as an example, the left handle 121 may be provided with an inertial measurement unit and a ranging transmitter. In one example, the left handle 121 may send data output by the inertial measurement unit on the left handle 121 to the robot 110, and transmit a ranging signal to the robot 110 using the ranging transmitter on the left handle 121. The robot 110 may receive the ranging signal and calculate a distance parameter corresponding to the ranging signal. Further, the robot 110 may receive data output by the inertial measurement unit, wherein the data output by the inertial measurement unit includes a first parameter for characterizing the posture of the left handle 121. The robot 110 may calculate a first position coordinate parameter of the left handle 121 based on the distance parameter, determine a control parameter of the left arm 111 of the robot 110 based on the first position coordinate parameter and the first parameter, and control the movement of the left arm 111 of the robot 110 based on the control parameter.

[0045] Similarly, an inertial measurement unit and a range transmitter may also be provided on the right handle 122. The process of controlling the movement of the right arm 112 of the robot 110 through the right handle 122 is similar to the process of controlling the movement of the left arm 111 of the robot 110 through the left handle 121, and will not be described again to avoid repetition.

[0046] It should be understood that the above application scenario examples are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any scenario that may be applicable.

[0047] Exemplary Methods

[0048] Figure 2 Shown is a flow chart of a robot control method provided by an exemplary embodiment of the present application. Figure 2 The method can be Figure 1 The robot 110 in the embodiment is executed. Figure 2 As shown, the robot control method may include the following contents.

[0049] 210: Receive control information sent by the handle, wherein the control information is used to control the movement of a target part on the robot in a target control mode, the target control mode is determined from a plurality of control modes provided by the handle, the plurality of control modes correspond to different parts of the robot, the handle is provided with operation keys, the operation keys are mapped to different motion actions in at least two of the plurality of control modes.

[0050] Specifically, the handle can be a tool for remotely controlling the robot, for example, the handle can be used to control the arm of the robot or the joints of other parts to move. The handle can provide a variety of control modes for users to choose.

[0051] In one example, a handle may be provided with multiple buttons, and the multiple buttons may correspond to multiple control modes one by one. When a user selects a button, the current control mode may be switched to the control mode indicated by the button. The button here may be a physical button or a virtual button. Of course, the handle may provide multiple control modes for the user to choose through a joystick, a display screen, or other possible methods.

[0052] Furthermore, in the target control mode, the user can operate the handle, such as the user can operate the operation keys on the handle, and the handle can generate control information based on the user's input operation on the handle and send the control information to the robot.

[0053] In one example, the operation key may include a button or a joystick, etc., and the button may be a physical button or a virtual button.

[0054] In one example, the multiple control modes may include a chassis control mode and a trunk control mode. In the chassis control mode, the operation keys can be used to control the forward, backward and steering of the chassis. In the trunk control mode, the operation keys can be used to control the pitch of the head or waist in the trunk.

[0055] 220: Control the movement of the target part based on the control information to achieve the target movement action represented by the control information.

[0056] Specifically, the target motion may include moving forward, backward, turning or other complex motions. After receiving the control information, the robot may control the motion of the target part based on the control information.

[0057] The embodiment of the present application provides a robot control method, which determines a target control mode from a plurality of control modes provided by a handle so as to switch the current control mode to the target control mode, so that the target part corresponding to the target control mode can be controlled. Here, the plurality of control modes correspond to different parts of the robot, and the handle may be provided with operation keys, which are mapped to different motion actions in at least two of the plurality of control modes. With such a setting, by switching the control mode, different parts of the robot can be controlled based on limited operation keys, thereby improving the convenience and flexibility of the control process. Moreover, by switching the control mode and then controlling the movement of the target part based on the control information, the reliability of the control process can be improved to avoid misoperation.

[0058] According to an embodiment of the present application, before receiving the control information sent by the handle, the robot control method also includes: receiving a mode selection instruction sent by the handle; and switching the control mode to a target control mode indicated by the mode selection instruction based on the mode selection instruction.

[0059] Specifically, the handle can receive the mode selection instruction input by the user and send the mode selection instruction to the robot. The robot switches its own control mode to the target control mode indicated by the mode selection instruction according to the mode selection instruction.

[0060] In the target control mode, the robot can determine the target part to be controlled, and after receiving the control information, the robot can control the target part according to the control information.

[0061] In one example, the user may input the mode selection instruction through a button, a joystick, or a display screen.

[0062] In this embodiment, the handle provides multiple control modes to the user, which can facilitate the user to select the target control mode on the handle, which can facilitate user operation and improve user experience. In addition, the handle sends the mode selection instruction to the robot, which can facilitate the robot to switch to the target control mode, and after receiving the control information, the robot controls the target part corresponding to the target control mode, so that the control mode switching process can be realized on the robot side, thereby simplifying the content of the control information, that is, simplifying the generation process of the control information on the handle side.

[0063] According to an embodiment of the present application, the target control mode includes an arm control mode, the target part includes the arm of the robot, and the control information includes a ranging signal emitted by a ranging transmitter on the handle, and data output by an inertial measurement unit on the handle. The data output by the inertial measurement unit includes a first parameter for characterizing the posture of the handle. Step 210 may include: receiving a ranging signal emitted by the ranging transmitter, and receiving data output by the inertial measurement unit on the handle. Step 220 may include: calculating a distance parameter corresponding to the ranging signal, calculating a first position coordinate parameter of the handle based on the distance parameter; determining a control parameter of the robot's arm based on the first position coordinate parameter and the first parameter; and controlling the movement of the robot's arm based on the control parameter.

[0064] In one example, in the arm control mode, the end of the robot's arm can be controlled to move according to the movement trajectory of the handle by moving the handle. For example, the position of the handle can correspond to the position of the end of the robot's arm. The position of the handle may include the position and posture of the handle. The position of the handle can be determined according to the ranging signal transmitted by the ranging transmitter. For example, the position of the handle can be a relative position relative to a reference point, and the reference point can be a preset initial point, or can be a point corresponding to the position of the handle when the ranging transmitter transmits the initial ranging signal.

[0065] In one example, the distance parameter may represent the distance between the handle and the robot.

[0066] In another example, the distance parameter may characterize the distance between the handle and the robot and the position of the handle relative to the robot. For example, the robot may determine the transmission direction of the ranging signal based on the received ranging signal, thereby determining the position of the handle relative to the robot. The robot may also determine the distance between the handle and the robot based on the change in the intensity of the received ranging signal relative to the initial intensity, or based on the time difference between the reception time of the ranging signal and the transmission time. Here, the initial intensity may be the intensity of the ranging signal emitted by the ranging transmitter, and the initial intensity may be preset. The transmission time may be the time when the ranging transmitter transmits the ranging signal. The transmission time may be modulated in the ranging signal, and the robot may demodulate the ranging signal after receiving the ranging signal to obtain the transmission time; or, the handle may send the transmission time to the robot through the wireless communication module on the handle.

[0067] In one example, the ranging signal may include electromagnetic waves, and the ranging transmitter may be an instrument for transmitting electromagnetic waves. For example, the ranging transmitter may be an infrared transmitter, and the ranging signal may be an infrared signal; or, the ranging transmitter may be an ultrasonic transmitter, and the ranging signal may be an ultrasonic signal; or, the ranging transmitter may be a laser transmitter, and the ranging signal may be a laser signal; or, the ranging transmitter may be a millimeter wave radar, and the ranging signal may be a millimeter wave signal.

[0068] The Inertial Measurement Unit (IMU) can be used to measure the acceleration, angular velocity, angle or other parameters of the handle. The acceleration parameter may include the acceleration value of the handle on the three coordinate axes of X, Y, and Z. Similarly, the angular velocity parameter may include the angular velocity value of the handle on the three coordinate axes of X, Y, and Z. The angle parameter may include the angle value of the handle on the three coordinate axes of X, Y, and Z. The angle parameter of the handle can be used to characterize the posture of the handle.

[0069] In one example, the first parameter may include a parameter for directly characterizing the posture of the handle, such as a posture parameter of the handle, which may be an angle parameter of the handle, that is, the handle may directly transmit the angle parameter to the robot. In another example, the first parameter may include a parameter for indirectly characterizing the posture of the handle, such as an angular velocity parameter of the handle, that is, the handle may transmit the angular velocity parameter to the robot, and the robot may perform an integral operation based on the angular velocity parameter to obtain the angle parameter, that is, obtain the posture parameter of the handle.

[0070] The first position coordinate parameter may be a parameter characterizing the position of the handle. In one example, the distance parameter may characterize the distance between the handle and the robot and the position of the handle relative to the robot. Based on the distance between the handle and the robot and the position of the handle relative to the robot, the position coordinate parameter of the handle may be determined, that is, the first position coordinate parameter may be obtained.

[0071] In one example, the control parameters may include angle parameters of each joint on the arm. For example, the robot may determine the posture parameters of the handle according to the first parameter, and may determine the posture parameters of the end of the robot's arm according to the first position coordinate parameters and the posture parameters of the handle. In other words, the embodiment of the present application may determine the posture of the end of the robot's arm according to the posture of the handle.

[0072] Furthermore, the robot can calculate the angle parameters of each joint on the robot's arm according to the posture parameters of the robot's arm end based on the kinematic algorithm or other algorithms. The movement of each joint can be controlled based on the angle parameters of each joint, thereby realizing the process of controlling the movement of the robot's arm by moving the handle.

[0073] In an embodiment of the present application, in the arm control mode, the robot's arm movement is controlled by obtaining the position coordinate parameters of the handle and the first parameter characterizing the posture of the handle, which can improve the control efficiency of the robot. Especially in complex or dynamic scenes, the real-time control of the robot can be achieved by controlling the position and posture of the handle to meet real-time operation requirements. In this way, the embodiment of the present application can not only improve the efficiency of the robot control process, but also improve the flexibility of the robot control process. In addition, the control accuracy can be improved by controlling the robot's arm based on the ranging signal emitted by the ranging transmitter and the data output by the inertial measurement unit.

[0074] According to an embodiment of the present application, the data output by the inertial measurement unit also includes a second parameter, and the second parameter includes an acceleration parameter. Step 220 may also include: calculating a second position coordinate parameter of the handle based on the second parameter, wherein determining the control parameter of the robot arm based on the first position coordinate parameter and the first parameter may include: fusing the first position coordinate parameter and the second position coordinate parameter to obtain a fused coordinate parameter; and determining the control parameter based on the fused coordinate parameter and the first parameter.

[0075] Specifically, the specific content of the acceleration parameter can refer to the description in the above embodiment. In one example, in the arm control mode, the robot can integrate the acceleration parameter to obtain the velocity parameter, and then integrate the velocity parameter to obtain the displacement parameter. The displacement parameter can characterize the position of the handle, and the displacement parameter can be directly used as the second position coordinate parameter, or the displacement parameter at the current moment can be added to the second position coordinate parameter obtained based on the second parameter at the previous moment to obtain the second position coordinate parameter at the current moment.

[0076] In one example, the fusion process may include a weighted sum operation or other methods that can combine the first position coordinate parameter and the second position coordinate parameter.

[0077] In this embodiment, the first position coordinate parameter is obtained based on the ranging signal emitted by the ranging transmitter, and the second position coordinate parameter is obtained based on the acceleration parameter output by the inertial measurement unit. By fusing the position coordinate parameters obtained by the two methods, the shortcomings of the two methods can be compensated, the accuracy of the position coordinate parameters (i.e., fused coordinate parameters) finally obtained can be improved, and the accuracy of the control parameters can be improved. In some cases, the accuracy of the first position coordinate parameter obtained based on the ranging signal emitted by the ranging transmitter is higher than the accuracy of the second position coordinate parameter obtained based on the acceleration parameter output by the inertial measurement unit. At this time, the weight of the first position coordinate parameter can be increased and the weight of the second position coordinate parameter can be reduced during the fusion process. In addition, when the ranging signal emitted by the ranging transmitter is blocked, the existence of the second position coordinate parameter can provide a guarantee for the real-time control of the robot's arm, reducing the risk of being unable to control the robot's arm in real time due to the failure to obtain the position coordinate parameters of the handle, thereby improving the user experience and further improving the control efficiency.

[0078] In some embodiments, the handle can transmit a ranging signal to the robot in real time through a ranging transmitter, and can transmit data output by an inertial measurement unit to the robot in real time through a wireless communication module. For example, the handle can transmit a ranging signal at a first frequency, and transmit data output by an inertial measurement unit at a second frequency, and the first frequency and the second frequency can be equal. In some cases, the first frequency and the second frequency can also be different, and the values ​​of the two can be set according to actual needs.

[0079] The wireless communication module in the embodiment of the present application may be a Bluetooth communication module, a long-distance radio communication module or other wireless communication modules.

[0080] In some embodiments, the first parameter may include a posture parameter sequence, which may be a sequence consisting of posture parameters at multiple moments, that is, the posture parameter sequence includes multiple groups of posture parameters arranged in chronological order. Similarly, the first position coordinate parameter may include a first position coordinate sequence, which may be a sequence consisting of first position coordinates at multiple moments (position coordinates of the handle obtained based on the ranging signal), that is, the first position coordinate sequence includes multiple groups of first position coordinates arranged in chronological order.

[0081] According to an embodiment of the present application, the robot control method further includes: receiving an initial ranging signal transmitted by a ranging transmitter and calculating an initial distance parameter corresponding to the initial ranging signal; receiving initial data output by an inertial measurement unit, wherein the initial data includes an initial first parameter for characterizing an initial posture of the handle; and calculating an initial first position coordinate parameter of the handle based on the initial distance parameter. Determining the control parameter of the robot arm based on the first position coordinate parameter and the first parameter may include: determining the control parameter based on the difference between the first position coordinate parameter and the initial first position coordinate parameter, and the difference between the first parameter and the initial first parameter.

[0082] Specifically, after the handle starts the ranging transmitter, the ranging signal emitted by the ranging transmitter at the initial moment is the initial ranging signal, and the robot can calculate the corresponding initial distance parameter after receiving the initial ranging signal. The content of the initial distance parameter is similar to the content of the above distance parameter, that is, the initial distance parameter can represent the distance between the handle and the robot at the initial moment, or represent the distance between the handle and the robot at the initial moment and the position of the handle relative to the robot.

[0083] Similarly, the initial data may be data output by the inertial measurement unit at the initial moment. The content of the initial first parameter is similar to the content of the above-mentioned first parameter, that is, the initial first parameter may characterize the posture of the handle at the initial moment, for example, the initial first parameter may include the posture parameter of the handle at the initial moment, or include the angular velocity parameter of the handle at the initial moment.

[0084] The robot can calculate the initial first position coordinate parameters of the handle based on the initial distance parameters, and the content and calculation method of the initial first position coordinate parameters are similar to the content and calculation method of the above-mentioned first position coordinate parameters.

[0085] In one example, the initial first position coordinate parameter can be used as a reference position coordinate parameter, and the initial first parameter can be used as a reference first parameter. The robot can compare the first position coordinate parameter at the current moment with the initial first position coordinate parameter, and compare the first parameter at the current moment with the initial first parameter, so as to obtain the difference between the first position coordinate parameter and the initial first position coordinate parameter, and the difference between the first parameter and the initial first parameter. These two differences can characterize the change in posture (or posture change trend) of the handle from the initial moment to the current moment, or characterize the relative posture of the handle at the current moment relative to the initial moment. The control parameters obtained based on these two differences can be used to control the movement of the robot's arm, so that the posture change trend of the end of the robot's arm is consistent with the posture change trend of the handle.

[0086] In one example, the initial moment may be any historical moment before the current moment. For example, the initial moment may be the moment corresponding to the first ranging signal emitted by the ranging transmitter. Alternatively, the initial moment may be the moment before the current moment, and the initial first position coordinate parameter and the initial first parameter are constantly changing, so that the accuracy of the control parameter at the current moment can be improved.

[0087] In other examples, the first position coordinate parameter and the second position coordinate parameter may be fused to obtain the fused coordinate parameter. The specific contents of the second position coordinate parameter and the fused coordinate parameter may refer to the description in the above embodiment. Determining the control parameter based on the fused coordinate parameter and the first parameter may include: determining the control parameter based on the difference between the fused coordinate parameter and the initial fused coordinate parameter at the initial moment, and the difference between the first parameter and the initial first parameter at the initial moment. The initial fused coordinate parameter may be obtained based on the initial first position coordinate parameter and the initial second position coordinate parameter, and the initial second position coordinate parameter is similar to the second position coordinate parameter, and may be obtained based on the initial second parameter in the data output by the inertial measurement unit at the initial moment. The initial second parameter may include the acceleration parameter of the handle at the initial moment.

[0088] In this embodiment, the control parameters are determined based on the difference between the first position coordinate parameters and the initial first position coordinate parameters, as well as the difference between the first parameters and the initial first parameters, so that the posture change trend of the end of the robot's arm is consistent with the posture change trend of the handle, thereby realizing the process of controlling the movement of the robot's arm by moving the handle.

[0089] According to an embodiment of the present application, the robot may include at least three ranging receivers. Receiving the ranging signal transmitted by the ranging transmitter may include: receiving the ranging signal through at least three ranging receivers, wherein the distance parameter includes at least three distance values. Calculating the distance parameter corresponding to the ranging signal may include: for each of the at least three ranging receivers, based on the starting time (transmission time) of the ranging signal transmission and the receiving time of the ranging receiver receiving the ranging signal, calculating the distance value corresponding to the ranging receiver, wherein the starting time is included in the ranging signal, and the robot obtains the starting time by parsing the ranging signal, or the starting time is sent to the robot by the handle.

[0090] Specifically, the robot may be provided with three ranging receivers, which are provided at different positions on the robot, and each ranging receiver may receive a ranging signal. Since the three ranging receivers are provided at different positions, the three ranging receivers receive the ranging signal at different times. The robot may calculate the distance value corresponding to the ranging receiver based on the start time of the ranging signal transmission and the receiving time of the ranging receiver receiving the ranging signal, and thus may obtain three distance values.

[0091] In one example, the start time is included in the ranging signal, and the robot obtains the start time by parsing the ranging signal, or the start time is sent to the robot by the handle through the wireless communication module.

[0092] In one example, see Figure 3 , the three ranging receivers can be represented as A, B, and C, respectively, and the ranging transmitter can be represented as D. The coordinates of A, B, and C can be known. For example, the coordinates of A are set to (0, 0, 0), and the coordinates of B are set to (x B , 0, 0), the coordinate setting of C (x C ,y C , 0). The coordinates of D are unknown and can be set to (x D ,y D , z D ). Based on the Euclidean distance formula, the following three-variable quadratic equation system is constructed:

[0093]

[0094] The three distance values ​​are represented as L 1 , L 2 and L 3 Based on the three distance values ​​and the position coordinates of the three ranging receivers, the position coordinates of the ranging transmitter D can be obtained, and the position coordinates of the ranging transmitter D can be used as the position coordinates of the handle. That is, through the transformation of the equation group, the coordinates of the ranging transmitter D in the three-dimensional space (the first position coordinate parameter) can be calculated:

[0095]

[0096] In other examples, the coordinates of the ranging transmitter D in the three-dimensional space may be calculated based on other distance formulas.

[0097] In other examples, the number of ranging receivers may be greater than three, and the arrangement of the ranging receivers may be set according to actual needs, as long as the coordinates of the ranging transmitter D in the three-dimensional space can be calculated.

[0098] In this embodiment, three ranging receivers are provided and used to receive ranging signals, so that the orientation of the handle can be determined, that is, the first position coordinate parameter can be determined, thereby reducing the requirements for the ranging receivers and simplifying the equipment.

[0099] According to one embodiment of the present application, before calculating the first position coordinate parameters of the handle based on the distance parameters, the robot control method also includes: updating the distance parameters using a filtering algorithm based on historical distance parameters at historical moments, and / or updating the first position coordinate parameters using a filtering algorithm based on historical first position coordinate parameters at historical moments.

[0100] Specifically, the robot can receive the ranging signal and the data output by the inertial measurement unit in real time, and calculate the distance parameter, the position coordinate parameter (the first position coordinate parameter and / or the second position coordinate parameter) and the control parameter of the arm in real time. In some embodiments, the robot can filter the signal / data received at the current moment according to the signal / data received at the historical moment, and / or the robot can filter the parameters calculated at the current moment according to the parameters calculated at the historical moment. The filtering algorithm used in the filtering process can include at least one of Kalman filtering, mean filtering or other filtering algorithms.

[0101] In one example, the historical moments may include multiple moments before the current moment. Filtering the data at the current moment based on the data corresponding to the multiple moments before the current moment can reduce the risk of excessive deviation of the control parameters due to instrument errors or environmental changes, and improve the accuracy of the final control parameters.

[0102] In one example, for at least one of the ranging signal, distance parameter, first parameter, second parameter, first position coordinate parameter, second position coordinate parameter and control parameter, the data at the current moment can be filtered based on the data at the historical moment. Taking the ranging signal as an example, the robot can filter the ranging signal received at the current moment based on the historical ranging signal received at the historical moment, that is, update it to obtain an updated ranging signal, and perform subsequent calculations based on the updated ranging signal to obtain the control parameter. The filtering process of other data is similar and will not be repeated here.

[0103] In this embodiment, the data at the current moment is filtered using the data at the historical moment, which can reduce the ranging error, or reduce the error caused by other reasons, improve the positioning accuracy, and thus improve the control accuracy of the handle over the robot's arm movement.

[0104] According to an embodiment of the present application, the arm of the robot includes a left arm and a right arm, and the handle includes a left handle and a right handle. Controlling the movement of the robot's arm based on the control parameters may include: controlling the movement of the left arm based on the control parameters corresponding to the left handle, and controlling the movement of the right arm based on the control parameters corresponding to the right handle.

[0105] Specifically, when the robot has one arm, the arm movement can be controlled by one handle. When the robot's arm includes a left arm and a right arm, the handle can include a left handle and a right handle, and the left arm movement is controlled based on the control parameters corresponding to the left handle, and the right arm movement is controlled based on the control parameters corresponding to the right handle.

[0106] In some embodiments, the robot may include more arms, each of which may be controlled by a handle, and the specific process of each handle controlling the corresponding arm is similar.

[0107] In this embodiment, by providing a corresponding handle for each arm, the control processes of the various arms can be prevented from interfering with each other, thereby improving the flexibility of the control process.

[0108] According to an embodiment of the present application, the multiple control modes include a chassis control mode and a trunk control mode, the chassis control mode corresponds to the chassis of the robot, and the trunk control mode corresponds to the trunk of the robot, and the trunk includes the head and / or waist of the robot. The control information is generated based on the user's input operation on the operation key. The operation key is used to control the chassis in the chassis control mode, and the operation key is used to control the trunk in the trunk control mode.

[0109] Specifically, the user can control the chassis movement and / or trunk movement of the robot through the handle.

[0110] In one example, after the robot receives the mode selection instruction and switches the control mode to the target control mode, the robot can control the target part according to the control information. For example, in the chassis control mode, the robot can control the movement of the robot's chassis based on the control information; in the trunk control mode, the robot can control the movement of the robot's trunk based on the control information.

[0111] In one example, the user can perform input operations through operation keys, and the handle can generate corresponding control information according to the corresponding input operations.

[0112] For example, the operation key may include a joystick, and the user's input operation may include pushing the joystick forward, backward, or rotate. Correspondingly, the handle may generate control information, such as chassis control information, based on the input operation, and send the chassis control information to the robot. The robot may control the chassis to move forward, backward, or rotate based on the chassis control information.

[0113] Similarly, the user's input operation may include pushing the joystick forward or backward, and correspondingly, the handle may generate control information, such as trunk control information, based on the input operation, and send the trunk control information to the robot. The robot may control the head pitch or waist pitch based on the trunk control information. That is, the user may control the head pitch or waist pitch of the robot by controlling the joystick forward or backward.

[0114] The joystick corresponding to the chassis control information and the joystick corresponding to the trunk control information may be different joysticks, or the same joystick. If they are the same joystick, the chassis control mode and the trunk control mode may be switched through a mode switch button or other mode switch operations. Furthermore, the switching between the various control modes may be achieved through a mode switch button or other mode switch operations, such as switching between the arm control mode, the chassis control mode, and the trunk control mode.

[0115] For the specific process of generating chassis control information and trunk control information, please refer to the description in the following embodiments.

[0116] In one example, in the arm control mode, the input operation may include an operation of a user controlling the movement of a handle.

[0117] In this embodiment, different parts of the robot can be controlled by the handle, such as the arm, chassis or trunk of the robot. This can improve the adaptability of the handle in various control scenarios, thereby meeting the needs of various control scenarios and improving the control efficiency in complex control scenarios.

[0118] According to an embodiment of the present application, the robot control method may further include: charging the handle embedded in the robot when it is detected that the handle is embedded in the robot.

[0119] Specifically, the robot may be provided with a storage space, which can be used to store the handle. When the user does not use the handle, the handle can be placed in the storage space to avoid the handle being lost.

[0120] Furthermore, in one example, a charging contact may be provided on the handle, and when the handle is placed in the accommodation space, the handle can sense that it is in the accommodation space through the charging contact, and can adjust its mode to the standby mode. Similarly, a corresponding contact may be provided in the accommodation space, and after the contact in the accommodation space senses that the handle is in the accommodation space, the robot can charge the handle through the contact.

[0121] In this embodiment, by providing a space for accommodating the handle on the robot, the risk of losing the handle can be reduced. In addition, by charging the handle through the robot, the convenience of the handle charging process can be improved, and the user experience can be improved.

[0122] Figure 4 Shown is a flow chart of a robot control method provided by another exemplary embodiment of the present application. Figure 4 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 4 As shown, the robot control method may include the following contents.

[0123] 410: Receive a distance measurement signal transmitted by a distance measurement transmitter on the handle and calculate a distance parameter corresponding to the distance measurement signal.

[0124] In one example, when the user selects the arm control mode from the multiple control modes provided on the handle side, the handle can turn on the distance measurement transmitter and send a distance measurement signal to the robot. The robot can receive the distance measurement signal and calculate the distance parameter corresponding to the distance measurement signal. In this example, the handle can switch its own control mode to the arm control mode without sending a mode selection instruction to the robot.

[0125] Optionally, when the user selects the arm control mode from the multiple control modes provided on the handle side, the handle can send a mode selection instruction to the robot, and the robot can switch its control mode to the arm control mode according to the mode selection instruction. After receiving the ranging signal, the robot calculates the distance parameter corresponding to the ranging signal. In this example, the robot can calculate the distance parameter corresponding to the ranging signal after switching its own control mode, so the turn-on time of the ranging transmitter can be unlimited.

[0126] 420: Receive a first parameter and a second parameter output by an inertial measurement unit on the handle.

[0127] In one example, after the user selects the arm control mode on the handle side, the first parameter and the second parameter may be sent to the robot.

[0128] For example, the first parameter may include a posture parameter of the handle, which may be an angle parameter of the handle. The second parameter may include an acceleration parameter of the handle. The first parameter and the second parameter may be sent to the robot via a wireless communication module on the handle.

[0129] 430: Calculate a first position coordinate parameter of the handle based on the distance parameter, and calculate a second position coordinate parameter of the handle based on the second parameter.

[0130] 440: Fusing the first position coordinate parameter and the second position coordinate parameter to obtain a fused coordinate parameter, and determining a control parameter based on the fused coordinate parameter and the first parameter.

[0131] The fused coordinate parameter may represent the position of the handle, and the first parameter may represent the posture of the handle. Based on the fused coordinate parameter and the first parameter, the control parameter of the robot arm may be calculated, and the robot arm may be controlled based on the control parameter so that the movement trajectory of the arm is similar to the movement trajectory of the handle.

[0132] 450: Control the robot's arm motion based on control parameters.

[0133] 460: When chassis control information sent by the handle is received, the chassis movement of the robot is controlled based on the chassis control information; when trunk control information sent by the handle is received, the trunk movement of the robot is controlled based on the trunk control information.

[0134] In one example, the mode selection instruction may include an instruction selected by the user for any control mode. For example, after the user selects the chassis control mode / trunk control mode on the handle side, the handle may send a mode selection instruction to the robot, and the robot may switch its own control mode to the chassis control mode / trunk control mode. Further, the handle may generate control information based on the user's input operation and send the control information to the robot. The content of the control information in the chassis control mode and the trunk control mode may be the same, and the robot may control the target part based on the control information according to its own control mode.

[0135] For another example, after the user selects the chassis control mode / trunk control mode on the handle side, the handle can switch its own control mode to the chassis control mode / trunk control mode without sending a mode selection command to the robot. Furthermore, the handle can generate chassis control information / trunk control information based on the user's input operation and send the chassis control information / trunk control information to the robot. The content of the control information in the chassis control mode and the trunk control mode can be different, so that the robot can directly control and determine the target part based on the chassis control information / trunk control information to control the target part.

[0136] 470: When it is detected that the handle is embedded in the robot, the handle embedded in the robot is charged.

[0137] It should be understood that the execution order of the above steps can be adjusted according to actual needs.

[0138] The present application also provides a robot control method. Figure 5 As shown, Figure 5 The method can be Figure 1 The handle 120 in is executed. Figure 5 Methods and Figure 2 The method corresponds to, therefore, Figure 5 The relevant contents of the method can refer to the description of the robot control method executed by the robot. Specifically, the robot control method may include the following contents.

[0139] 510: Generate control information based on the user's input operation on the handle.

[0140] The specific contents of the control information and input operations can be found in the description of the above embodiments and will not be repeated here.

[0141] 520: Send control information to the robot so that the robot controls the movement of a target part on the robot based on the control information in a target control mode to achieve a target motion action represented by the control information, wherein the target control mode is determined from a plurality of control modes provided by a handle, the plurality of control modes correspond to different parts on the robot, the handle is provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the plurality of control modes.

[0142] The specific contents of the various control modes, target control modes, target parts and operation keys can be found in the description of the above embodiments and will not be repeated here.

[0143] The embodiment of the present application provides a robot control method, which determines a target control mode from a plurality of control modes provided by a handle so as to switch the current control mode to the target control mode, so that the target part corresponding to the target control mode can be controlled. Here, the plurality of control modes correspond to different parts of the robot, and the handle may be provided with operation keys, which are mapped to different motion actions in at least two of the plurality of control modes. With such a setting, by switching the control mode, different parts of the robot can be controlled based on limited operation keys, thereby improving the convenience and flexibility of the control process. Moreover, by switching the control mode and then controlling the movement of the target part based on the control information, the reliability of the control process can be improved to avoid misoperation.

[0144] According to an embodiment of the present application, before step 510, the robot control method further includes: receiving a mode selection instruction; and switching the control mode to a target control mode indicated by the mode selection instruction based on the mode selection instruction.

[0145] Specifically, the handle can receive the mode selection instruction input by the user and switch its control mode to the target control mode indicated by the mode selection instruction. The input method of the mode selection instruction can refer to the description in the above embodiment.

[0146] In one example, in the target control mode, the handle can generate specific control information, such as chassis control information, trunk control information, etc. based on the target control mode and the user's input operation.

[0147] In this embodiment, the handle provides multiple control modes to the user, so that the user can select the target control mode on the handle, which is convenient for the user to operate and improve the user experience. In addition, the handle can switch its own control mode to the target control mode according to the mode selection instruction, and after receiving the input operation, it generates specific control information based on the target control mode and the output operation, which can reduce the number of communications between the handle and the robot, reduce the probability of control errors caused by communication delays, and thus improve the reliability of the control process.

[0148] According to an embodiment of the present application, the target control mode includes an arm control mode, the target part includes the arm of the robot, the control information includes a ranging signal emitted by a ranging transmitter on the handle, and data output by an inertial measurement unit on the handle, and the data output by the inertial measurement unit includes a first parameter for characterizing the posture of the handle. Step 520 may include: using the ranging transmitter on the handle to emit a ranging signal to the robot, so that the robot calculates a distance parameter corresponding to the ranging signal, and calculates a first position coordinate parameter of the handle based on the distance parameter; sending the data output by the inertial measurement unit on the handle to the robot, so that the robot determines the control parameter of the robot's arm based on the first position coordinate parameter and the first parameter, and controls the movement of the robot's arm based on the control parameter.

[0149] It should be understood that the specific contents of the ranging transmitter, ranging signal, distance parameter, first position coordinate parameter, inertial measurement unit, first parameter and control parameter can refer to the description in the above embodiments, and will not be repeated here to avoid repetition.

[0150] In an embodiment of the present application, in the arm control mode, the robot's arm movement is controlled by obtaining the position coordinate parameters of the handle and the first parameter characterizing the posture of the handle, which can improve the control efficiency of the robot. Especially in complex or dynamic scenes, the real-time control of the robot can be achieved by controlling the position and posture of the handle to meet real-time operation requirements. In this way, the embodiment of the present application can not only improve the efficiency of the robot control process, but also improve the flexibility of the robot control process. In addition, the control accuracy can be improved by controlling the robot's arm based on the ranging signal emitted by the ranging transmitter and the data output by the inertial measurement unit.

[0151] According to one embodiment of the present application, the data output by the inertial measurement unit also includes a second parameter, the second parameter includes an acceleration parameter, the robot is used to calculate the second position coordinate parameter of the handle based on the second parameter, fuse the first position coordinate parameter and the second position coordinate parameter to obtain a fused coordinate parameter, and determine the control parameter based on the fused coordinate parameter and the first parameter.

[0152] It should be understood that the specific contents of the second parameter, the second position coordinate parameter and the fusion coordinate parameter can refer to the description in the above embodiment, and will not be repeated here to avoid repetition.

[0153] In this embodiment, the first position coordinate parameter is obtained based on the ranging signal emitted by the ranging transmitter, and the second position coordinate parameter is obtained based on the acceleration parameter output by the inertial measurement unit. By fusing the position coordinate parameters obtained by the two methods, the shortcomings of the two methods can be compensated, the accuracy of the position coordinate parameters (i.e., fused coordinate parameters) finally obtained can be improved, and the accuracy of the control parameters can be improved. In some cases, the accuracy of the first position coordinate parameter obtained based on the ranging signal emitted by the ranging transmitter is higher than the accuracy of the second position coordinate parameter obtained based on the acceleration parameter output by the inertial measurement unit. At this time, the weight of the first position coordinate parameter can be increased and the weight of the second position coordinate parameter can be reduced during the fusion process. In addition, when the ranging signal emitted by the ranging transmitter is blocked, the existence of the second position coordinate parameter can provide a guarantee for the real-time control of the robot's arm, reducing the risk of being unable to control the robot's arm in real time due to the failure to obtain the position coordinate parameters of the handle, thereby improving the user experience and further improving the control efficiency.

[0154] In one example, after sending the data output by the inertial measurement unit on the handle to the robot, the robot can calculate the second position coordinate parameter of the handle based on the second parameter, fuse the first position coordinate parameter and the second position coordinate parameter to obtain the fused coordinate parameter, and determine the control parameter based on the difference between the fused coordinate parameter and the initial fused coordinate parameter at the initial moment, and the difference between the first parameter and the initial first parameter at the initial moment. Here, the specific contents of the initial fused coordinate parameter at the initial moment and the initial first parameter at the initial moment can be found in the description in the above embodiment.

[0155] It should be understood that when the robot has one arm, the movement of the arm can be controlled by one handle. When the robot's arm includes a left arm and a right arm, the handle may include a left handle and a right handle, and the movement of the left arm is controlled based on the control parameters corresponding to the left handle, and the movement of the right arm is controlled based on the control parameters corresponding to the right handle.

[0156] In some embodiments, the robot may include more arms, each of which may be controlled by a handle, and the specific process of each handle controlling the corresponding arm is similar. By providing a corresponding handle for each arm, the control process of each arm does not interfere with each other, thereby improving the flexibility of the control process.

[0157] In one example, the input operation may correspond to specific input information. For example, in the control mode selection stage, the input information may include a mode selection instruction, and the handle may enter the corresponding control mode according to the mode selection instruction. For example, a plurality of buttons may be provided on the handle, and each button may correspond to a control mode. When the user's input operation is to click a certain button, the handle may receive the mode selection instruction corresponding to the input operation, and then enter the corresponding control mode. For another example, a display screen may be provided on the handle, and a plurality of options may be displayed on the display screen, and each option may correspond to a control mode. When the user's input operation is to select a certain option, the handle may receive the mode selection instruction corresponding to the input operation, and then enter the corresponding control mode.

[0158] In one example, when the mode selection instruction includes arm control mode selection information, the handle can enter the arm control mode. At this time, the handle can start the ranging transmitter to transmit a ranging signal to the robot and send data output by the inertial measurement unit on the handle to the robot.

[0159] In this embodiment, after receiving the mode selection instruction corresponding to the arm control mode, the step of transmitting the ranging signal to the robot and the step of sending the data output by the inertial measurement unit to the robot are executed, which can avoid the influence of the user's misoperation on the robot control process and improve the reliability of the control process.

[0160] According to an embodiment of the present application, the multiple control modes include a chassis control mode and a trunk control mode, the chassis control mode corresponds to the chassis of the robot, and the trunk control mode corresponds to the trunk of the robot, and the trunk includes the head and / or waist of the robot. Step 510 may include: generating control information based on the user's input operation on the operation key, wherein the operation key is used to control the chassis in the chassis control mode, and the operation key is used to control the trunk in the trunk control mode.

[0161] In one example, when the mode selection instruction includes chassis control mode selection information, the handle may enter chassis control mode. Further, the handle may generate control information, such as chassis control information, according to the user's input operation on the first joystick on the handle (or the state of the first joystick), and send the chassis control information to the robot so that the robot controls the chassis movement of the robot based on the chassis control information; when the mode selection instruction includes trunk control mode selection information, the handle may enter trunk control mode. Further, the handle may generate control information, such as trunk control information, according to the user's input operation on the second joystick on the handle (or the state of the second joystick), and send the trunk control information to the robot so that the robot controls the trunk movement of the robot based on the trunk control information.

[0162] Specifically, the input method of the chassis control mode selection information and the trunk control mode selection information is similar to the input method of the arm control mode selection information mentioned above, and will not be repeated here to avoid repetition.

[0163] After receiving the corresponding control mode selection information, the handle will enter the corresponding control mode, so that the various parts of the robot can be controlled based on the handle.

[0164] In one example, when receiving chassis control mode selection information input by the user on the handle, the handle may enter the chassis control mode. At this time, the handle may generate corresponding chassis control information according to the state of the first rocker. The state of the first rocker corresponds to the user's input operation on the first rocker. For example, the user's input operation on the first rocker on the handle may change the state of the first rocker, such as making the first rocker in a forward, backward or rotating state. The handle may generate corresponding chassis control information according to the state of the first rocker, and the robot may control the chassis to move forward, backward or rotate based on the chassis control information.

[0165] Similarly, when receiving the trunk control mode selection information input by the user on the handle, the handle can enter the trunk control mode. At this time, the handle can generate corresponding trunk control information according to the state of the second joystick. The state of the second joystick corresponds to the user's input operation on the second joystick. For example, the user's input operation on the second joystick on the handle will change the state of the second joystick, such as making the second joystick in a forward or backward state. The handle can generate corresponding trunk control information according to the state of the second joystick, and the robot can control the head pitch or waist pitch based on the trunk control information.

[0166] The first joystick and the second joystick can be different joysticks or the same joystick. If they are the same joystick, the chassis control mode and the trunk control mode can be switched through a mode switching button or other mode switching operations. Further, the switching between various control modes can be achieved through a mode switching button or other mode switching operations, such as switching between an arm control mode, a chassis control mode, and a trunk control mode.

[0167] In this embodiment, different parts of the robot can be controlled by the handle, such as the arm, chassis or trunk of the robot. This can improve the adaptability of the handle in various control scenarios, thereby meeting the needs of various control scenarios and improving the control efficiency in complex control scenarios.

[0168] According to an embodiment of the present application, the robot control method further includes: when it is detected that the handle is embedded in the robot, controlling the handle to be in a standby mode.

[0169] Specifically, the robot may be provided with a storage space, which can be used to store the handle. When the user does not use the handle, the handle can be placed in the storage space to avoid the handle being lost.

[0170] Furthermore, in one example, a contact point may be provided on the handle. When the handle is placed in the accommodation space, the handle can sense that it is in the accommodation space through the contact point and adjust its mode to the standby mode. In one example, the contact point on the handle may be a charging contact point. Similarly, a corresponding contact point may be provided in the accommodation space. After the contact point in the accommodation space senses that the handle is in the accommodation space, the robot can charge the handle through the contact point.

[0171] In this embodiment, by providing a space for accommodating the handle on the robot, the risk of losing the handle can be reduced. In addition, by charging the handle through the robot, the convenience of the handle charging process can be improved, and the user experience can be improved.

[0172] Exemplary Devices

[0173] The present application also provides a robot, which includes a control module and an arm. The control module is used to perform the above Figure 2 or Figure 4 The robot control method provided in the embodiment.

[0174] In some embodiments, the robot can be a wheeled robot, a humanoid robot, a tracked robot, or other types of robots. For example, the robot can be a robot including an arm, such as a robot including one arm or two arms.

[0175] For example, Figure 6a As shown, the robot 600 may include a left arm 610, a right arm 620, a head 630, a waist 640, and a chassis 650. The control module included in the robot 600 may be located inside the housing of the robot 600. Figure 6a In one example, the control module may be a controller, such as a microcontroller.

[0176] The specific functions and effects of the robot provided in the embodiments of the present application can be referred to the description in the above method embodiments, and will not be described again here to avoid repetition.

[0177] According to one embodiment of the present application, a storage space is provided on the robot, and the storage space is used to store a handle. The handle is in a control mode and is used to be manipulated by a user to control the movement of the robot. The handle is in a standby mode in the storage space.

[0178] Specifically, when the user uses the handle, the handle can be in a control mode, and the user can control the robot movement through the handle. When the user does not use the handle, the handle can be placed in the accommodation space to avoid losing the handle.

[0179] For example, the back of the robot 600 may be provided with a receiving space 660, such as Figure 6b shown.

[0180] Furthermore, in one example, a contact point may be provided on the handle. When the handle is placed in the accommodation space, the handle can sense that it is in the accommodation space through the contact point and adjust its mode to the standby mode. In one example, the contact point on the handle may be a charging contact point. Similarly, a corresponding contact point may be provided in the accommodation space. After the contact point in the accommodation space senses that the handle is in the accommodation space, the robot can charge the handle through the contact point.

[0181] In one example, the robot 600 may be a wheeled chassis humanoid dual-arm robot, each of which may have 7 or more degrees of freedom. The chassis 650 of the robot 600 may be an omnidirectional mobile chassis that supports forward, backward, crab walk, and in-situ turning functions. The waist 640 may be an upper body trunk that can be pitched and raised. The head 630 can be pitched. An infrared receiving module may be provided on the robot 600, and the infrared receiving module may include three infrared receivers 670 for positioning the handle, such as Figure 6b shown.

[0182] The present application also provides a handle, which includes a control module, which is used to execute the above Figure 5 The robot control method provided in the embodiment.

[0183] In some embodiments, the handle can be used to control the movement of the robot's arms. When the robot includes multiple arms, each arm can be controlled by a handle, and the specific process of each handle controlling the arm is similar.

[0184] Each handle can be a small design that can be held by one hand, which is convenient for users to hold. Moreover, the handle can be miniaturized and embedded in the storage space of the robot body, which can achieve the purpose of taking into account both portability and easy storage.

[0185] For example, combined with Figure 7a and Figure 7b The handle may include a left handle 710 and a right handle 720. The control module included in each handle may be located inside the housing of the handle. Figure 7a and Figure 7b In one example, the control module in the handle may be a controller, such as a microcontroller.

[0186] The following is an exemplary description of the specific structure of the left handle and the right handle. It should be understood that the specific structure of the left handle and the right handle can be set according to actual needs as long as the functions and effects mentioned in the above method embodiment can be achieved.

[0187] See also Figure 7a and Figure 7b , the structures of the left handle 710 and the right handle 720 are similar. In order to understand the overall picture of each handle, Figure 7a and Figure 7b The top view of the left handle 710 and the side view of the right handle 720 are shown respectively, and the similar parts of the two handles can be referred to each other. The left handle 710 may include: button 1; button 2; button 3; indicator light L; rocker L; index finger button L (the position of the index finger button L on the left handle 710 can refer to the position of the index finger button R in the right handle 720); middle finger button L; inertial measurement unit (set inside the left handle 710); infrared transmission module (set in the infrared transmission area on the left handle 710, see the right handle 720); Bluetooth / LoRa communication module; charging contact. The Bluetooth / LoRa communication module can be set on the handle in the form of communication contacts, and the position of the charging and communication contacts L on the left handle 710 can refer to the position of the charging and communication contacts R in the right handle 720. Button 1 is used to switch the control mode to the chassis control mode. Button 2 is used to switch the control mode to the arm control mode. Button 3 is used to switch the control mode to the waist and head control mode. The indicator light L has three colors of red, green and blue, which are used to display the current control mode. For example, when button 1 is pressed, the left handle 710 is in chassis control mode, and the indicator light L is red; when button 2 is pressed, the left handle 710 is in arm control mode, and the indicator light L is green; when button 3 is pressed, the left handle 710 is in waist and head control mode, and the indicator light L is blue. The joystick L is used to control the forward, backward and steering of the chassis in chassis control mode, and to control the pitch of the head in waist and head control mode. The index finger button L is used to control the opening and closing of the gripper of the robot's left arm in arm control mode. The middle finger button L is used to control the movement of the robot's left arm in space in arm control mode. The inertial measurement unit is built into the left handle 710 and is used to detect the three-dimensional posture of the left handle 710. The infrared transmitter module can be used to send positioning signals, such as infrared signals, to detect the spatial position of the left handle 710. The Bluetooth / LoRa communication module is used to achieve wireless communication between the left handle 710 and the robot body. The charging contacts are used to support daily charging of the left handle 710 . For example, the left handle 710 is placed in the accommodation space of the robot, and the robot charges the left handle 710 through the charging contacts.

[0188] The right handle 720 may include: button 4; button 5; button 6; indicator light R; rocker R; index finger button R; middle finger button R (the position of the middle finger button R on the right handle 720 can be seen from the position of the middle finger button L on the left handle 710); inertial measurement unit (set inside the right handle 720); infrared emission module (set in the infrared emission area on the right handle 720); Bluetooth / LoRa communication module; charging contact. The Bluetooth / LoRa communication module can be set on the handle in the form of communication contacts, such as the charging and communication contact R in the right handle 720. Button 4 is used to control the raising of the robot's waist in the waist and head control mode. Button 5 is used to control the lowering of the robot's waist in the waist and head control mode. Button 6 is used to restore the robot's arm to the initially set position. The indicator light R has three colors of red, green and blue, which are used to display the connection and communication status between the right handle 720 and the robot. The rocker R is used to control the chassis in-situ steering angle in the chassis control mode, and to control the pitch of the waist in the waist and head control mode. The index finger button R is used to control the opening and closing of the gripper of the robot's right arm in the arm control mode. The middle finger button R is used to control the movement of the robot's right arm in space in the arm control mode. The inertial measurement unit is built into the right handle 720 and is used to detect the three-dimensional posture of the right handle 720. The infrared transmitter module can be used to send positioning signals, such as infrared signals, to detect the spatial position of the right handle 720. The Bluetooth / LoRa communication module is used to achieve wireless communication between the right handle 720 and the robot body. The charging contacts are used to support daily charging of the right handle 720. For example, the right handle 720 is placed in the robot's accommodation space, and the robot charges the right handle 720 through the charging contacts.

[0189] The specific functions and effects of the handle provided in the embodiment of the present application can be referred to the description in the above method embodiment, and will not be described again here to avoid repetition.

[0190] Based on the left handle 710 and the right handle 720, the embodiment of the present application provides a real-time control method based on an embedded wireless handle, which can be applied to a wheeled chassis dual-arm humanoid robot, suitable for multiple scenarios such as industrial operations and service robots. Moreover, controlling the robot through the handle is simple to operate, which can reduce the technical requirements for the user, adapt to real-time control in complex or dynamic scenes, and meet the needs of efficiently completing multi-task operations in complex operating environments. In addition, the control method provided by the embodiment of the present application is low in cost, high in efficiency and high in flexibility. The following is an exemplary description of the process of real-time control of the robot's entire body by the left handle 710 and the right handle 720.

[0191] During the initialization and connection stage, for any of the left handle 710 and the right handle 720, after the handle is embedded in the robot body, it can be in a standby state. When a user, such as an operator, takes out the handle, the handle can sense that it has been taken out through the contact point and automatically switch from the standby state to the real-time control state. The handle can establish a wireless communication connection with the robot body through the Bluetooth / LoRa communication module.

[0192] In the control mode switching stage, the control mode can be switched through the three buttons (button 1, button 2, button 3) on the front of the left handle 710: chassis control mode; waist and head control mode; mechanical arm control mode. In the chassis control mode, the chassis can be controlled to move forward, backward, and turn in the forward and backward directions through the rocker L, and the chassis can be controlled to turn in situ through the rocker R. For example, the distance the chassis moves forward / the distance the chassis moves backward / the angle of turning can be controlled according to the time the user pushes the rocker L forward / the time the user pushes the rocker L backward / the time the user pushes the rocker R backward, and the angle of turning in situ can be controlled according to the time the user controls the rocker R. In the waist and head control mode, the robot's head pitch can be controlled through the rocker L, and the robot's waist pitch can be controlled through the rocker R. For example, the angle of the head's bowing down / the angle of its raising up can be controlled according to the time the user controls the rocker L forward / the time the user controls the rocker R forward / the time the user controls the rocker R backward, and the angle of the waist's bowing down / the angle of its raising up can be controlled. In the waist and head control mode, the waist can be controlled to rise and fall through buttons 4 and 5. For example, the distance that the waist is raised can be controlled according to the time when the user presses button 4, and the distance that the waist is lowered can be controlled according to the time when the user presses button 5. In the arm control mode, for any of the left handle 710 and the right handle 720, the handle can obtain the spatial position of the handle through the infrared transmission module (such as an infrared transmitter), and obtain the posture of the handle through the inertial measurement unit, that is, by combining the infrared transmission module and the inertial measurement unit, the six-dimensional posture parameters (6D posture parameters) of the handle can be detected, so that accurate control of both arms can be achieved. For example, when button 2 is pressed, the handle is in the arm control mode. At this time, when the middle finger button L / middle finger button R is also pressed, the handle starts the infrared transmission module to transmit an infrared signal, and sends the data output by the inertial measurement unit through the Bluetooth / LoRa communication module, so that the robot can obtain the posture parameters of the handle. By setting the middle finger button L / middle finger button R, the influence of the user's misoperation on the robot control process can be avoided, and the reliability of the control process can be improved.

[0193] After obtaining the position and posture parameters of the handle, the robot can map them into the motion signals of the robot's arm, i.e., control parameters, to control the arm movement in real time.

[0194] In the above process, the control mode can be quickly switched by pressing Button 1, Button 2, and Button 3. Therefore, the above control method can adapt to the needs of multiple scenarios and improve operating efficiency.

[0195] The embodiment of the present application also provides a robot control system, including: a handle and a robot. The handle is used to: generate control information based on the user's input operation on the handle, and send the control information to the robot. The robot is used to: receive the control information, and control the movement of the target part on the robot based on the control information in the target control mode to achieve the target movement action represented by the control information, wherein the target control mode is determined from a plurality of control modes provided by the handle, and the plurality of control modes correspond to different parts on the robot, and the handle is provided with an operation key, and the operation key is mapped to different movement actions in at least two of the plurality of control modes.

[0196] In one example, the number of handles may be one or more, and the specific structure and function of the handles may refer to the description in the above-mentioned embodiment and the handle embodiment.

[0197] In one example, the robot may include an arm, the number of the arms may be one or more, and the movement of each arm may be controlled by a handle. The specific structure and function of the robot may refer to the description in the above method embodiment and the robot embodiment.

[0198] The specific functions and effects of the robot control system provided in the embodiments of the present application can be referred to the descriptions in the above-mentioned method embodiments, robot embodiments and handle embodiments. In order to avoid repetition, they will not be described again here.

[0199] Figure 8 FIG. 1 is a schematic diagram of the structure of a robot control device provided by an exemplary embodiment of the present application, and the robot control device can be applied to a robot. Figure 8 As shown, the robot control device 800 includes: a receiving module 810 and a control module 820 .

[0200] The receiving module 810 is used to receive control information sent by the handle, wherein the control information is used to control the movement of the target part on the robot in the target control mode, the target control mode is determined from the multiple control modes provided by the handle, the multiple control modes correspond to different parts of the robot, the handle is provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the multiple control modes. The control module 820 is used to control the movement of the target part based on the control information to achieve the target motion action represented by the control information.

[0201] An embodiment of the present application provides a robot control device, which determines a target control mode from a plurality of control modes provided by a handle so as to switch the current control mode to the target control mode, so that the target part corresponding to the target control mode can be controlled. Here, the plurality of control modes correspond to different parts of the robot, and the handle may be provided with operation keys, which are mapped to different motion actions in at least two of the plurality of control modes. With such a configuration, by switching the control mode, different parts of the robot can be controlled based on limited operation keys, thereby improving the convenience and flexibility of the control process. Moreover, by switching the control mode and then controlling the movement of the target part based on the control information, the reliability of the control process can be improved to avoid misoperation.

[0202] According to an embodiment of the present application, before receiving the control information sent by the handle, the receiving module 810 is further used to: receive a mode selection instruction sent by the handle; and switch the control mode to a target control mode indicated by the mode selection instruction based on the mode selection instruction.

[0203] According to an embodiment of the present application, the target control mode includes an arm control mode, the target part includes the arm of the robot, the control information includes a ranging signal emitted by a ranging transmitter on the handle, and data output by an inertial measurement unit on the handle, the data output by the inertial measurement unit includes a first parameter and a second parameter for characterizing the posture of the handle, and the second parameter includes an acceleration parameter. The receiving module 810 is used to: receive the ranging signal emitted by the ranging transmitter, and receive the data output by the inertial measurement unit on the handle. The control module 820 is used to: calculate the distance parameter corresponding to the ranging signal, calculate the first position coordinate parameter of the handle based on the distance parameter; calculate the second position coordinate parameter of the handle based on the second parameter; fuse the first position coordinate parameter and the second position coordinate parameter to obtain a fused coordinate parameter; determine the control parameter based on the difference between the fused coordinate parameter and the initial fused coordinate parameter at the initial moment, and the difference between the first parameter and the initial first parameter at the initial moment; and control the arm movement of the robot based on the control parameter.

[0204] According to an embodiment of the present application, the robot includes at least three ranging receivers. The receiving module 810 is used to: receive ranging signals through at least three ranging receivers, wherein the distance parameter includes at least three distance values. The control module 820 is used to: for each of the at least three ranging receivers, based on the start time of the ranging signal transmission and the reception time of the ranging receiver receiving the ranging signal, calculate the distance value corresponding to the ranging receiver, wherein the start time is included in the ranging signal, and the robot obtains the start time by parsing the ranging signal, or the start time is sent to the robot by the handle.

[0205] According to one embodiment of the present application, the robot control device 800 also includes a filtering module 830, which is used to update the distance parameters using a filtering algorithm based on the historical distance parameters at the historical moment before calculating the first position coordinate parameters of the handle based on the distance parameters, and / or to update the first position coordinate parameters using a filtering algorithm based on the historical first position coordinate parameters at the historical moment.

[0206] According to an embodiment of the present application, the arm of the robot includes a left arm and a right arm, and the handle includes a left handle and a right handle. The control module 820 is used to control the movement of the left arm based on the control parameters corresponding to the left handle, and control the movement of the right arm based on the control parameters corresponding to the right handle.

[0207] According to an embodiment of the present application, the multiple control modes include a chassis control mode and a trunk control mode. The chassis control mode corresponds to the chassis of the robot, and the trunk control mode corresponds to the trunk of the robot, and the trunk includes the head and / or waist of the robot. The control information is generated based on the user's input operation on the operation key. The operation key is used to control the chassis in the chassis control mode, and the operation key is used to control the trunk in the trunk control mode.

[0208] It should be understood that the operations and functions of the receiving module 810, the control module 820 and the filtering module 830 in the above embodiment can refer to the above Figure 2 or Figure 4 In order to avoid repetition, the description of the robot control method provided in the embodiment will not be repeated here.

[0209] Fig. 9 FIG. 1 is a schematic diagram of the structure of a robot control device provided by another exemplary embodiment of the present application, and the robot control device can be applied to a handle. Fig. 9 As shown, the robot control device 900 includes: a generating module 910 and a sending module 920 .

[0210] The generating module 910 is used to generate control information based on the user's input operation on the handle. The sending module 920 is used to send the control information to the robot so that the robot controls the movement of the target part on the robot based on the control information in the target control mode to achieve the target movement action represented by the control information, wherein the target control mode is determined from the multiple control modes provided by the handle, the multiple control modes correspond to different parts on the robot, and the handle is provided with operation keys, and the operation keys are mapped to different movement actions in at least two of the multiple control modes.

[0211] An embodiment of the present application provides a robot control device, which determines a target control mode from a plurality of control modes provided by a handle so as to switch the current control mode to the target control mode, so that the target part corresponding to the target control mode can be controlled. Here, the plurality of control modes correspond to different parts of the robot, and the handle may be provided with operation keys, which are mapped to different motion actions in at least two of the plurality of control modes. With such a configuration, by switching the control mode, different parts of the robot can be controlled based on limited operation keys, thereby improving the convenience and flexibility of the control process. Moreover, by switching the control mode and then controlling the movement of the target part based on the control information, the reliability of the control process can be improved to avoid misoperation.

[0212] According to one embodiment of the present application, the robot control device 900 also includes a receiving module 930. Before generating control information based on the user's input operation on the handle, the receiving module 930 is used to: receive a mode selection instruction; and switch the control mode to a target control mode indicated by the mode selection instruction based on the mode selection instruction.

[0213] According to an embodiment of the present application, the target control mode includes an arm control mode, the target part includes the arm of the robot, the control information includes a ranging signal emitted by a ranging transmitter on the handle, and data output by an inertial measurement unit on the handle, the data output by the inertial measurement unit includes a first parameter and a second parameter for characterizing the posture of the handle, and the second parameter includes an acceleration parameter. The sending module 920 is used to: use the ranging transmitter on the handle to send a ranging signal to the robot so that the robot calculates a distance parameter corresponding to the ranging signal, and calculates a first position coordinate parameter of the handle based on the distance parameter; send the data output by the inertial measurement unit on the handle to the robot so that the robot calculates a second position coordinate parameter of the handle based on the second parameter, fuse the first position coordinate parameter and the second position coordinate parameter to obtain a fused coordinate parameter, determine a control parameter based on the difference between the fused coordinate parameter and the initial fused coordinate parameter at the initial moment, and the difference between the first parameter and the initial first parameter at the initial moment, and control the arm movement of the robot based on the control parameter.

[0214] According to an embodiment of the present application, the multiple control modes include a chassis control mode and a trunk control mode, the chassis control mode corresponds to the chassis of the robot, the trunk control mode corresponds to the trunk of the robot, and the trunk includes the head and / or waist of the robot. The generation module 910 is used to: generate control information based on the user's input operation on the operation key, wherein the operation key is used to control the chassis in the chassis control mode, and the operation key is used to control the trunk in the trunk control mode.

[0215] It should be understood that the operations and functions of the generating module 910, the sending module 920 and the receiving module 930 in the above embodiment can refer to the above Figure 5 In order to avoid repetition, the description of the robot control method provided in the embodiment will not be repeated here.

[0216] Fig.10 The block diagram of an electronic device 1000 for executing a robot control method provided by an exemplary embodiment of the present application is shown. The electronic device 1000 may specifically be a server, a robot, a handle, a server or other device interacting with a robot or a handle.

[0217] Reference Fig.10 The electronic device 1000 includes a processing component 1010, which further includes one or more processors, and a memory resource represented by a memory 1020 for storing instructions executable by the processing component 1010, such as an application. The application stored in the memory 1020 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1010 is configured to execute instructions to perform the above-mentioned robot control method.

[0218] The electronic device 1000 may also include a power supply component configured to perform power management of the electronic device 1000, a wired or wireless network interface configured to connect the electronic device 1000 to a network, and an input / output (I / O) interface. The electronic device 1000 may be operated based on an operating system stored in the memory 1020, such as Windows Server 2003. TM , MacOS X TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0219] A non-temporary computer-readable storage medium, when instructions in the storage medium are executed by a processor of the electronic device 1000, enables the electronic device 1000 to execute a robot control method.

[0220] A computer program product includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the robot control method provided by any of the above embodiments.

[0221] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described one by one here.

[0222] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0223] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0224] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0225] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0226] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0227] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program check codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0228] It should be noted that, in the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0229] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0230] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A robot control method, characterized in that: Applied to a robot, the robot control method comprises: receiving control information sent by a handle, wherein the control information is used to control the movement of a target part of the robot in a target control mode, the target control mode is determined from a plurality of control modes provided by the handle, the plurality of control modes correspond to different parts of the robot, the handle is provided with operation keys, the operation keys are mapped to different motion actions in at least two of the plurality of control modes; The target part movement is controlled based on the control information to achieve the target movement action represented by the control information.

2. The robot control method according to claim 1, characterized in that: Before receiving the control information sent by the handle, the robot control method further includes: Receiving a mode selection instruction sent by the handle; The control mode is switched to the target control mode indicated by the mode selection instruction based on the mode selection instruction.

3. The robot control method according to claim 1, characterized in that: The target control mode includes an arm control mode, the target part includes an arm of the robot, the control information includes a ranging signal transmitted by a ranging transmitter on the handle, and data output by an inertial measurement unit on the handle, the data output by the inertial measurement unit includes a first parameter and a second parameter for characterizing the posture of the handle, the second parameter includes an acceleration parameter, wherein the control information sent by the handle is received, including: receiving the ranging signal transmitted by the ranging transmitter, and receiving the data output by the inertial measurement unit on the handle, Wherein, controlling the movement of the target part based on the control information includes: Calculating a distance parameter corresponding to the distance measurement signal, and calculating a first position coordinate parameter of the handle based on the distance parameter; Calculate a second position coordinate parameter of the handle based on the second parameter; Performing fusion processing on the first position coordinate parameter and the second position coordinate parameter to obtain fusion coordinate parameters; Determining the control parameter based on a difference between the fused coordinate parameter and an initial fused coordinate parameter at an initial moment, and a difference between the first parameter and an initial first parameter at the initial moment; The movement of the robot's arm is controlled based on the control parameters.

4. The robot control method according to claim 3, characterized in that: The robot comprises at least three ranging receivers, wherein receiving the ranging signal transmitted by the ranging transmitter comprises: The ranging signal is received by the at least three ranging receivers, wherein the distance parameter includes at least three distance values, The calculating of the distance parameter corresponding to the ranging signal includes: For each of the at least three ranging receivers, a distance value corresponding to the ranging receiver is calculated based on the start time of transmitting the ranging signal and the reception time of the ranging receiver receiving the ranging signal, wherein the start time is included in the ranging signal, and the robot obtains the start time by parsing the ranging signal, or the start time is sent to the robot by the handle.

5. The robot control method according to claim 3, characterized in that: Before calculating the first position coordinate parameter of the handle based on the distance parameter, the robot control method further includes: Based on the historical distance parameters at the historical moment, the distance parameters are updated using a filtering algorithm. And / or, based on the historical first position coordinate parameters at the historical moment, the first position coordinate parameters are updated using a filtering algorithm.

6. The robot control method according to claim 3, characterized in that: The robot's arm includes a left arm and a right arm, and the handle includes a left handle and a right handle. Wherein, controlling the arm movement of the robot based on the control parameter comprises: The movement of the left arm is controlled based on the control parameters corresponding to the left handle, and the movement of the right arm is controlled based on the control parameters corresponding to the right handle.

7. The robot control method according to any one of claims 1 to 6, characterized in that: The multiple control modes include a chassis control mode and a trunk control mode, wherein the chassis control mode corresponds to the chassis of the robot, and the trunk control mode corresponds to the trunk of the robot, wherein the trunk includes the head and / or waist of the robot. The control information is generated based on an input operation of a user on the operation key, the operation key being used to control the chassis in the chassis control mode, and the operation key being used to control the trunk in the trunk control mode.

8. A robot control method, characterized in that: Applied to the handle, the robot control method includes: generating control information based on an input operation of the user on the handle; The control information is sent to the robot so that the robot controls the movement of a target part on the robot based on the control information in a target control mode to achieve a target motion action represented by the control information, wherein the target control mode is determined from a plurality of control modes provided by the handle, the plurality of control modes correspond to different parts on the robot, the handle is provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the plurality of control modes.

9. The robot control method according to claim 8, characterized in that: Before generating control information based on the user's input operation on the handle, the robot control method further includes: Receive mode selection command; The control mode is switched to the target control mode indicated by the mode selection instruction based on the mode selection instruction.

10. The robot control method according to claim 8, characterized in that: The target control mode includes an arm control mode, the target part includes an arm of the robot, the control information includes a ranging signal emitted by a ranging transmitter on the handle, and data output by an inertial measurement unit on the handle, the data output by the inertial measurement unit includes a first parameter and a second parameter for characterizing the posture of the handle, the second parameter includes an acceleration parameter, wherein sending the control information to the robot includes: Using the ranging transmitter on the handle to transmit a ranging signal to the robot, so that the robot calculates a distance parameter corresponding to the ranging signal, and calculates a first position coordinate parameter of the handle based on the distance parameter; The data output by the inertial measurement unit on the handle is sent to the robot so that the robot calculates the second position coordinate parameters of the handle based on the second parameters, fuses the first position coordinate parameters and the second position coordinate parameters to obtain fused coordinate parameters, determines the control parameters based on the difference between the fused coordinate parameters and the initial fused coordinate parameters at the initial moment, and the difference between the first parameters and the initial first parameters at the initial moment, and controls the arm movement of the robot based on the control parameters.

11. The robot control method according to any one of claims 8 to 10, characterized in that: The multiple control modes include a chassis control mode and a trunk control mode, wherein the chassis control mode corresponds to the chassis of the robot, and the trunk control mode corresponds to the trunk of the robot, wherein the trunk includes the head and / or waist of the robot. The generating control information based on the user's input operation on the handle includes: The control information is generated based on the user's input operation on the operation key, wherein the operation key is used to control the chassis in the chassis control mode, and the operation key is used to control the trunk in the trunk control mode.

12. A robot, characterized in that: It comprises a control module and an arm, wherein the control module is used to execute the robot control method described in any one of claims 1 to 7.

13. A handle, characterized in that: It comprises a control module, and the control module is used to execute the robot control method according to any one of claims 8 to 11.

14. A robot control system, characterized in that: include: A handle, used to: generate control information based on an input operation of the user on the handle, and send the control information to the robot; The robot is used to: receive the control information, and control the movement of a target part on the robot based on the control information in a target control mode to achieve a target motion action represented by the control information, wherein the target control mode is determined from a plurality of control modes provided by the handle, the plurality of control modes correspond to different parts of the robot, the handle is provided with operation keys, and the operation keys are mapped to different motion actions in at least two of the plurality of control modes.

15. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer device is enabled to execute the robot control method according to any one of claims 1 to 11.

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